meyerj
commented
7 years ago Not exactly what you are suggesting, but something alike is possible with signalling operations and signals in general. At least you can have an operation that signals more than one implemented function, or in other words, invokes them one after the other. To my knowledge there is currently no way to connect RTT signals dynamically from scripting, but you could use the mechanism to build something like what you propose yourself:
#include <rtt/Service.hpp>
#include <rtt/TaskContext.hpp>
#include <rtt/Operation.hpp>
#include <rtt/OperationCaller.hpp>
#include <rtt/plugin/ServicePlugin.hpp>
class ResetService : public RTT::Service {
private:
RTT::Operation<void()> reset_op_;
public:
ResetService(RTT::TaskContext* owner)
: RTT::Service("reset", owner),
reset_op_("signal_connected_peers")
{
this->addOperation("connectPeer", &ResetService::connectPeer, this, RTT::ClientThread);
this->addEventOperation(reset_op_); // or getOwner()->...
// If connected operations shall be executed the owner's thread instead of being sent,
// uncomment the following line and replace ::send by ::call below.
//reset_op_.getOperationCaller()->setThread(RTT::OwnThread, owner->engine());
}
bool connectPeer(const std::string &peer_name, const std::string &op_name)
{
RTT::TaskContext *peer = getOwner()->getPeer(peer_name);
if (!peer) return false;
RTT::OperationCaller<void()> peer_reset(peer->getOperation(op_name), this->getOwner()->engine());
if (!peer_reset.ready()) return false;
RTT::Handle handle = reset_op_.signals(boost::bind(&RTT::OperationCaller<void()>::send, peer_reset));
return handle.connected();
}
};
ORO_SERVICE_NAMED_PLUGIN(ResetService, "reset_service")Usage:
$ deployer
.provide reset_service
loadComponent("A", "ComponentThatProvidesAResetOperation")
reset.connectPeer("A", "reset")
reset.signal_connected_peers()Check https://github.com/orocos-toolchain/rtt/blob/master/rtt/Operation.hpp#L203 and https://orocos-toolchain.github.io/rtt/master/xml/orocos-components-manual.html#corelib-events.
ahoarau
Like the
connectin Qt, I think it would be useful to be able to connect anoperationCallerto multiple operations.That would only be allowed for operations that have no return of course.