bool console_signal_service_base::system_service::deliver_signal()
{
bool handled = false;
lock_guard services_guard(subscribers_mutex_);
for (console_signal_service_base* subscriber = subscribers_.front();
subscriber; subscriber = subscribers_.next(*subscriber))
{
handled |= subscriber->deliver_signal();
}
return handled;
}
bool ControllerManager::listControllersSrv(
controller_manager_msgs::ListControllers::Request &req,
controller_manager_msgs::ListControllers::Response &resp)
{
// pretend to use the request
(void) req;
// lock services
ROS_DEBUG("list controller service called");
boost::mutex::scoped_lock services_guard(services_lock_);
ROS_DEBUG("list controller service locked");
// lock controllers to get all names/types/states
boost::recursive_mutex::scoped_lock controller_guard(controllers_lock_);
std::vector<ControllerSpec> &controllers = controllers_lists_[current_controllers_list_];
resp.controller.resize(controllers.size());
for (size_t i = 0; i < controllers.size(); ++i)
{
controller_manager_msgs::ControllerState& cs = resp.controller[i];
cs.name = controllers[i].info.name;
cs.type = controllers[i].info.type;
cs.hardware_interface = controllers[i].info.hardware_interface;
cs.resources.clear();
cs.resources.reserve(controllers[i].info.resources.size());
for (std::set<std::string>::iterator it = controllers[i].info.resources.begin(); it != controllers[i].info.resources.end(); it++)
cs.resources.push_back(*it);
if (controllers[i].c->isRunning())
cs.state = "running";
else
cs.state = "stopped";
}
ROS_DEBUG("list controller service finished");
return true;
}
void console_signal_service_base::system_service::remove_subscriber(
console_signal_service_base& subscriber)
{
lock_guard services_guard(subscribers_mutex_);
subscribers_.erase(subscriber);
}
void console_signal_service_base::system_service::add_subscriber(
console_signal_service_base& subscriber)
{
lock_guard services_guard(subscribers_mutex_);
subscribers_.push_back(subscriber);
}
