.

src/hos_cosgi_devicerepository/include/hos_cosgi_devicerepository/hos_devicerepository_service.h

@@ -1,15 +1,58 @@
 #ifndef _HOS_DEVICEREPOSITORY_SERVICE_H_
 #define _HOS_DEVICEREPOSITORY_SERVICE_H_
 
+
+#include <string>
+#include <vector>
+
+
 namespace hos {
 
+class DeviceEvent;
+class DeviceEventListener;
+
+class GenericDevice {
+public:
+	virtual ~GenericDevice() {}
+
+	virtual std::string getDeviceID() = 0;
+
+	virtual bool registerDeviceStatusListener(DeviceEventListener& listener) = 0;
+	virtual bool unregisterDeviceStatusListener(DeviceEventListener& listener) = 0;
+};
+
+
+class DeviceEvent {
+public:
+	enum class Type : int { ADDED = 1, REMOVED = 2, STATUS_UPDATE = 3, COMMAND = 4 };
+	GenericDevice* device;
+	Type type;
+};
+
+
+class DeviceEventListener {
+public:
+	virtual ~DeviceEventListener() {}
+	virtual void deviceEventReceived(const DeviceEvent& event) = 0;
+};
+
+
 class HOSDeviceRepositoryService {
 public:
 	static constexpr const char* SERVICE_NAME = "hos_devicerepository_service";
 
 	virtual ~HOSDeviceRepositoryService() {}
+
+	virtual GenericDevice* getDevice(std::string device_id) = 0;
+	virtual std::vector<GenericDevice*>& getDevices(std::vector<GenericDevice*>& devices) = 0;
+
+	virtual bool registerDeviceStatusListener(DeviceEventListener& listener) = 0;
+	virtual bool unregisterDeviceStatusListener(DeviceEventListener& listener) = 0;
+
+	virtual void getVersion(int& major, int& minor) = 0;
 };
 
+
 } // namespace hos
 
 #endif /* _HOS_DEVICEREPOSITORY_SERVICE_H_ */

src/hos_cosgi_devicerepository/src/hos_devicerepository_service_impl.cpp

@@ -6,16 +6,74 @@
  */
 
 #include "hos_devicerepository_service_impl.h"
+#include <hos_cosgi_launcher/hos_core_service.h>
+#include <ros/ros.h>
 
 
 namespace hos {
 
-HOSDeviceRepositoryServiceImpl::HOSDeviceRepositoryServiceImpl(HOSCoreService& coreService) : coreService(coreService) {
 
+bool GenericDeviceImpl::registerDeviceStatusListener(DeviceEventListener& listener) {
+	std::lock_guard<std::mutex> lock(listenerMutex);
+	auto elem = deviceListeners.find(&listener);
+	if (elem == deviceListeners.end()) {
+		deviceListeners.insert(&listener);
+		return true;
+	}
+	return false;
+}
+
+
+bool GenericDeviceImpl::unregisterDeviceStatusListener(DeviceEventListener& listener) {
+	std::lock_guard<std::mutex> lock(listenerMutex);
+	auto elem = deviceListeners.find(&listener);
+	if (elem != deviceListeners.end()) {
+		deviceListeners.erase(elem);
+		return true;
+	}
+	return false;
+}
+
+
+HOSDeviceRepositoryServiceImpl::HOSDeviceRepositoryServiceImpl(HOSCoreService& coreService) :
+		coreService(coreService) {
+	auto& privateNodeHandle = coreService.getPrivateNodeHandle();
+	privateNodeHandle.getParam("~device_repository_prefix", deviceRepositoryPrefix);
 }
 
 HOSDeviceRepositoryServiceImpl::~HOSDeviceRepositoryServiceImpl() {}
 
+GenericDevice* HOSDeviceRepositoryServiceImpl::getDevice(std::string device_id) {
+	return this->devices[device_id];
+}
+
+std::vector<GenericDevice*>& HOSDeviceRepositoryServiceImpl::getDevices(std::vector<GenericDevice*>& devices) {
+	for (auto item : this->devices) {
+		devices.push_back(item.second);
+	}
+	return devices;
+}
+
+bool HOSDeviceRepositoryServiceImpl::registerDeviceStatusListener(DeviceEventListener& listener) {
+	std::lock_guard<std::mutex> lock(listenerMutex);
+	auto elem = deviceListeners.find(&listener);
+	if (elem == deviceListeners.end()) {
+		deviceListeners.insert(&listener);
+		return true;
+	}
+	return false;
+}
+
+bool HOSDeviceRepositoryServiceImpl::unregisterDeviceStatusListener(DeviceEventListener& listener) {
+	std::lock_guard<std::mutex> lock(listenerMutex);
+	auto elem = deviceListeners.find(&listener);
+	if (elem != deviceListeners.end()) {
+		deviceListeners.erase(elem);
+		return true;
+	}
+	return false;
+}
+
 
 void HOSDeviceRepositoryServiceImpl::getVersion(int& major, int& minor) {
 	major = 1;

src/hos_cosgi_devicerepository/src/hos_devicerepository_service_impl.h

@@ -9,20 +9,50 @@
 #define SRC_HOS_DEVICEREPOSITORY_SERVICE_IMPL_H_
 
 #include <hos_cosgi_devicerepository/hos_devicerepository_service.h>
-
+#include <mutex>
+#include <map>
+#include <set>
 
 namespace hos {
 
 class HOSCoreService;
 
+
+class GenericDeviceImpl : public GenericDevice {
+private:
+	std::mutex listenerMutex;
+	std::set<DeviceEventListener*> deviceListeners;
+	std::string deviceID;
+public:
+	virtual std::string getDeviceID() { return deviceID; }
+
+	virtual bool registerDeviceStatusListener(DeviceEventListener& listener);
+	virtual bool unregisterDeviceStatusListener(DeviceEventListener& listener);
+};
+
+
 class HOSDeviceRepositoryServiceImpl : public HOSDeviceRepositoryService {
 private:
+	typedef std::map<std::string, GenericDevice*> devicesMap_t;
+
 	HOSCoreService& coreService;
+	devicesMap_t devices;
+	std::mutex listenerMutex;
+	std::set<DeviceEventListener*> deviceListeners;
+	std::set<std::string> subscripedTopics;
+
+	std::string deviceRepositoryPrefix = "/hos/devices/repository";
 
 public:
 	HOSDeviceRepositoryServiceImpl(HOSCoreService& coreService);
 	virtual ~HOSDeviceRepositoryServiceImpl();
 
+	virtual GenericDevice* getDevice(std::string device_id);
+	virtual std::vector<GenericDevice*>& getDevices(std::vector<GenericDevice*>& devices);
+
+	virtual bool registerDeviceStatusListener(DeviceEventListener& listener);
+	virtual bool unregisterDeviceStatusListener(DeviceEventListener& listener);
+
 	virtual void getVersion(int& major, int& minor);
 	virtual int getRefCount();
 };

src/hos_philips_hue/nodes/test.py

@@ -24,11 +24,11 @@ if __name__ == '__main__':
         msg = DeviceCommand()
         msg.seq = 1
         msg.device_id = "huelight3"
-        msg.device_type = "hos/huelight"
+        msg.device_type = "hue/huelight"
         msg.stamp = stamp
                            
         msg_body = dict()
-        msg_body["type"] = "hos/huelight/command"
+        msg_body["type"] = "hue/huelight/command"
         
         msg_body["switch"] = dict()
         msg_body["switch"]["type"] = "core/types/boolean/command"
@@ -45,15 +45,15 @@ if __name__ == '__main__':
         msg_body["color"]["set"] = [1.0, 1.0]
         
         msg_body["alert"] = dict()
-        msg_body["alert"]["type"] = "hos/huelight/command/alert"
+        msg_body["alert"]["type"] = "hue/huelight/command/alert"
         msg_body["alert"]["set"] = "none"
         
         msg_body["effect"] = dict()
-        msg_body["effect"]["type"] = "hos/huelight/command/effect"
+        msg_body["effect"]["type"] = "hue/huelight/command/effect"
         msg_body["effect"]["set"] = "none"
         
         msg_body["advproperties"] = dict()
-        msg_body["advproperties"]["type"] = "hos/huelight/command/advproperties"
+        msg_body["advproperties"]["type"] = "hue/huelight/command/advproperties"
         msg_body["advproperties"]["transitiontime"] = 100
         
         msg_schema = schemaProvider.getTypeSchema("hue/huelight/command")