.

src/hos_cosgi_core/CMakeLists.txt

@@ -0,0 +1,202 @@
+cmake_minimum_required(VERSION 2.8.3)
+project(hos_cosgi_core)
+
+## Find catkin macros and libraries
+## if COMPONENTS list like find_package(catkin REQUIRED COMPONENTS xyz)
+## is used, also find other catkin packages
+find_package(catkin REQUIRED COMPONENTS
+  hos_celix
+  roscpp
+  hos_cpp_utils
+  hos_libvariant
+)
+
+## System dependencies are found with CMake's conventions
+find_package(Boost REQUIRED)
+find_package(APR REQUIRED)
+
+
+## Uncomment this if the package has a setup.py. This macro ensures
+## modules and global scripts declared therein get installed
+## See http://ros.org/doc/api/catkin/html/user_guide/setup_dot_py.html
+# catkin_python_setup()
+
+################################################
+## Declare ROS messages, services and actions ##
+################################################
+
+## To declare and build messages, services or actions from within this
+## package, follow these steps:
+## * Let MSG_DEP_SET be the set of packages whose message types you use in
+##   your messages/services/actions (e.g. std_msgs, actionlib_msgs, ...).
+## * In the file package.xml:
+##   * add a build_depend and a run_depend tag for each package in MSG_DEP_SET
+##   * If MSG_DEP_SET isn't empty the following dependencies might have been
+##     pulled in transitively but can be declared for certainty nonetheless:
+##     * add a build_depend tag for "message_generation"
+##     * add a run_depend tag for "message_runtime"
+## * In this file (CMakeLists.txt):
+##   * add "message_generation" and every package in MSG_DEP_SET to
+##     find_package(catkin REQUIRED COMPONENTS ...)
+##   * add "message_runtime" and every package in MSG_DEP_SET to
+##     catkin_package(CATKIN_DEPENDS ...)
+##   * uncomment the add_*_files sections below as needed
+##     and list every .msg/.srv/.action file to be processed
+##   * uncomment the generate_messages entry below
+##   * add every package in MSG_DEP_SET to generate_messages(DEPENDENCIES ...)
+
+## Generate messages in the 'msg' folder
+# add_message_files(
+#   FILES
+#   Message1.msg
+#   Message2.msg
+# )
+
+## Generate services in the 'srv' folder
+# add_service_files(
+#   FILES
+#   Service1.srv
+#   Service2.srv
+# )
+
+## Generate actions in the 'action' folder
+# add_action_files(
+#   FILES
+#   Action1.action
+#   Action2.action
+# )
+
+## Generate added messages and services with any dependencies listed here
+# generate_messages(
+#   DEPENDENCIES
+#   std_msgs  # Or other packages containing msgs
+# )
+
+###################################
+## catkin specific configuration ##
+###################################
+## The catkin_package macro generates cmake config files for your package
+## Declare things to be passed to dependent projects
+## INCLUDE_DIRS: uncomment this if you package contains header files
+## LIBRARIES: libraries you create in this project that dependent projects also need
+## CATKIN_DEPENDS: catkin_packages dependent projects also need
+## DEPENDS: system dependencies of this project that dependent projects also need
+catkin_package(
+	INCLUDE_DIRS include/${PROJECT_NAME}/
+#  LIBRARIES hos_cosgi_launcher
+	CATKIN_DEPENDS hos_celix
+#  DEPENDS system_lib
+)
+
+###########
+## Build ##
+###########
+
+add_definitions(
+	-std=c++11
+)
+
+## Specify additional locations of header files
+## Your package locations should be listed before other locations
+# include_directories(include)
+include_directories(
+  ${catkin_INCLUDE_DIRS}
+  ${APR_INCLUDE_DIR}
+  ${APR_INCLUDE_DIR}/apr-1.0
+  include/${PROJECT_NAME}/
+)
+
+
+add_executable(hos_cosgi_launcher 
+	src/launcher.cpp
+	src/hos/cosgi/service/core/core_serviceimpl.cpp
+)
+target_link_libraries(hos_cosgi_launcher
+	${catkin_LIBRARIES}
+	${APR_LIBRARIES}
+)
+
+
+## Declare a cpp library
+# add_library(hos_osgi_launcher
+#   src/${PROJECT_NAME}/hos_osgi_launcher.cpp
+# )
+
+## Declare a cpp executable
+# add_executable(hos_osgi_launcher_node src/hos_osgi_launcher_node.cpp)
+
+## Add cmake target dependencies of the executable/library
+## as an example, message headers may need to be generated before nodes
+# add_dependencies(hos_osgi_launcher_node hos_osgi_launcher_generate_messages_cpp)
+
+## Specify libraries to link a library or executable target against
+# target_link_libraries(hos_osgi_launcher_node
+#   ${catkin_LIBRARIES}
+# )
+
+#############
+## Install ##
+#############
+
+# all install targets should use catkin DESTINATION variables
+# See http://ros.org/doc/api/catkin/html/adv_user_guide/variables.html
+
+## Mark executable scripts (Python etc.) for installation
+## in contrast to setup.py, you can choose the destination
+# install(PROGRAMS
+#   scripts/my_python_script
+#   DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+# )
+
+## Mark executables and/or libraries for installation
+install(TARGETS hos_cosgi_launcher
+	ARCHIVE DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	LIBRARY DESTINATION ${CATKIN_PACKAGE_LIB_DESTINATION}
+	RUNTIME DESTINATION ${CATKIN_PACKAGE_BIN_DESTINATION}
+)
+
+## Mark cpp header files for installation
+install(DIRECTORY include/${PROJECT_NAME}/
+	DESTINATION ${CATKIN_PACKAGE_INCLUDE_DESTINATION}
+	FILES_MATCHING PATTERN "*.h"
+	PATTERN ".svn" EXCLUDE
+)
+
+install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc
+   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+   OPTIONAL
+)
+
+## Mark other files for installation (e.g. launch and bag files, etc.)
+# install(FILES
+#   # myfile1
+#   # myfile2
+#   DESTINATION ${CATKIN_PACKAGE_SHARE_DESTINATION}
+# )
+
+#############
+## Testing ##
+#############
+
+## Add gtest based cpp test target and link libraries
+# catkin_add_gtest(${PROJECT_NAME}-test test/test_hos_osgi_launcher.cpp)
+# if(TARGET ${PROJECT_NAME}-test)
+#   target_link_libraries(${PROJECT_NAME}-test ${PROJECT_NAME})
+# endif()
+
+## Add folders to be run by python nosetests
+# catkin_add_nosetests(test)
+
+
+###################
+## Documentation ##
+###################
+
+find_package(Doxygen)
+if(DOXYGEN_FOUND)
+	configure_file(${CMAKE_CURRENT_SOURCE_DIR}/Doxyfile.in ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile @ONLY)
+	add_custom_target(doc
+		${DOXYGEN_EXECUTABLE} ${CMAKE_CURRENT_BINARY_DIR}/Doxyfile
+		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
+	)
+endif(DOXYGEN_FOUND)

src/hos_cosgi_core/Doxyfile.in

@@ -0,0 +1,248 @@
+# Doxyfile 1.8.8
+
+#---------------------------------------------------------------------------
+# Project related configuration options
+#---------------------------------------------------------------------------
+DOXYFILE_ENCODING      = UTF-8
+PROJECT_NAME           = hos_cosgi_core
+OUTPUT_DIRECTORY       = doc
+CREATE_SUBDIRS         = NO
+ALLOW_UNICODE_NAMES    = NO
+OUTPUT_LANGUAGE        = English
+BRIEF_MEMBER_DESC      = YES
+REPEAT_BRIEF           = YES
+ABBREVIATE_BRIEF       = "The $name class" \
+                         "The $name widget" \
+                         "The $name file" \
+                         is \
+                         provides \
+                         specifies \
+                         contains \
+                         represents \
+                         a \
+                         an \
+                         the
+ALWAYS_DETAILED_SEC    = NO
+INLINE_INHERITED_MEMB  = NO
+FULL_PATH_NAMES        = NO
+SHORT_NAMES            = NO
+JAVADOC_AUTOBRIEF      = NO
+QT_AUTOBRIEF           = NO
+MULTILINE_CPP_IS_BRIEF = NO
+INHERIT_DOCS           = YES
+SEPARATE_MEMBER_PAGES  = NO
+TAB_SIZE               = 4
+OPTIMIZE_OUTPUT_FOR_C  = NO
+OPTIMIZE_OUTPUT_JAVA   = NO
+OPTIMIZE_FOR_FORTRAN   = NO
+OPTIMIZE_OUTPUT_VHDL   = NO
+MARKDOWN_SUPPORT       = YES
+AUTOLINK_SUPPORT       = YES
+BUILTIN_STL_SUPPORT    = NO
+CPP_CLI_SUPPORT        = NO
+SIP_SUPPORT            = NO
+IDL_PROPERTY_SUPPORT   = YES
+DISTRIBUTE_GROUP_DOC   = NO
+SUBGROUPING            = YES
+INLINE_GROUPED_CLASSES = NO
+INLINE_SIMPLE_STRUCTS  = NO
+TYPEDEF_HIDES_STRUCT   = NO
+LOOKUP_CACHE_SIZE      = 0
+#---------------------------------------------------------------------------
+# Build related configuration options
+#---------------------------------------------------------------------------
+EXTRACT_ALL            = YES
+EXTRACT_PRIVATE        = NO
+EXTRACT_PACKAGE        = NO
+EXTRACT_STATIC         = NO
+EXTRACT_LOCAL_CLASSES  = YES
+EXTRACT_LOCAL_METHODS  = NO
+EXTRACT_ANON_NSPACES   = NO
+HIDE_UNDOC_MEMBERS     = NO
+HIDE_UNDOC_CLASSES     = NO
+HIDE_FRIEND_COMPOUNDS  = NO
+HIDE_IN_BODY_DOCS      = NO
+INTERNAL_DOCS          = NO
+CASE_SENSE_NAMES       = NO
+HIDE_SCOPE_NAMES       = NO
+SHOW_INCLUDE_FILES     = YES
+SHOW_GROUPED_MEMB_INC  = NO
+FORCE_LOCAL_INCLUDES   = NO
+INLINE_INFO            = YES
+SORT_MEMBER_DOCS       = YES
+SORT_BRIEF_DOCS        = NO
+SORT_MEMBERS_CTORS_1ST = NO
+SORT_GROUP_NAMES       = NO
+SORT_BY_SCOPE_NAME     = NO
+STRICT_PROTO_MATCHING  = NO
+GENERATE_TODOLIST      = YES
+GENERATE_TESTLIST      = YES
+GENERATE_BUGLIST       = YES
+GENERATE_DEPRECATEDLIST= YES
+MAX_INITIALIZER_LINES  = 30
+SHOW_USED_FILES        = YES
+SHOW_FILES             = YES
+SHOW_NAMESPACES        = YES
+#---------------------------------------------------------------------------
+# Configuration options related to warning and progress messages
+#---------------------------------------------------------------------------
+QUIET                  = NO
+WARNINGS               = YES
+WARN_IF_UNDOCUMENTED   = YES
+WARN_IF_DOC_ERROR      = YES
+WARN_NO_PARAMDOC       = NO
+WARN_FORMAT            = "$file:$line: $text"
+#---------------------------------------------------------------------------
+# Configuration options related to the input files
+#---------------------------------------------------------------------------
+INPUT                  = @CMAKE_CURRENT_SOURCE_DIR@/include \
+                         @CMAKE_CURRENT_SOURCE_DIR@/src
+INPUT_ENCODING         = UTF-8
+FILE_PATTERNS          = *.c \
+                         *.cc \
+                         *.cxx \
+                         *.cpp \
+                         *.c++ \
+                         *.java \
+                         *.ii \
+                         *.ixx \
+                         *.ipp \
+                         *.i++ \
+                         *.inl \
+                         *.idl \
+                         *.ddl \
+                         *.odl \
+                         *.h \
+                         *.hh \
+                         *.hxx \
+                         *.hpp \
+                         *.h++ \
+                         *.cs \
+                         *.d \
+                         *.php \
+                         *.php4 \
+                         *.php5 \
+                         *.phtml \
+                         *.inc \
+                         *.m \
+                         *.markdown \
+                         *.md \
+                         *.mm \
+                         *.dox \
+                         *.py \
+                         *.f90 \
+                         *.f \
+                         *.for \
+                         *.tcl \
+                         *.vhd \
+                         *.vhdl \
+                         *.ucf \
+                         *.qsf \
+                         *.as \
+                         *.js
+RECURSIVE              = YES
+EXCLUDE_SYMLINKS       = NO
+EXAMPLE_PATTERNS       = *
+EXAMPLE_RECURSIVE      = NO
+FILTER_SOURCE_FILES    = NO
+#---------------------------------------------------------------------------
+# Configuration options related to source browsing
+#---------------------------------------------------------------------------
+SOURCE_BROWSER         = NO
+INLINE_SOURCES         = NO
+STRIP_CODE_COMMENTS    = YES
+REFERENCED_BY_RELATION = NO
+REFERENCES_RELATION    = NO
+REFERENCES_LINK_SOURCE = YES
+SOURCE_TOOLTIPS        = YES
+USE_HTAGS              = NO
+VERBATIM_HEADERS       = YES
+#---------------------------------------------------------------------------
+# Configuration options related to the alphabetical class index
+#---------------------------------------------------------------------------
+ALPHABETICAL_INDEX     = YES
+COLS_IN_ALPHA_INDEX    = 5
+#---------------------------------------------------------------------------
+# Configuration options related to the HTML output
+#---------------------------------------------------------------------------
+GENERATE_HTML          = YES
+HTML_OUTPUT            = html
+HTML_FILE_EXTENSION    = .html
+HTML_COLORSTYLE_HUE    = 220
+HTML_COLORSTYLE_SAT    = 100
+HTML_COLORSTYLE_GAMMA  = 80
+HTML_TIMESTAMP         = YES
+HTML_DYNAMIC_SECTIONS  = NO
+HTML_INDEX_NUM_ENTRIES = 100
+GENERATE_DOCSET        = NO
+DOCSET_FEEDNAME        = "Doxygen generated docs"
+DOCSET_BUNDLE_ID       = org.doxygen.Project
+DOCSET_PUBLISHER_ID    = org.doxygen.Publisher
+DOCSET_PUBLISHER_NAME  = Publisher
+GENERATE_HTMLHELP      = NO
+GENERATE_CHI           = NO
+BINARY_TOC             = NO
+TOC_EXPAND             = NO
+GENERATE_QHP           = NO
+QHP_NAMESPACE          = org.doxygen.Project
+QHP_VIRTUAL_FOLDER     = doc
+GENERATE_ECLIPSEHELP   = NO
+ECLIPSE_DOC_ID         = org.doxygen.Project
+DISABLE_INDEX          = NO
+GENERATE_TREEVIEW      = YES
+ENUM_VALUES_PER_LINE   = 4
+TREEVIEW_WIDTH         = 250
+EXT_LINKS_IN_WINDOW    = NO
+FORMULA_FONTSIZE       = 10
+FORMULA_TRANSPARENT    = YES
+USE_MATHJAX            = NO
+MATHJAX_FORMAT         = HTML-CSS
+MATHJAX_RELPATH        = http://cdn.mathjax.org/mathjax/latest
+SEARCHENGINE           = YES
+SERVER_BASED_SEARCH    = NO
+EXTERNAL_SEARCH        = NO
+SEARCHDATA_FILE        = searchdata.xml
+#---------------------------------------------------------------------------
+# Configuration options related to the preprocessor
+#---------------------------------------------------------------------------
+ENABLE_PREPROCESSING   = YES
+MACRO_EXPANSION        = NO
+EXPAND_ONLY_PREDEF     = NO
+SEARCH_INCLUDES        = YES
+SKIP_FUNCTION_MACROS   = YES
+#---------------------------------------------------------------------------
+# Configuration options related to external references
+#---------------------------------------------------------------------------
+ALLEXTERNALS           = NO
+EXTERNAL_GROUPS        = YES
+EXTERNAL_PAGES         = YES
+PERL_PATH              = /usr/bin/perl
+#---------------------------------------------------------------------------
+# Configuration options related to the dot tool
+#---------------------------------------------------------------------------
+CLASS_DIAGRAMS         = YES
+HIDE_UNDOC_RELATIONS   = YES
+HAVE_DOT               = NO
+DOT_NUM_THREADS        = 0
+DOT_FONTNAME           = Helvetica
+DOT_FONTSIZE           = 10
+CLASS_GRAPH            = YES
+COLLABORATION_GRAPH    = YES
+GROUP_GRAPHS           = YES
+UML_LOOK               = NO
+UML_LIMIT_NUM_FIELDS   = 10
+TEMPLATE_RELATIONS     = NO
+INCLUDE_GRAPH          = YES
+INCLUDED_BY_GRAPH      = YES
+CALL_GRAPH             = NO
+CALLER_GRAPH           = NO
+GRAPHICAL_HIERARCHY    = YES
+DIRECTORY_GRAPH        = YES
+DOT_IMAGE_FORMAT       = png
+INTERACTIVE_SVG        = NO
+DOT_GRAPH_MAX_NODES    = 50
+MAX_DOT_GRAPH_DEPTH    = 0
+DOT_TRANSPARENT        = NO
+DOT_MULTI_TARGETS      = NO
+GENERATE_LEGEND        = YES
+DOT_CLEANUP            = YES

src/hos_cosgi_core/include/hos_cosgi_core/hos/cosgi/service/Implementation.h

@@ -0,0 +1,268 @@
+
+#pragma once
+
+
+
+#include "Interface.h"
+#include <mutex>
+#include <algorithm>
+#include <unordered_set>
+#include <unordered_map>
+
+
+
+// main namespace
+namespace hos {
+namespace cosgi{
+namespace service {
+namespace implementation {
+
+
+
+/**
+ * Template holding information about a service.
+ *
+ * Works in conjunction with the Service class below which is the implementation of interface::Service.
+ * Concrete services need to inherit the Service class and specialize this template.
+ */
+template<class _Service>
+struct ServiceInfo {
+	static const char* name /** Service name. */;
+	static const int major /** Version major number. */;
+	static const int minor /** Version minor number. */;
+};
+
+
+
+/**
+ * Implementation of interface::Service.
+ */
+template<class _Service>
+class Service
+	: public virtual interface::Service {
+
+public:
+
+	/**
+	 * Returns the name of the service.
+	 *
+	 * \return service name.
+	 **/
+	virtual const char* getServiceName() {
+		return ServiceInfo<_Service>::name;
+	};
+
+	/**
+	 * Returns the version of the service.
+	 *
+	 * \param[out] major version major number.
+	 * \param[out] minor version minor number.
+	 */
+	virtual void getServiceVersion(int& major, int& minor) override {
+		major = ServiceInfo<_Service>::major;
+		minor = ServiceInfo<_Service>::minor;
+	}
+
+};
+
+
+
+/**
+ * Implementation of interface::Observable.
+ *
+ * This template does not provide any functionality, so do not use it but use only its specializations.
+ */
+template <class... _Args> class Observable {};
+
+
+
+/**
+ * Implementation of interface::Observable<_Event>.
+ *
+ * Observers are stored in an std::unordered_set.
+ */
+template<class _Event>
+class Observable<_Event>
+	: public virtual interface::Observable<_Event> {
+
+protected:
+
+	typedef std::unordered_set<typename interface::Observable<_Event>::observer_type*> observers_type;
+
+	std::mutex _observersMutex;
+
+	observers_type _observers;
+
+public:
+
+	virtual ~Observable() {}
+
+	/**
+	 * Registers an observer.
+	 *
+	 * \param[in] o observer to be registered.
+	 */
+	virtual void addObserver(typename interface::Observable<_Event>::observer_type* o) override {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		if (o != nullptr) {
+			auto elem = _observers.find(o);
+			if (elem == _observers.end()) {
+				_observers.insert(o);
+			}
+		}
+	}
+
+	/**
+	 * Unregisters an observer.
+	 *
+	 * \param[in] o observer to be unregistered.
+	 */
+	virtual void deleteObserver(typename interface::Observable<_Event>::observer_type* o) override {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		if (o != nullptr) {
+			auto elem = _observers.find(o);
+			if (elem != _observers.end()) {
+				_observers.erase(elem);
+			}
+		}
+	}
+
+	/**
+	 * Unregisters all observers.
+	 */
+	virtual void deleteObservers() override {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		_observers.clear();
+	};
+
+	/**
+	 * Returns the number of registered observers.
+	 *
+	 * \return number of registered observers.
+	 */
+	virtual size_t countObservers() override {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		return _observers.size();
+	}
+
+	/**
+	 * Notify observers of a new event.
+	 *
+	 * \param[in] e event.
+	 */
+	virtual void notifyObservers(const _Event* e) override {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		for (auto l : _observers) {
+			l->notificationReceived(this, e);
+		}
+	}
+
+};
+
+
+
+/**
+ * Implementation of interface::Observable<_Key, _Event>.
+ *
+ * Observers are stored in an std::unordered_map using the filter key as map key.
+ */
+template<class _Key, class _Event>
+class Observable<_Key, _Event>
+	: public virtual interface::Observable<_Key, _Event>  {
+
+protected:
+
+	typedef std::unordered_multimap<_Key, typename interface::Observable<_Key, _Event>::observer_type*> observers_type;
+
+	std::mutex _observersMutex;
+
+	observers_type _observers;
+
+public:
+
+	virtual ~Observable() {}
+
+	/**
+	 * Registers an observer.
+	 *
+	 * \param[in] k filter key.
+	 * \param[in] o observer to be registered.
+	 */
+	virtual void addObserver(_Key k, typename interface::Observable<_Key, _Event>::observer_type* o) override {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		if (o != nullptr) {
+			bool _found = false;
+			auto range = _observers.equal_range(k);
+			for (auto i = range.first; i != range.second; i++) {
+				if (i.second == o) {
+					_found = true;
+					break;
+				}
+			}
+			if (!_found) {
+				_observers.insert({k, o});
+			}
+		}
+	}
+
+	/**
+	 * Unregisters an observer.
+	 *
+	 * \param[in] k filter key.
+	 * \param[in] o observer to be unregistered.
+	 */
+	virtual void deleteObserver(_Key k, typename interface::Observable<_Key, _Event>::observer_type* o) override {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		if (o != nullptr) {
+			bool _found = false;
+			auto range = _observers.equal_range(k);
+			for (auto i = range.first; i != range.second; i++) {
+				if (i.second == o) {
+					_observers.erase(i);
+					break;
+				}
+			}
+		}
+	}
+
+	/**
+	 * Unregisters all observers.
+	 */
+	virtual void deleteObservers() override {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		_observers.clear();
+	}
+
+	/**
+	 * Returns the number of registered observers.
+	 *
+	 * \return number of registered observers.
+	 */
+	virtual size_t countObservers() override {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		return _observers.size();
+	}
+
+	/**
+	 * Notify observers of a new event.
+	 *
+	 * \param[in] k observer filter key.
+	 * \param[in] e event.
+	 */
+	void notifyObservers(_Key k, const _Event* e) override {
+		std::lock_guard<std::mutex> lock(_observersMutex);
+		auto ol = _observers.equal_range(k);
+		std::for_each(ol.first, ol.second, [&](const typename interface::Observable<_Key, _Event>::observer_type::value_type& o) {
+			o.second->notificationReceived(this, k, e);
+		});
+	}
+
+};
+
+
+
+} // namespace implementation
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

src/hos_cosgi_core/include/hos_cosgi_core/hos/cosgi/service/Interface.h

@@ -0,0 +1,271 @@
+
+#pragma once
+
+
+
+#include <cstddef>
+
+
+
+// main namespace
+namespace hos {
+namespace cosgi{
+namespace service {
+namespace interface {
+
+
+
+/**
+ * Basic public OSGI interface class.
+ *
+ * Every public OSGI interface class needs to inherit from this class.
+ * At the moment it only defines an empty virtual destructor.
+ */
+class Object {
+public:
+	virtual ~Object() {}
+};
+
+
+
+/**
+ * Basic public OSGI service interface class.
+ *
+ * Every public OSGI service interface class needs to inherit from this class.
+ * Defines generic methods to get information about a service.
+ */
+class Service
+	: public virtual Object {
+
+public:
+
+	/**
+	 * Returns the name of the service.
+	 *
+	 * The service name is used to register a service in the OSGI framework.
+	 *
+	 * \return service name.
+	 **/
+	virtual const char* getServiceName() = 0;
+
+	/**
+	 * Returns the version of the service.
+	 *
+	 * The version numbers are used to determine compatibility. Different major numbers are incompatible with each other.
+	 * Different minor numbers are backwards compatible (e.g. a mininum requirement of 1.2 means that service version 1.3 is compatible
+	 * but service version 1.1 is incompatible).
+	 *
+	 * \param[out] major version major number.
+	 * \param[out] minor version minor number.
+	 */
+	virtual void getServiceVersion(int& major, int& minor) = 0;
+
+};
+
+
+
+/**
+ * Public OSGI interface template implementing the observer from the observer-pattern.
+ *
+ * This template does not provide any functionality, so do not use it but use only its specializations.
+ */
+template<class...> class Observer {};
+
+
+
+/**
+ * Public OSGI interface template implementing the observable from the observer-pattern.
+ *
+ * This template does not provide any functionality, so do not use it but use only its specializations.
+ */
+template<class...> class Observable {};
+
+
+
+/**
+ * Convenience template merging the Object class and the Observable template into a single template.
+ */
+template<class... _Args> class ObservableObject
+	: public virtual Object,
+	  public virtual Observable<_Args...> {};
+
+
+
+/**
+ * Convenience template merging the Service class and the Observable template into a single template.
+ */
+template<class... _Args> class ObservableService
+	: public virtual Service,
+	  public virtual Observable<_Args...> {};
+
+
+
+/**
+ * Specialization of the Observer template with one template argument (the event emitted from the observable).
+ */
+template<class _Event>
+class Observer<_Event>
+	: public virtual Object {
+
+public:
+
+	/**
+	 * Specifies the type of compatible observables.
+	 */
+	typedef Observable<_Event> observable_type;
+
+	/**
+	 * Function that is called when an event is emitted by the observable object.
+	 *
+	 * \param[in] o observable object emitting the event.
+	 * \param[in] e the event (can be null).
+	 */
+	virtual void notificationReceived(observable_type* o, const _Event* e) = 0;
+
+};
+
+
+
+/**
+ * Specialization of the Observer template with two template arguments (the key used to filter observers,
+ * and the event emitted from the observable).
+ */
+template<class _Key, class _Event>
+class Observer<_Key, _Event>
+	: public virtual Object {
+
+public:
+
+	/**
+	 * Specifies the type of compatible observables.
+	 */
+	typedef Observable<_Key, _Event> observable_type;
+
+	/**
+	 * Function that is called when an event is emitted by the observable object.
+	 *
+	 * \param[in] o observable object emitting the event.
+	 * \param[in] key the filter key.
+	 * \param[in] e the event (can be null).
+	 */
+	virtual void notificationReceived(observable_type* o, const _Key& key, const _Event* e) = 0;
+
+};
+
+
+
+/**
+ * Specialization of the Observable template with one template argument (the event emitted from the observable).
+ *
+ * When an event is emitted, all registered observers will be notified.
+ */
+template<class _Event>
+class Observable<_Event>
+	: public virtual Object {
+
+public:
+
+	/**
+	 * Specifies the type of compatible observers.
+	 */
+	typedef Observer<_Event> observer_type;
+
+	/**
+	 * Registers an observer.
+	 *
+	 * \param[in] o observer to be registered.
+	 */
+	virtual void addObserver(observer_type* o) = 0;
+
+	/**
+	 * Unregisters an observer.
+	 *
+	 * \param[in] o observer to be unregistered.
+	 */
+	virtual void deleteObserver(observer_type* o) = 0;
+
+	/**
+	 * Unregisters all observers.
+	 */
+	virtual void deleteObservers() = 0;
+
+	/**
+	 * Returns the number of registered observers.
+	 *
+	 * \return number of registered observers.
+	 */
+	virtual size_t countObservers() = 0;
+
+	/**
+	 * Notify observers of a new event.
+	 *
+	 * \param[in] e event.
+	 */
+	virtual void notifyObservers(const _Event* e) = 0;
+
+};
+
+
+
+/**
+ * Specialization of the Observable template with two template arguments (the key used to filter observers,
+ * and the event emitted from the observable).
+ *
+ * When an event is emitted, only observers registered under the specified key will be notified.
+ */
+template<class _Key, class _Event>
+class Observable<_Key, _Event>
+	: public virtual Object {
+
+public:
+
+	/**
+	 * Specifies the type of compatible observers.
+	 */
+	typedef Observer<_Key, _Event> observer_type;
+
+	/**
+	 * Registers an observer.
+	 *
+	 * \param[in] key filter key.
+	 * \param[in] o observer to be registered.
+	 */
+	virtual void addObserver(_Key& key, observer_type* o) = 0;
+
+	/**
+	 * Unregisters an observer.
+	 *
+	 * \param[in] key filter key.
+	 * \param[in] o observer to be unregistered.
+	 */
+	virtual void deleteObserver(_Key& key, observer_type* o) = 0;
+
+	/**
+	 * Unregisters all observers.
+	 */
+	virtual void deleteObservers() = 0;
+
+	/**
+	 * Returns the number of registered observers.
+	 *
+	 * \return number of registered observers.
+	 */
+	virtual size_t countObservers() = 0;
+
+	/**
+	 * Notify observers of a new event.
+	 *
+	 * \param[in] key observer filter key.
+	 * \param[in] e event.
+	 */
+	virtual void notifyObservers(const _Key& key, const _Event* e) = 0;
+
+};
+
+
+
+} // namespace interface
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

src/hos_cosgi_core/include/hos_cosgi_core/hos/cosgi/service/core/CoreService.h

@@ -0,0 +1,127 @@
+
+#pragma once
+
+
+
+#include <hos/cosgi/service/Interface.h>
+
+
+
+// Forward declarations
+namespace ros { class NodeHandle; }
+
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi {
+namespace service {
+namespace core {
+
+
+
+/**
+ * Base class for events emitted by the CoreService.
+ */
+class CoreServiceEvent {
+
+public:
+
+	/**
+	 * CoreService event types.
+	 */
+	enum class EventType : int { STARTUP_FINISHED = 1, SHUTDOWN = 2 };
+
+	/**
+	 * Event type.
+	 */
+	const EventType eventType;
+
+	/**
+	 * Constructor.
+	 */
+	CoreServiceEvent(EventType type) : eventType(type) {}
+
+};
+
+
+
+/**
+ * Startup finished event.
+ *
+ * This event is emitted when all autostart bundles have been started and hos_cosgi_launcher is about to enter the main loop.
+ */
+class StartupFinishedEvent
+	: public CoreServiceEvent {
+public:
+	StartupFinishedEvent() : CoreServiceEvent(EventType::STARTUP_FINISHED) {}
+};
+
+
+
+/**
+ * Shutdown event.
+ *
+ * This event is emitted when hos_cosgi_launcher is about to exit.
+ */
+class ShutdownEvent
+	: public CoreServiceEvent {
+public:
+	ShutdownEvent() : CoreServiceEvent(EventType::SHUTDOWN) {}
+};
+
+
+
+/**
+ * Public COSGI interface of the CoreService.
+ *
+ * The CoreService is directly provided by hos_cosgi_launcher. The best way to test whether a bundle was started by
+ * hos_cosgi_launcher is to try to retrieve the CoreService.
+ *
+ * It offers following functionality:
+ *  - Events indicating system events (currently startup, shutdown)
+ *  - Request application shutdown.
+ *  - Get ROS node handles.
+ */
+class CoreService
+	: public virtual interface::ObservableService<CoreServiceEvent> {
+
+public:
+
+	/**
+	 * The service name.
+	 */
+	static constexpr const char* SERVICE_NAME = "hos_core_service";
+
+	/**
+	 * Returns a reference to a node handle with public namespace.
+	 *
+	 * The node handle was created using the default constructor.
+	 *
+	 * \return public node handle
+	 */
+	virtual ros::NodeHandle& getPublicNodeHandle() = 0;
+
+	/**
+	 * Returns a reference to a node handle with private namespace.
+	 *
+	 * The node handle was created using namespace "~".
+	 *
+	 * \return private node handle
+	 */
+	virtual ros::NodeHandle& getPrivateNodeHandle() = 0;
+
+	/**
+	 * Request an application shutdown
+	 */
+	virtual void requestShutdown() = 0;
+
+};
+
+
+
+} // namespace core
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

src/hos_cosgi_core/package.xml

@@ -0,0 +1,61 @@
+<?xml version="1.0"?>
+<package>
+  <name>hos_cosgi_core</name>
+  <version>0.0.0</version>
+  <description>The hos_cosgi_core package</description>
+
+  <!-- One maintainer tag required, multiple allowed, one person per tag --> 
+  <!-- Example:  -->
+  <!-- <maintainer email="jane.doe@example.com">Jane Doe</maintainer> -->
+  <maintainer email="matzman@todo.todo">matzman</maintainer>
+
+
+  <!-- One license tag required, multiple allowed, one license per tag -->
+  <!-- Commonly used license strings: -->
+  <!--   BSD, MIT, Boost Software License, GPLv2, GPLv3, LGPLv2.1, LGPLv3 -->
+  <license>TODO</license>
+
+
+  <!-- Url tags are optional, but mutiple are allowed, one per tag -->
+  <!-- Optional attribute type can be: website, bugtracker, or repository -->
+  <!-- Example: -->
+  <!-- <url type="website">http://wiki.ros.org/hos_osgi_launcher</url> -->
+
+
+  <!-- Author tags are optional, mutiple are allowed, one per tag -->
+  <!-- Authors do not have to be maintianers, but could be -->
+  <!-- Example: -->
+  <!-- <author email="jane.doe@example.com">Jane Doe</author> -->
+
+
+  <!-- The *_depend tags are used to specify dependencies -->
+  <!-- Dependencies can be catkin packages or system dependencies -->
+  <!-- Examples: -->
+  <!-- Use build_depend for packages you need at compile time: -->
+  <!--   <build_depend>message_generation</build_depend> -->
+  <!-- Use buildtool_depend for build tool packages: -->
+  <!--   <buildtool_depend>catkin</buildtool_depend> -->
+  <!-- Use run_depend for packages you need at runtime: -->
+  <!--   <run_depend>message_runtime</run_depend> -->
+  <!-- Use test_depend for packages you need only for testing: -->
+  <!--   <test_depend>gtest</test_depend> -->
+  <buildtool_depend>catkin</buildtool_depend>
+  <build_depend>hos_celix</build_depend>
+  <build_depend>roscpp</build_depend>
+  <build_depend>hos_cpp_utils</build_depend>
+  <build_depend>hos_libvariant</build_depend>
+  <run_depend>hos_celix</run_depend>
+  <run_depend>roscpp</run_depend>
+  <run_depend>hos_cpp_utils</run_depend>
+  <run_depend>hos_libvariant</run_depend>
+
+
+  <!-- The export tag contains other, unspecified, tags -->
+  <export>
+    <!-- You can specify that this package is a metapackage here: -->
+    <!-- <metapackage/> -->
+
+    <!-- Other tools can request additional information be placed here -->
+
+  </export>
+</package>

src/hos_cosgi_core/src/hos/cosgi/service/core/core_serviceimpl.cpp

@@ -0,0 +1,43 @@
+/*
+ * hos_core_service_impl.cpp
+ *
+ *  Created on: 05.04.2015
+ *      Author: matzman
+ */
+
+#include <ros/ros.h>
+#include "core_serviceimpl.h"
+
+namespace hos {
+namespace cosgi{
+namespace service {
+namespace core {
+
+template<> const char* implementation::ServiceInfo<CoreServiceImpl>::name = service::core::CoreService::SERVICE_NAME;
+template<> const int implementation::ServiceInfo<CoreServiceImpl>::major = 0;
+template<> const int implementation::ServiceInfo<CoreServiceImpl>::minor = 3;
+
+CoreServiceImpl::CoreServiceImpl(ros::NodeHandle& publicNodeHandle, ros::NodeHandle& privateNodeHandle)
+	: publicNodeHandle(publicNodeHandle), privateNodeHandle(privateNodeHandle) {}
+
+
+ros::NodeHandle& CoreServiceImpl::getPublicNodeHandle() {
+	return publicNodeHandle;
+}
+
+ros::NodeHandle& CoreServiceImpl::getPrivateNodeHandle() {
+	return privateNodeHandle;
+}
+
+
+void CoreServiceImpl::requestShutdown() {
+	ROS_INFO("Received shutdown request");
+	ros::shutdown();
+}
+
+
+} // namespace core
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

src/hos_cosgi_core/src/hos/cosgi/service/core/core_serviceimpl.h

@@ -0,0 +1,42 @@
+/*
+ * hos_core_service_private.h
+ *
+ *  Created on: 05.04.2015
+ *      Author: matzman
+ */
+
+#ifndef SRC_CORE_SERVICEIMPL_H_
+#define SRC_CORE_SERVICEIMPL_H_
+
+#include <hos/cosgi/service/core/CoreService.h>
+#include <hos/cosgi/service/Implementation.h>
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi{
+namespace service {
+namespace core {
+
+
+class CoreServiceImpl;
+class CoreServiceImpl : public virtual CoreService, public virtual implementation::Service<CoreServiceImpl>, public virtual implementation::Observable<CoreServiceEvent> {
+private:
+	ros::NodeHandle publicNodeHandle;
+	ros::NodeHandle privateNodeHandle;
+
+public:
+	CoreServiceImpl(ros::NodeHandle& publicNodeHandle, ros::NodeHandle& privateNodeHandle);
+
+	virtual ros::NodeHandle& getPublicNodeHandle();
+	virtual ros::NodeHandle& getPrivateNodeHandle();
+	virtual void requestShutdown();
+};
+
+} // namespace core
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+
+
+#endif /* SRC_CORE_SERVICEIMPL_H_ */

src/hos_cosgi_core/src/launcher.cpp

@@ -0,0 +1,232 @@
+
+#include <cstdlib>
+#include "ros/ros.h"
+#include <apr_general.h>
+#include <apr_strings.h>
+
+#include "hos/cosgi/service/core/core_serviceimpl.h"
+
+extern "C" { // celix does not provide C++ ready headers
+	#include "celix/framework.h"
+	#include "celix/linked_list_iterator.h"
+}
+#include <exception>
+#include <sstream>
+#include <boost/format.hpp>
+#include <signal.h>
+#include <string>
+
+
+using namespace hos::cosgi::service::core;
+
+
+std::function<void(int)> signalHandler;
+
+int main(int argc, char **argv) {
+
+	bool apr_initialized = false;
+	apr_pool_t* memoryPool = nullptr;
+	framework_pt framework = nullptr;
+	bundle_pt fwBundle = nullptr;
+	properties_pt properties = nullptr;
+
+	int loop_frequency = 100;
+	std::string autostart_bundles;
+
+	try {
+		// Initialize ROS
+		ros::init(argc, argv, "hos_osgi_launcher", ros::init_options::AnonymousName | ros::init_options::NoSigintHandler);
+		// Create public node-handle
+		ros::NodeHandle rosPublicNodeHandle;
+		// Create private node-handle
+		ros::NodeHandle rosPrivateNodeHandle("~");
+		if (!ros::ok()) {
+			throw std::runtime_error(boost::format("Could not initialize ROS.").str());
+		}
+		ROS_INFO("ROS initialized");
+
+		// Retrieve ROS parameter
+		rosPrivateNodeHandle.getParam("loop_frequency", loop_frequency);
+		rosPrivateNodeHandle.getParam("autostart_bundles", autostart_bundles);
+
+		// Initialize APR and APR memory pool
+		apr_status_t astatus = apr_initialize();
+		if (astatus != APR_SUCCESS) {
+			throw std::runtime_error((boost::format("Could not initialize APR (%1%).") % astatus).str());
+		}
+		apr_initialized = true;
+		astatus = apr_pool_create(&memoryPool, nullptr);
+		if (astatus != APR_SUCCESS) {
+			memoryPool = nullptr;
+			throw std::runtime_error((boost::format("Could not create APR memory pool (%1%).") % astatus).str());
+		}
+		ROS_INFO("APR initialized");
+
+		// Create celix properties
+		properties = properties_create();
+
+		//properties = properties_load((char*)"config.properties");
+		if (properties == nullptr) {
+			throw std::runtime_error(boost::format("Could not create celix properties.").str());
+		}
+		properties_store(properties, (char*)"config.properties", nullptr);
+
+		// Create and initialize celix framework
+		celix_status_t cstatus = framework_create(&framework, memoryPool, properties);
+		if (cstatus != CELIX_SUCCESS) {
+			framework = nullptr;
+			throw std::runtime_error((boost::format("Could not create celix framework (%1%).") % cstatus).str());
+		}
+		cstatus = fw_init(framework);
+		if (cstatus != CELIX_SUCCESS) {
+			framework = nullptr;
+			throw std::runtime_error((boost::format("Could not initialize celix framework (%1%).") % cstatus).str());
+		}
+		ROS_INFO("Celix initialized");
+
+		// Get and start framework bundle
+		cstatus = framework_getFrameworkBundle(framework, &fwBundle);
+		if (cstatus != CELIX_SUCCESS) {
+			fwBundle = nullptr;
+			throw std::runtime_error((boost::format("Could not find framework bundle (%1%).") % cstatus).str());
+		}
+		cstatus = bundle_start(fwBundle);
+		if (cstatus != CELIX_SUCCESS) {
+			fwBundle = nullptr;
+			throw std::runtime_error((boost::format("Could not start framework bundle (%1%).") % cstatus).str());
+		}
+		ROS_INFO("Framework bundle started");
+
+		// Create bundle context
+		bundle_context_pt context = nullptr;
+		bundle_getContext(fwBundle, &context);
+
+		// Create and register hos-core-service
+		CoreServiceImpl hosCoreService(rosPublicNodeHandle, rosPrivateNodeHandle);
+		service_registration_pt reg = nullptr;
+		bundleContext_registerService(context, (char*)CoreService::SERVICE_NAME, static_cast<CoreService*>(&hosCoreService), nullptr, &reg);
+		ROS_INFO("HOS core service registered");
+
+
+		// Auto-start bundles
+		// #### Copied from celix launcher ####
+	    apr_pool_t *pool = nullptr;
+	    cstatus = apr_pool_create(&pool, memoryPool);
+	    if (cstatus == APR_SUCCESS) {
+			ROS_INFO("Starting auto-start bundles");
+			char* autoStart;
+			// ROS param overrides config file
+			if (!autostart_bundles.empty()) {
+				autoStart = (char*)autostart_bundles.c_str();
+			} else {
+				autoStart = properties_get(properties, (char*)"cosgi.auto.start.1");
+			}
+			ROS_INFO_STREAM("Autostart bundles: " << autoStart);
+			char delims[] = " ";
+			char *result = nullptr;
+			linked_list_pt bundles;
+			array_list_pt installed = nullptr;
+			bundle_pt bundle = nullptr;
+			bundle_context_pt context = nullptr;
+			linked_list_iterator_pt iter = nullptr;
+			unsigned int i;
+
+			if (linkedList_create(&bundles) != CELIX_SUCCESS) {
+				ROS_ERROR("Could not create linked list.");
+				exit(1);
+			}
+			result = strtok(autoStart, delims);
+			while (result != nullptr) {
+				char * location = apr_pstrdup(memoryPool, result);
+				linkedList_addElement(bundles, location);
+				result = strtok(nullptr, delims);
+			}
+			// First install all bundles
+			// Afterwards start them
+			arrayList_create(&installed);
+			framework_getFrameworkBundle(framework, &bundle);
+			bundle_getContext(bundle, &context);
+			iter = linkedListIterator_create(bundles, 0);
+			while (linkedListIterator_hasNext(iter)) {
+				bundle_pt current = nullptr;
+				char *location = (char *) linkedListIterator_next(iter);
+				if (bundleContext_installBundle(context, location, &current) == CELIX_SUCCESS) {
+					// Only add bundle if it is installed correctly
+					arrayList_add(installed, current);
+					ROS_INFO("Installed bundle %p from %s", current, location);
+				} else {
+					ROS_ERROR("Could not install bundle from %s", location);
+				}
+				linkedListIterator_remove(iter);
+			}
+			linkedListIterator_destroy(iter);
+
+			for (i = 0; i < arrayList_size(installed); i++) {
+				bundle_pt bundle = (bundle_pt) arrayList_get(installed, i);
+				if (bundle_startWithOptions(bundle, 0) == CELIX_SUCCESS) {
+					ROS_INFO("Started bundle %p", bundle);
+				} else {
+					ROS_ERROR("Could not start bundle %p", bundle);
+				}
+			}
+
+			arrayList_destroy(installed);
+			apr_pool_destroy(pool);
+		// #### End Copied from celix launcher ####
+		} else {
+			throw std::runtime_error((boost::format("Could not create temporary APR memory pool.") % cstatus).str());
+		}
+
+	    // Send startup finished event
+	    {
+			StartupFinishedEvent event;
+			hosCoreService.notifyObservers(&event);
+	    }
+
+		// main loop
+		ROS_INFO("Entering main loop");
+		signalHandler = [&](int signum) {
+			hosCoreService.requestShutdown();
+		};
+		signal(SIGINT, [](int signum) { signalHandler(signum); });
+		ros::Rate loop_rate(loop_frequency);
+		while (ros::ok()) {
+			ros::spinOnce();
+			loop_rate.sleep();
+		}
+		ROS_INFO("Exiting main loop");
+
+	} catch (std::exception &ex) {
+		std::stringstream ss;
+		ss  << "ERROR: " << ex.what() << std::endl;
+		ROS_ERROR_STREAM(ss.str());
+		std::cerr << ss.str();
+	}
+
+	// Deinitialize celix frameork
+	if (fwBundle != nullptr) {
+		bundle_stop(fwBundle);
+		framework_waitForStop(framework);
+	}
+	if (framework != nullptr) {
+		framework_destroy(framework);
+	}
+	if (properties != nullptr) {
+		properties_destroy(properties);
+	}
+	ROS_INFO("Celix Framework is shut down");
+
+	// Deinitialize APR
+	if (memoryPool != nullptr) {
+		apr_pool_destroy(memoryPool);
+	}
+	if (apr_initialized) {
+		apr_terminate();
+	}
+	ROS_INFO("APR Framework is shut down");
+
+	ROS_INFO("Exiting ...");
+	return 0;
+}
+
+