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matzman
2015-05-28 10:09:28 +02:00
parent 7a479433d6
commit 8be54f1a40
26 changed files with 709 additions and 128 deletions
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src/hos_cosgi_core/include/hos_cosgi_core/hos/cosgi/service/Implementation.h
+10
View File
@@ -34,6 +34,16 @@ struct ServiceInfo {
/**
* Macro to instantiate the ServiceInfo struct.
*/
#define HOS_SERVICE_IMPL_INFO(ImplClass, ServiceName, ServiceMajor, ServiceMinor) \
template<> const char* ::hos::cosgi::service::implementation::ServiceInfo<ImplClass>::name = ServiceName; \
template<> const int ::hos::cosgi::service::implementation::ServiceInfo<ImplClass>::major = ServiceMajor; \
template<> const int ::hos::cosgi::service::implementation::ServiceInfo<ImplClass>::minor = ServiceMinor;
/**
* Implementation of interface::Object.
*/
src/hos_cosgi_core/src/launcher.cpp
+2 -1
View File
@@ -113,7 +113,8 @@ int main(int argc, char **argv) {
// Create and register hos-core-service
CoreServiceImpl hosCoreService(rosPublicNodeHandle, rosPrivateNodeHandle);
service_registration_pt reg = nullptr;
bundleContext_registerService(context, (char*)CoreService::SERVICE_NAME, &hosCoreService, nullptr, &reg);
CoreService* coreInterface = dynamic_cast<CoreService*>(&hosCoreService);
bundleContext_registerService(context, (char*)CoreService::SERVICE_NAME, coreInterface, nullptr, &reg);
ROS_INFO("HOS core service registered");