.

src/hos_cosgi_core/CMakeLists.txt

@@ -1,93 +1,28 @@
 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_celix
   hos_cpp_utils
   hos_deps
 )
 
-## System dependencies are found with CMake's conventions
 find_package(Boost REQUIRED)
 find_package(APR REQUIRED)
+find_package(libvariant 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 ##
 ###########
@@ -96,70 +31,39 @@ 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(
+  include/${PROJECT_NAME}/
   ${catkin_INCLUDE_DIRS}
   ${APR_INCLUDE_DIR}
   ${APR_INCLUDE_DIR}/apr-1.0
-  include/${PROJECT_NAME}/
+  ${libvariant_INCLUDE_DIRS}
 )
 
-
 add_executable(hos_cosgi_launcher 
 	src/launcher.cpp
-	src/hos/cosgi/service/core/core_serviceimpl.cpp
+	src/hos/cosgi/service/core/CoreServiceImpl.cpp
 )
+
 target_link_libraries(hos_cosgi_launcher
 	${catkin_LIBRARIES}
 	${APR_LIBRARIES}
+	${libvariant_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
@@ -167,26 +71,6 @@ install(DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/doc
    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 ##
@@ -200,3 +84,4 @@ if(DOXYGEN_FOUND)
 		WORKING_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}
 	)
 endif(DOXYGEN_FOUND)
+

src/hos_cosgi_core/include/hos_cosgi_core/hos/cosgi/celix.h

@@ -0,0 +1,12 @@
+
+#pragma once
+
+/*
+ * Celix does not provide C++ ready headers, and seems to be under heavy development.
+ * Therefore we don't directly include celix but use this file als proxy.
+ */
+
+extern "C" {
+	#include "celix/framework.h"
+	#include "celix/linked_list_iterator.h"
+}

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

@@ -76,6 +76,15 @@ template <class... _Args> class Observable {};
 
 
 
+/**
+ * Convenience template merging the Service class and the Observable template into a single template.
+ */
+template<class _Service, class... _Args> class ObservableService
+	: public virtual Service<_Service>,
+	  public virtual Observable<_Args...> {};
+
+
+
 /**
  * Implementation of interface::Observable<_Event>.
  *

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

@@ -4,11 +4,13 @@
 
 
 #include <hos/cosgi/service/Interface.h>
+#include <chrono>
 
 
 
 // Forward declarations
 namespace ros { class NodeHandle; }
+namespace hos { namespace utils { class SchemaLoader; } };
 
 
 
@@ -24,24 +26,14 @@ namespace core {
  * Base class for events emitted by the CoreService.
  */
 class CoreServiceEvent {
-
 public:
-
-	/**
-	 * CoreService event types.
-	 */
+	typedef std::chrono::system_clock::time_point timestamp_t;
 	enum class EventType : int { STARTUP_FINISHED = 1, SHUTDOWN = 2 };
-
-	/**
-	 * Event type.
-	 */
 	const EventType eventType;
+	const timestamp_t timestamp;
 
-	/**
-	 * Constructor.
-	 */
-	CoreServiceEvent(EventType type) : eventType(type) {}
-
+	CoreServiceEvent(EventType type, const timestamp_t timestamp = std::chrono::system_clock::now())
+		: eventType(type), timestamp(timestamp) {}
 };
 
 
@@ -116,6 +108,13 @@ public:
 	 */
 	virtual void requestShutdown() = 0;
 
+	/**
+	 * Returns a reference to the schema loader.
+	 *
+	 * \return schema loader.
+	 */
+	virtual utils::SchemaLoader& getSchemaLoader() = 0;
+
 };
 
 

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

@@ -1,34 +1,30 @@
-/*
- * hos_core_service_impl.cpp
- *
- *  Created on: 05.04.2015
- *      Author: matzman
- */
+
+
 
 #include <ros/ros.h>
-#include "core_serviceimpl.h"
+#include "CoreServiceImpl.h"
 
+
+
+// Service Namespace
 namespace hos {
 namespace cosgi{
 namespace service {
 namespace core {
 
+
+
+// Service information
 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;
+template<> const int implementation::ServiceInfo<CoreServiceImpl>::major = 1;
+template<> const int implementation::ServiceInfo<CoreServiceImpl>::minor = 0;
+
+
 
 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");
@@ -36,6 +32,7 @@ void CoreServiceImpl::requestShutdown() {
 }
 
 
+
 } // namespace core
 } // namespace service
 } // namespace cosgi

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

@@ -0,0 +1,85 @@
+
+#pragma once
+
+
+
+#include <hos/cosgi/service/core/CoreService.h>
+#include <hos/cosgi/service/Implementation.h>
+#include <hos/utils/SchemaLoader.h>
+#include <memory>
+
+
+
+// Service Namespace
+namespace hos {
+namespace cosgi{
+namespace service {
+namespace core {
+
+
+
+/**
+ * Implementation of CoreService.
+ */
+class CoreServiceImpl
+	: public virtual CoreService,
+	  public virtual implementation::ObservableService<CoreServiceImpl, CoreServiceEvent> {
+
+private:
+
+	ros::NodeHandle publicNodeHandle;
+	ros::NodeHandle privateNodeHandle;
+	std::unique_ptr<utils::SchemaLoader> schemaLoader;
+
+public:
+
+	/**
+	 * Constructor.
+	 */
+	CoreServiceImpl(ros::NodeHandle& publicNodeHandle, ros::NodeHandle& privateNodeHandle);
+
+	////////////////////////////////////////////////////////////
+	////////////// Public Service Implementations //////////////
+	////////////////////////////////////////////////////////////
+
+	/**
+	 * Returns a reference to a node handle with public namespace.
+	 *
+	 * \return public node handle
+	 */
+	virtual ros::NodeHandle& getPublicNodeHandle() override {
+		return publicNodeHandle;
+	}
+
+	/**
+	 * Returns a reference to a node handle with private namespace.
+	 *
+	 * \return private node handle
+	 */
+	virtual ros::NodeHandle& getPrivateNodeHandle() override {
+		return privateNodeHandle;
+	}
+
+	/**
+	 * Request an application shutdown
+	 */
+	virtual void requestShutdown() override;
+
+	/**
+	 * Returns a reference to the schema loader.
+	 *
+	 * \return schema loader.
+	 */
+	virtual utils::SchemaLoader& getSchemaLoader() override {
+		return *schemaLoader;
+	}
+
+};
+
+
+
+} // namespace core
+} // namespace service
+} // namespace cosgi
+} // namespace hos
+

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

@@ -1,42 +0,0 @@
-/*
- * 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

@@ -1,53 +1,64 @@
 
+
+// std
+#include <signal.h>
 #include <cstdlib>
+#include <string>
+#include <sstream>
+#include <exception>
+// Boost
+#include <boost/format.hpp>
+// ROS
 #include "ros/ros.h"
+// APR
 #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>
+// Celix
+#include <hos/cosgi/celix.h>
+// CoreService
+#include "hos/cosgi/service/core/CoreServiceImpl.h"
 
 
 using namespace hos::cosgi::service::core;
 
 
+// forward declaration of signal handler
 std::function<void(int)> signalHandler;
 
+
+/**
+ * hos_cosgi_launcher entry point.
+ *
+ * Command line argument parsing is handled by ROS.
+ */
 int main(int argc, char **argv) {
 
+	// Public Parameters
+	int loop_frequency = 100;
+	std::string autostart_bundles;
+	std::string config_properties;
+
+	// Internal State
 	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
+		// Retrieve public parameters
 		rosPrivateNodeHandle.getParam("loop_frequency", loop_frequency);
 		rosPrivateNodeHandle.getParam("autostart_bundles", autostart_bundles);
+		rosPrivateNodeHandle.getParam("config_properties", config_properties);
 
 		// Initialize APR and APR memory pool
 		apr_status_t astatus = apr_initialize();
@@ -64,12 +75,10 @@ int main(int argc, char **argv) {
 
 		// 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);
+		properties_store(properties, (char*)config_properties.c_str(), nullptr);
 
 		// Create and initialize celix framework
 		celix_status_t cstatus = framework_create(&framework, memoryPool, properties);
@@ -183,17 +192,23 @@ int main(int argc, char **argv) {
 			hosCoreService.notifyObservers(&event);
 	    }
 
-		// main loop
-		ROS_INFO("Entering main loop");
+	    // Install signal handler
 		signalHandler = [&](int signum) {
+			std::cerr << "Caught SIGINT, exiting..." << std::endl;
 			hosCoreService.requestShutdown();
 		};
 		signal(SIGINT, [](int signum) { signalHandler(signum); });
+		// main loop
+		ROS_INFO("Entering main loop");
 		ros::Rate loop_rate(loop_frequency);
 		while (ros::ok()) {
 			ros::spinOnce();
 			loop_rate.sleep();
 		}
+	    {
+			ShutdownEvent event;
+			hosCoreService.notifyObservers(&event);
+	    }
 		ROS_INFO("Exiting main loop");
 
 	} catch (std::exception &ex) {