New Message API

This use case shows how one can use messages in the new API. The unchanged method is added for comparison. Note that I have also added the provides() and requires() mechanism such that the RTT 1.0 construction: 

  method = this->getPeer("PeerX")->getMethod<int(double)>("Method");

is no longer required. The connection is made similar as data flow ports are connected.

/**
 * Provider
 */
class TaskA    : public TaskContext
{
    Message<void(double)>   message;
    Method<int(double)>     method;
 
    void mesg(double arg1) {
        return;
    }
 
    int meth(double arg1) {
        return 0;
    }
 
public:
 
    TaskA(std::string name)
        : TaskContext(name),
          message("Message",&TaskA::mesg, this),
          method("Method",&TaskA::meth, this)
    {
        this->provides()->addMessage(&message, "The Message", "arg1", "Argument 1");
        this->provides()->addMethod(&method, "The Method", "arg1", "Argument 1");
        // OR:
        this->provides("FooInterface")->addMessage(&message, "The Message", "arg1", "Argument 1");
        this->provides("FooInterface")->addMethod(&method, "The Method", "arg1", "Argument 1");
    }
 
};
 
class TaskB   : public TaskContext
{
    Message<void(double)>   message;
    Method<int(double)>     method;
 
public:
 
    TaskB(std::string name)
        : TaskContext(name),
          message("Message"),
          method("Method")
    {
        this->requires()->addMessage( &message );
        this->requires()->addMethod( &method );
        // OR:
        this->requires("FooInterface")->addMessage( &message );
        this->requires("FooInterface")->addMethod( &method );
    }
 
    bool configureHook() {
        // setup is done during deployment.
        return message.ready() && method.ready();
    }
 
    void updateHook() {
        // calls TaskA:
        method( 4.0 );
        // sends two messages:
        message( 1.0 );
        message( 2.0 );
    }
};
 
int ORO_main( int, char** )
{
    // Create your tasks
    TaskA ta("Provider");
    TaskB tb("Subscriber");
 
    connectPeers(ta, tb);
    // connects interfaces.
    connectInterfaces(ta, tb);
    return 0;
}

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