[Rock-dev] Multiple services of same type in tasks and data_service_type

[Sylvain Joyeux]

On 11/05/2013 11:30 AM, Christian Rauch wrote:
> Hi,
>
> if a task provides multiple services of the same type with different
> alias, how do I select one particular service by name in my profile?
>
> In my case a task provides two different Base::<type>ControlledSystemSrv
> and syskit tells me:
> {{{
> = there is an ambiguity while looking for a service of type
> Base::ControlledSystemSrv in Motionproxy::Task
> | candidates are:
> |   controlled_system,
> |   motion_sample_consumer
> }}}
>
> How do I select one of the candidates when I want to fulfil
> 'controlled_system' of a ControlLoop?
Yes, you simply select it with e.g.

   use('controlled_system' => Motionproxy::Task.controlled_system_srv)

Just updated the documentation ...

> A similar problem arises when a data_service_type also provides two
> different Base::<type>ControlledSystemSrv as both have the output port
> "command_out" but different type.
> Is there a way to rename the ports of a service in the provides statement?
See the bottom of
   http://rock-robotics.org/stable/documentation/system/data_services.html

-- 
Sylvain Joyeux (Dr.Ing.)
Space & Security Robotics

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