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

[Christian Rauch]

Am 05.11.2013 14:51, schrieb 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 ...
Thanks.
>
>> 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
>
Ok, this is also what syskit proposes ('command_out' => 'command_out'; I 
meant <..>ControllerSrv in the previous mail). But I guess after I do 
this, I won't be able to use the output ports of both services any more. 
For example the command_out of Base::Motion2DControllerSrv and the 
command_out of Base::<some_other_type>ControllerSrv will not be 
reachable later because one service superposes the other.

Is there a way to have both ports accessible even if they have the same 
name by giving the service (something like 
#.as(Base::...ControllerSrv).command_out) or by renaming on of them?

-- 
  Christian Rauch
  Space Robotics

  Universität Bremen
  FB 3 - Mathematik und Informatik
  AG Robotik
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