public ObservableComponent(DataFlowComponent comp)
{
_component = comp;
var observer = new ComponentObserverImpl();
var conf = _component.GetConfiguration();
_profile = new ServiceProfile();
_profile.Id = Guid.NewGuid().ToString();
_profile.InterfaceType = "IDL:OpenRTM/ComponentObserver:1.0";
_profile.Properties = new Dictionary<string, object>();
_profile.Properties["observed_status"] = "ALL";
_profile.Properties["heartbeat.enable"] = "YES";
_profile.Properties["heartbeat.interval"] = "1";
_profile.Service = observer;
if (conf.AddServiceProfile(_profile))
{
observer.Subscribe(Notify);
}
ExecutionContextScheduler = new EventLoopScheduler();
}
public bool AddServiceProfile(ServiceProfile sProfile)
{
if (sProfile.InterfaceType == "IDL:OpenRTM/ComponentObserver:1.0")
{
_owner.AddComponentObserver(sProfile);
return true;
}
return false;
}