Robotics Service Bus

[Remote]Server derived from Participant in src/rsb/patterns/RemoteServer.{h,cpp}

refs #1741

• src/rsb/patterns/RemoteServer.{h,cpp} (header): updated copyright
  (RemoteServer): changed base class to Participant
  (RemoteServer::scope): removed; stored in base class
  (RemoteServer::RemoteServer): pass scope and configuration to base
  class constructor
  (RemoteServer::getMethodSet): adapted to above changes
• src/rsb/patterns/Server.{h,cpp} (header): updated copyright
  (Server): changed base class to Participant
  (Server::scope): removed; stored in base class
  (Server::Server): pass scope and configuration to base class
  constructor
  (Server::registerMethod): adapted to above changes

Configuration options for introspection in src/rsb/ParticipantConfig.{h,cpp}

refs #1741

• src/rsb/ParticipantConfig.{h,cpp} (ParticipantConfig::introspection):
  new member variable; flag for controlling publishing of introspection
  messages
  (ParticipantConfig::getIntrospection): new member function; getter
  (ParticipantConfig::setIntrospection): new member function; setter
  (ParticipantConfig::handleOption): parse "introspection" section with
  "enabled" option

Added model classes in src/rsb/introspection/Model.{h,cpp}

refs #1741

• src/rsb/introspection/Model.{h,cpp}: new files; contain the model
  classes ParticipantInfo, ProcessInfo and HostInfo
• src/rsb/introspection/IntrospectionSender.{h,cpp}
  (IntrospectionSender::process): new member variable; stores the
  process information for the process
  (IntrospectionSender::host): new member variable; stores the host
  information for the local host
• src/rsb/introspection/CMakeLists.txt: added files
  src/rsb/introspection/Model.{h,cpp}

Added introspection server in src/rsb/introspection/IntrospectionSender.{h,cpp}

refs #1741

IntrospectionSender now contains a LocalServer that provides
information about the process via RPC.

• src/rsb/introspection/IntrospectionSender.{h,cpp} (EchoCallback): new
  class; sends replies augmented with timing information
  (IntrospectionSender::server): new member variable; stores a server
  exposing the EchoCallback instance
  (IntrospectionSender::IntrospectionSender): construct a LocalServer
  that provides information about the process via RPC

Added Participant::getKind in src/rsb/Participant.h

refs #1741

• src/rsb/Participant.h (Participant::getKind): new method; return a
  string describing the kind of the participant
• src/rsb/Listener.{h,cpp} (Listener::getKind): new method; implement
  extended Participant interface
• src/rsb/Reader.{h,cpp} (Reader::getKind): likewise
• src/rsb/Informer.{h,cpp} (Informer::getKind): likewise
• src/rsb/patterns/RemoteServer.{h,cpp} (RemoteServer::getKind):
  likewise
  (RemoteServer::RemoteMethod::getKind): likewise
• src/rsb/patterns/LocalServer.{h,cpp} (LocalServer::getKind): likewise
  (LocalServer::LocalMethod::getKind): likewise

Reviewed-by: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

Added introspection plugin skeleton in src/rsb/introspection/*

refs #1741

• src/rsb/introspection/Types.{h,cpp}: new files; contain basic
  constants
• src/rsb/introspection/IntrospectionSender.{h,cpp}: new files; contain
  class IntrospectionSender which send introspection messages and
  processes introspection queries
• src/rsb/introspection/Plugin.cpp: new file; contains plugin init
  function for registering converters and hooking into participant
  creation and destruction
• src/rsb/introspection/CMakeLists.txt: new file; build and install
  introspection plugin
• src/CMakeLists.txt: added subdirectory src/rsb/introspection

Reviewed-by: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

Added query handler in src/rsb/introspection/IntrospectionSender.{h,cpp}

refs #1741

New QueryHandler struct replies to introspection queries.

Also, lock IntrospectionSender object in all entry point methods.

• src/rsb/introspection/IntrospectionSender.{h,cpp} (QueryHandler): new
  struct; reply to introspection queries; keeps reference to
  IntrospectionSender
  (IntrospectionSender::mutex): new member variable; protects concurrent
  accesses to the sender object
  (IntrospectionSender::IntrospectionSender): connect QueryHandler
  instance to listener
  (IntrospectionSender::addParticipant): lock mutex
  (IntrospectionSender::removeParticipant): likewise

Reviewed-by: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>

Methods send{Hello,Bye} in src/rsb/introspection/IntrospectionSender.{h,cpp}

fixes #1741

• src/rsb/introspection/IntrospectionSender.{h,cpp}
  (IntrospectionSender::sendHello): new method; send
  rsb.protocol.introspection.Hello message when a participant is created
  or the information is requested
  (IntrospectionSender::sendBye): new method; send
  rsb.protocol.introspection.Bye message when a participant is destroyed

Reviewed-by: Johannes Wienke <jwienke@techfak.uni-bielefeld.de>