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Chapter 4. Implementation 51

device manager

add

remove

change

protocol output

service

protocol input

receiver/

sender

get

set

device_list

switch

receiver/

sender

save

device changed

database changed

switch receiver

switch sender

publishersubscriber

Figure 4.13.: The device manager with its ROS interfaces.

by a call of remove and add, but this can unintentionally change the device ID. Calling the

change service, however, will keep the device ID. That can be useful for nodes that use a

local copy of the database, such as the visualization node (section 4.5 on page 55).

Get/set device list: The get device list service will respond by sending the complete database,

whereas the set device list service is for loading an external device list. The new device

list can either replace the internal one or be merged with it. Merging will sometimes cause

problems, for example if a device already exists or if two diﬀerent devices have the same

ID. In this case, the service will replace or leave the internal entries depending on the

conﬁguration ﬂags in the request message and return an error report.

Switch sender/receiver: These services can switch receivers on and oﬀ and therefore indirectly

manipulate the database. The "switch sender"-service will cause the device manager to send

the on or oﬀ-codes of a transmitter, whereas "switch receiver" will use the on/oﬀ-codes of

the default transmitter of a receiver. Both services have the same eﬀect as the topics "switch

receiver" and "switch sender", but they return whether the request succeeded or not.

Save: As will be described later, the XML database is just used for ﬁlling the internal buﬀers

during start-up and for saving them when closing the node. Therefore, it can be outdated

when it is accessed during runtime. The save service allows the XML ﬁle to be upgraded

without restarting the node.

And the additional topics:

Device changed: The "device changed"-publisher publishes a message, each time a receiver

changes its state. The published message contains the full data structure of the changed

receiver and the used transmitter as well as the new state it was switched to. It can be

triggered by incoming protocol data from the gateway driver, if a matching entry exists, or

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