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consumerImpl.h /* * Orca-Robotics Project: Components for robotics * http://orca-robotics.sf.net/ * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp * * This copy of Orca is licensed to you under the terms described in * the LICENSE file included in this distribution. * */ #ifndef ORCAIFACEIMPL_CONSUMER_IMPL_H #define ORCAIFACEIMPL_CONSUMER_IMPL_H #include <orcaice/context.h> #include <orcaice/multiconnectutils.h> #include <gbxsickacfr/gbxiceutilacfr/safethread.h> namespace orcaifaceimpl { // detail class. // Functionality which ConsumerI needs to know about when talking to ConsumerImpl class. template<class ObjectType> class ConsumerDataHandler { public: virtual ~ConsumerDataHandler() {}; virtual void internalSetData( const ObjectType &data )=0; }; // generic consumerI. // implements any consumer interface whose set method is called "setData". // this is a "detail" class, not used directly by the end user. template<class ConsumerType, class ObjectType> class ConsumerI : public ConsumerType { public: ConsumerI( ConsumerDataHandler<ObjectType> &handler ) : handler_(handler) {} virtual ~ConsumerI() {}; // implementation of remote call defined in all *Consumer interfaces // this implementation redirects to the implementation class virtual void setData( const ObjectType& data, const Ice::Current& ) { handler_.internalSetData( data ); } private: ConsumerDataHandler<ObjectType> &handler_; }; class ConsumerSubscriber { public: virtual ~ConsumerSubscriber() {}; virtual void subscribeWithString( const std::string& proxyString )=0; virtual void unsubscribeWithString( const std::string& proxyString )=0; virtual void subscribeWithTag( const std::string& interfaceTag )=0; virtual void unsubscribeWithTag( const std::string& interfaceTag )=0; virtual void subscribeWithString( const std::string& proxyString, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 )=0; virtual void subscribeWithTag( const std::string& interfaceTag, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 )=0; }; // Note: inheriting from IceUtil::Shared allows us to use Ice smart // pointers with these things. template<class ProviderPrxType, class ConsumerType, class ConsumerPrxType, class ObjectType> class ConsumerImpl : public ConsumerDataHandler<ObjectType>, public ConsumerSubscriber, public IceUtil::Shared { friend class ConsumerI<ConsumerType,ObjectType>; public: ConsumerImpl( const orcaice::Context &context ) : context_(context), ptr_(new ConsumerI<ConsumerType,ObjectType>(*this)), // this function does not throw prx_(orcaice::createConsumerInterface<ConsumerPrxType>(context,ptr_)) {} // no doxytags, these functions are already documented above. virtual ~ConsumerImpl() { try { context_.adapter()->remove( prx_->ice_getIdentity() ); } // This can fail if the adapter is shutting down. We don't care. catch ( ... ) {} } virtual void subscribeWithString( const std::string& proxyString ) { ProviderPrxType providerPrx; orcaice::connectToInterfaceWithString<ProviderPrxType>( context_, providerPrx, proxyString ); providerPrx->subscribe( prx_ ); std::stringstream ss; ss << "Subscribed to " << proxyString; context_.tracer().debug( ss.str() ); } virtual void subscribeWithTag( const std::string& interfaceTag ) { // this may throw ConfigFileException, we don't catch it, let the user catch it at the component level std::string proxyString = orcaice::getRequiredInterfaceAsString( context_, interfaceTag ); // now that we have the stingified proxy, use the function above. subscribeWithString( proxyString ); } virtual void unsubscribeWithString( const std::string& proxyString ) { ProviderPrxType providerPrx; orcaice::connectToInterfaceWithString<ProviderPrxType>( context_, providerPrx, proxyString ); providerPrx->unsubscribe( prx_ ); std::stringstream ss; ss << "unsubscribed to " << proxyString; context_.tracer().debug( ss.str() ); } virtual void unsubscribeWithTag( const std::string& interfaceTag ) { // this may throw ConfigFileException, we don't catch it, let the user catch it at the component level std::string proxyString = orcaice::getRequiredInterfaceAsString( context_, interfaceTag ); // now that we have the stingified proxy, use the function above. unsubscribeWithString( proxyString ); } virtual void subscribeWithString( const std::string& proxyString, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ) { ProviderPrxType providerPrx; // multi-try orcaice::connectToInterfaceWithString<ProviderPrxType>( context_, providerPrx, proxyString, thread, subsysName, retryInterval, retryNumber ); int count = 0; while ( !thread->isStopping() && ( retryNumber<0 || count<retryNumber) ) { try { providerPrx->subscribe( prx_ ); std::stringstream ss; ss << "Subscribed to " << proxyString; context_.tracer().debug( ss.str() ); break; } catch ( const Ice::Exception &e ) { std::stringstream ss; ss << "Failed to subscribe: " << e << std::endl <<"Will retry in "<<retryInterval<<"s."; context_.tracer().warning( ss.str() ); } catch ( const std::exception &e ) { std::stringstream ss; ss << "Failed to subscribe: " << e.what() << std::endl <<"Will retry in "<<retryInterval<<"s."; context_.tracer().warning( ss.str() ); } catch ( ... ) { std::stringstream ss; ss << "Failed to subscribe for unknown reason. " <<"Will retry in "<<retryInterval<<"s."; context_.tracer().warning( ss.str() ); } ++count; IceUtil::ThreadControl::sleep(IceUtil::Time::seconds(retryInterval)); } } virtual void subscribeWithTag( const std::string& interfaceTag, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ) { // this may throw ConfigFileException, we don't catch it, let the user catch it at the component level std::string proxyString = orcaice::getRequiredInterfaceAsString( context_, interfaceTag ); // now that we have the stingified proxy, use the function above. subscribeWithString( proxyString, thread, subsysName, retryInterval, retryNumber ); } ConsumerPrxType consumerPrx() const { return prx_; } protected: virtual void handleData( const ObjectType &data )=0; orcaice::Context context_; private: // from ConsumerDataHandler virtual void internalSetData( const ObjectType &data ) { // callback implemented in derived classes. handleData( data ); } // Hang onto this so we can remove from the adapter and control when things get deleted Ice::ObjectPtr ptr_; // proxy to the internal consumer interface implementation ConsumerPrxType prx_; }; } // namespace #endif

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