Orca Robotics

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
00005  *
00006  * This copy of Orca is licensed to you under the terms described in
00007  * the LICENSE file included in this distribution.
00008  *
00009  */
00010 
00011 #ifndef ORCAGUI3D_ICESTORM_ELEMENT_3D_H
00012 #define ORCAGUI3D_ICESTORM_ELEMENT_3D_H
00013 
00014 #include <assert.h>
00015 #include <Ice/Ice.h>
00016 #include <IceStorm/IceStorm.h>
00017 
00018 #include <orcaqgui3d/guielement3d.h>
00019 #include <orcaqgui/icestormlistener.h>
00020 
00021 // forward declarations
00022 class QPainter;
00023 
00024 namespace orcaqgui3d {
00025 
00033 template<class PainterType, class DataType, class ProxyType, class ConsumerType, class ConsumerPrxType>
00034 class IceStormElement3d : public GuiElement3d
00035 {
00036   
00037 public:
00038 
00041     IceStormElement3d( const orcaice::Context  &context,
00042                        const std::string       &proxyString,
00043                        PainterType             &painter,
00044                        const double            timeoutMs=5000.0 )
00045         : context_(context),
00046           listener_(context,proxyString),
00047           painter_(painter),
00048           timeoutMs_(timeoutMs),
00049           isConnected_(false)
00050         {};
00051 
00053     virtual void actionOnConnection()=0;
00054 
00056     virtual void update();
00057 
00059     void paint( QGLWidget *p )
00060         { painter_.paint( p ); }
00061 
00062 protected:
00063 
00064     orcaice::Context              context_;
00065     
00066     DataType                       data_;
00067     
00068     bool needToUpdate();
00069     
00071     orcaqgui::IceStormListener<DataType,
00072                      ProxyType,
00073                      ConsumerType,
00074                      ConsumerPrxType> listener_;
00075     
00076 
00078     PainterType                     &painter_;
00079     
00080     double                           timeoutMs_;
00081     bool                             isConnected_;
00082 };
00083 
00084 template<class PainterType, class DataType, class ProxyType, class ConsumerType, class ConsumerPrxType>
00085 bool 
00086 IceStormElement3d<PainterType,DataType,ProxyType,ConsumerType,ConsumerPrxType>::needToUpdate()
00087 {
00088     if ( !listener_.buffer().isEmpty() )
00089     {
00090         // An object has arrived in our buffer.  We need to update.
00091         return true;
00092     }
00093 
00094     if ( !isConnected_ )
00095     {
00096         if ( listener_.connect() == 0 )
00097         {
00098             actionOnConnection();
00099             isConnected_ = true;
00100         }
00101         return false;
00102     }
00103 
00104     // The buffer is empty.  How long since we last received something?
00105     if ( timeoutMs_ != -1 && listener_.msSinceReceipt() >= timeoutMs_ )
00106     {
00107         std::cout<<"TRACE(icestormelement.h): Haven't received anything from " 
00108                  << listener_.interfaceName() << " for " << listener_.msSinceReceipt() << "ms" << std::endl;
00109         std::cout<<"TRACE(icestormelement.h): Timing out..." << std::endl;
00110 
00111         painter_.clear();
00112         listener_.resetTimer();
00113         if ( listener_.connect() == 0 )
00114             actionOnConnection();
00115     }
00116     return false;
00117 }
00118 
00119 template<class PainterType, class DataType, class ProxyType, class ConsumerType, class ConsumerPrxType>
00120 void 
00121 IceStormElement3d<PainterType,DataType,ProxyType,ConsumerType,ConsumerPrxType>::update()
00122 {
00123     if ( !needToUpdate() ) {
00124         return;
00125     }
00126     
00127     assert( !listener_.buffer().isEmpty() );
00128 
00129     // get data from the buffer
00130     listener_.buffer().getAndPop( data_ );
00131 
00132     // transfer data into painter
00133     painter_.setData( data_ );
00134 }
00135 
00136 }
00137 
00138 #endif
icestormelement3d.h
