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 ORCAGUI_ICESTORM_ELEMENT_H
00012 #define ORCAGUI_ICESTORM_ELEMENT_H
00013 
00014 #include <assert.h>
00015 #include <Ice/Ice.h>
00016 #include <IceStorm/IceStorm.h>
00017 #include <orcaqguielementutil/icestormlistener.h>
00018 #include <hydroqgui/hydroqgui.h>
00019 #include <hydroqguielementutil/guielement2d.h>
00020 
00021 namespace orcaqguielementutil {
00022 
00030 template<class PainterType, class DataType, class ProxyType, class ConsumerType, class ConsumerPrxType>
00031 class IceStormElement : public hydroqguielementutil::GuiElement2d
00032 {
00033   
00034 public:
00035 
00038     IceStormElement( const orcaice::Context  &context,
00039                      const std::string       &proxyString,
00040                      PainterType             &painter,
00041                      const double            timeoutMs=5000.0 )
00042         : context_(context),
00043           listener_(context,proxyString),
00044           painter_(painter),
00045           timeoutMs_(timeoutMs),
00046           isConnected_(false)
00047     {            
00048     };
00049 
00051     virtual void actionOnConnection()=0;
00052 
00054     virtual void update();
00055 
00057     virtual void paint( QPainter *p, int z )
00058         { painter_.paint( p, z ); }
00059 
00060     bool paintThisLayer( int z ) const
00061         { return painter_.paintThisLayer( z ); }
00062 
00063 protected:
00064 
00065     orcaice::Context              context_;
00066     
00067     DataType                       data_;
00068     
00069     bool needToUpdate();
00070     
00072     orcaqguielementutil::IceStormListener<DataType,
00073                                           ProxyType,
00074                                           ConsumerType,
00075                                           ConsumerPrxType> listener_;
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 IceStormElement<PainterType,DataType,ProxyType,ConsumerType,ConsumerPrxType>::needToUpdate()
00087 {
00088     if ( !isConnected_ )
00089     {
00090         if ( listener_.connect() == 0 )
00091         {
00092             isConnected_ = true;
00093             actionOnConnection();
00094         }
00095         return false;
00096     }
00097 
00098     if ( !listener_.buffer().isEmpty() )
00099     {
00100         // An object has arrived in our buffer.  We need to update.
00101         return true;
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 IceStormElement<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 } // namespace
00137 
00138 #endif