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icestormlistener.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 ORCAGUI_ICESTORM_LISTENER_H #define ORCAGUI_ICESTORM_LISTENER_H #include <iostream> #include <assert.h> #include <Ice/Ice.h> #include <IceStorm/IceStorm.h> #include <orcaice/connectutils.h> #include <orcaice/context.h> #include <gbxsickacfr/gbxiceutilacfr/timer.h> #include <orcaqguielementutil/icestormlistenerdetail.h> namespace orcaqguielementutil { template< class DataType, class ProxyType, class ConsumerType, class ConsumerPrxType, class SubscriptionMakerType=detail::DefaultSubscriptionMaker<ProxyType,ConsumerPrxType>, class UnSubscriptionMakerType=detail::DefaultUnSubscriptionMaker<ProxyType,ConsumerPrxType> > class IceStormListener { public: IceStormListener( const orcaice::Context &context, const std::string &proxyStr ) : context_(context), proxyString_(proxyStr), isSubscribed_(false) { // Register with the adapter consumer_ = new detail::BufferedTimedConsumerI<ConsumerType,DataType>; registerWithAdapter(); } ~IceStormListener() { shutdown(); // do not delete consumer_, it's deleted when the smart pointers fall out of scope. } gbxsickacfr::gbxiceutilacfr::Buffer<DataType> &buffer() { return consumer_->buffer_; } // Returns zero on success int connect() { // clean up first if ( shutdown() != 0 ) return -1; // then resubscribe try { Ice::ObjectPtr objPtr = consumer_; callbackPrx_ = orcaice::createConsumerInterface<ConsumerPrxType>( context_, objPtr ); detail::subscribeListener<ProxyType, ConsumerType, ConsumerPrxType, SubscriptionMakerType>( context_, proxyString_, consumer_, callbackPrx_, proxy_ ); isSubscribed_ = true; return 0; } catch ( ... ) { return -1; } }; double msSinceReceipt() const { return consumer_->msSinceReceipt(); } void resetTimer() { consumer_->resetTimer(); } std::string interfaceName() const { return proxyString_; }; const ProxyType& proxy() { return proxy_; }; private: DataType data_; detail::BufferedTimedConsumerI<ConsumerType,DataType> *consumer_; orcaice::Context context_; std::string proxyString_; void registerWithAdapter() { Ice::ObjectPrx obj = context_.adapter()->addWithUUID( consumer_ ); Ice::ObjectPrx prx = context_.adapter()->createDirectProxy( obj->ice_getIdentity() ); callbackPrx_ = ConsumerPrxType::uncheckedCast( prx ); } // 0=success int shutdown() { // std::cout<<"TRACE(icestormlistener.h): start of shutdown(): isSubscribed_: " << isSubscribed_ << std::endl; // unsubscribe if ( isSubscribed_ ) { try { detail::unSubscribeListener<ProxyType, ConsumerType, ConsumerPrxType, UnSubscriptionMakerType>( context_, proxyString_, consumer_, callbackPrx_, proxy_ ); // remove consumer from the list of active servants context_.adapter()->remove( callbackPrx_->ice_getIdentity() ); isSubscribed_ = false; // std::cout<<"TRACE(icestormlistener.h): unsubscription successful." << std::endl; } catch ( ... ) { return -1; } } return 0; } // Proxy to remote object ProxyType proxy_; // Smart pointer to consumer_. // We need to hold onto this to keep it alive. ConsumerPrxType callbackPrx_; bool isSubscribed_; }; } // namespace #endif

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