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icestormlistenerdetail.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_DETAIL_H #define ORCAGUI_ICESTORM_LISTENER_DETAIL_H #include <orcaice/ptrbuffer.h> namespace orcaqguielementutil { // non-member utility stuff namespace detail { // A little bit of magic to get around the fact that different (un)subscription // functions may have different names template< class ProxyType, class ConsumerPrxType > class DefaultSubscriptionMaker { public: DefaultSubscriptionMaker( ProxyType proxy, ConsumerPrxType callbackPrx ) { proxy->subscribe( callbackPrx ); } }; template< class ProxyType, class ConsumerPrxType > class DefaultUnSubscriptionMaker { public: DefaultUnSubscriptionMaker( ProxyType proxy, ConsumerPrxType callbackPrx ) { proxy->unsubscribe( callbackPrx ); } }; // // ================ Definition ===================== // // Subscribe/unsubscribe IceStormListeners template< class ProxyType, class ConsumerType, class ConsumerPrxType, class SubscriptionMakerType > void subscribeListener( orcaice::Context &context, const std::string &proxyString, ConsumerType *consumer, ConsumerPrxType &callbackPrx, ProxyType &proxy); template< class ProxyType, class ConsumerType, class ConsumerPrxType, class UnSubscriptionMakerType > void unSubscribeListener( orcaice::Context &context, const std::string &proxyString, ConsumerType *consumer, ConsumerPrxType &callbackPrx, ProxyType &proxy); // // ================ Implementation ===================== // template< class ProxyType, class ConsumerType, class ConsumerPrxType, class SubscriptionMakerType > void subscribeListener( orcaice::Context &context, const std::string &proxyString, ConsumerType *consumer, ConsumerPrxType &callbackPrx, ProxyType &proxy ) { try { // Connect to remote interface orcaice::connectToInterfaceWithString( context, proxy, proxyString ); // Ask the remote object to subscribe us to the topic. SubscriptionMakerType s( proxy, callbackPrx ); } // Ignore all exceptions, and try again next time. catch ( Ice::ConnectionRefusedException &e ) { std::cout<<"TRACE(PtrIceStormListener::subscribeListener): Caught exception: " << e << std::endl; throw; } catch ( Ice::Exception &e ) { std::cout<<"TRACE(PtrIceStormListener::subscribeListener): Caught ice exception: " << e << std::endl; throw; } catch ( std::exception &e ) { std::cout<<"TRACE(PtrIceStormListener::subscribeListener): Caught std exception: " << e.what() << std::endl; throw; } catch ( ... ) { std::cout<<"TRACE(PtrIceStormListener::subscribeListener): Caught unknown exception." << std::endl; throw; } } template< class ProxyType, class ConsumerType, class ConsumerPrxType, class UnSubscriptionMakerType > void unSubscribeListener( orcaice::Context &context, const std::string &proxyString, ConsumerType *consumer, ConsumerPrxType &callbackPrx, ProxyType &proxy) { try { // Connect to remote object orcaice::connectToInterfaceWithString( context, proxy, proxyString ); // Ask the remote object to unsubscribe us from the topic. UnSubscriptionMakerType s( proxy, callbackPrx ); } // Ignore all exceptions, and try again next time. catch ( Ice::ConnectionRefusedException &e ) { std::cout<<"TRACE(PtrIceStormListener::unSubscribeListener): Caught exception: " << e << std::endl; throw; } catch ( Ice::Exception &e ) { std::cout<<"TRACE(PtrIceStormListener::unSubscribeListener): Caught ice exception: " << e << std::endl; throw; } catch ( std::exception &e ) { std::cout<<"TRACE(PtrIceStormListener::unSubscribeListener): Caught std exception: " << e.what() << std::endl; throw; } catch ( ... ) { std::cout<<"TRACE(PtrIceStormListener::unSubscribeListener): Caught unknown exception." << std::endl; throw; } } /* * @brief A convenience class for consumers with setData() operation. * * Relies on the fact that the Consumer objects has only one operation * to implement and it's called setData(). * */ template<class ConsumerType, class ObjectType> class BufferedTimedConsumerI : public ConsumerType { public: BufferedTimedConsumerI( int depth=1, gbxsickacfr::gbxiceutilacfr::BufferType bufferType = gbxsickacfr::gbxiceutilacfr::BufferTypeCircular ) : buffer_( depth, bufferType ) {}; void setData( const ObjectType& data, const Ice::Current& ) { buffer_.push( data ); handleData( data ); } double msSinceReceipt() { return timer_.elapsedMs(); } void resetTimer() { return timer_.restart(); } // buffer_ is public so that guielements can access it directly gbxsickacfr::gbxiceutilacfr::Buffer<ObjectType> buffer_; protected: void handleData( const ObjectType & obj ) { timer_.restart(); } gbxsickacfr::gbxiceutilacfr::Timer timer_; }; /* * @brief A convenience class for consumers with setData() operation. * * Relies on the fact that the Consumer objects has only one operation * to implement and it's called setData(). * */ template<class ConsumerType, class ObjectType> class PtrBufferedTimedConsumerI : public ConsumerType { public: PtrBufferedTimedConsumerI( int depth=1, gbxsickacfr::gbxiceutilacfr::BufferType bufferType = gbxsickacfr::gbxiceutilacfr::BufferTypeCircular ) : buffer_( depth, bufferType ) {}; void setData( const ObjectType& data, const Ice::Current& ) { buffer_.push( data ); handleData( data ); } double msSinceReceipt() { return timer_.elapsedMs(); } void resetTimer() { return timer_.restart(); } // buffer_ is public so that guielements can access it directly orcaice::PtrBuffer<ObjectType> buffer_; protected: void handleData( const ObjectType & obj ) { timer_.restart(); } gbxsickacfr::gbxiceutilacfr::Timer timer_; }; } // namespace } // namespace #endif

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