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 ORCA_LATENCY_PINGER_I_H
00012 #define ORCA_LATENCY_PINGER_I_H
00013 
00014 #include <IceUtil/Time.h>
00015 
00016 #include <vector>
00017 #include <string>
00018 #include <fstream>
00019 
00020 #include "pingreply.h"
00021 #include <orcaice/context.h>
00022 
00023 class LatencyPingerI : public orca::util::LatencyPinger
00024 {
00025 public:
00026     struct Config
00027     {
00028         int count;
00029         // sending period in [sec]
00030         double interval;
00031         int preload;
00032         // do we need deadline_?
00033         std::string filename;
00034     };
00035 
00036     LatencyPingerI( const orcaice::Context& context, orca::util::LatencyReplierPrx& replier, const Config& config );
00037 
00038     // from orca::util::LatencyPinger
00039     virtual void takeItBack(const orca::util::PingReplyData&, const Ice::Current&);
00040 
00041     // local API
00042     // Return true if pass, false if fail
00043     bool sequencePing( int operationType );
00044 //     bool classPing();
00045 //     bool structPing();
00046     bool icePing();
00047 
00048 private:
00049     void calcStats( const int size );
00050 
00051     // the server
00052     orca::util::LatencyReplierPrx& replier_;
00053 
00054     // pointer to the log file, passed down from the calling function
00055     std::ofstream* logfile_;
00056 
00057     // ping options
00058     Config config_;
00059 
00060     std::vector<IceUtil::Time> sends_;
00061     std::vector<IceUtil::Time> receives_;
00062     std::vector<int> ids_;
00063 
00064     IceUtil::Time stopWatch_;
00065 
00066     orcaice::Context context_;
00067 };
00068 
00069 // define a smart pointer using Ice utilities
00070 typedef IceUtil::Handle<LatencyPingerI> LatencyPingerIPtr;
00071 
00072 #endif
latencypingerI.h
