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multiconnectutils.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 ORCAICE_MULTI_CONNECT_UTILITIES_H #define ORCAICE_MULTI_CONNECT_UTILITIES_H #include <orcaice/connectutils.h> #include <gbxsickacfr/gbxiceutilacfr/safethread.h> #include <IceUtil/Thread.h> namespace orcaice { void createInterfaceWithString( const Context & context, Ice::ObjectPtr & object, const std::string & name, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ); void createInterfaceWithTag( const Context & context, Ice::ObjectPtr & object, const std::string & interfaceTag, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ); // note: Context::activate() is not a const function, that's why a ref to it is not const. void activate( Context& context, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ); template<class ProxyType> void connectToInterfaceWithString( const Context & context, ProxyType & proxy, const std::string & proxyString, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ) { context.tracer().debug( "orcaice::connectToInterfaceWithString(thread) proxy="+proxyString, 10 ); int count = 0; while ( !thread->isStopping() && ( retryNumber<0 || count<retryNumber) ) { try { connectToInterfaceWithString<ProxyType>( context, proxy, proxyString ); break; } catch ( const orcaice::NetworkException& e ) { std::stringstream ss; ss << "Failed to connect to interface with string "<<proxyString<<". " <<"Will retry in "<<retryInterval<<"s." << e.what(); context.tracer().warning( ss.str() ); } ++count; IceUtil::ThreadControl::sleep(IceUtil::Time::seconds(retryInterval)); if ( !subsysName.empty() ) { context.status().heartbeat( subsysName ); } } } template<class ProxyType> void connectToInterfaceWithTag( const Context & context, ProxyType & proxy, const std::string & interfaceTag, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ) { context.tracer().debug( "orcaice::connectToInterfaceWithTag(thread) tag="+interfaceTag, 10 ); int count = 0; while ( !thread->isStopping() && ( retryNumber<0 || count<retryNumber) ) { try { connectToInterfaceWithTag<ProxyType>( context, proxy, interfaceTag ); break; } catch ( const orcaice::NetworkException& e ) { std::stringstream ss; ss << "Failed to connect to interface with tag "<<interfaceTag<<". " <<"Will retry in "<<retryInterval<<"s." << e.what(); context.tracer().warning( ss.str() ); } ++count; IceUtil::ThreadControl::sleep(IceUtil::Time::seconds(retryInterval)); if ( !subsysName.empty() ) { context.status().heartbeat( subsysName ); } } } template<class ConsumerProxyType> IceStorm::TopicPrx connectToTopicWithString( const Context & context, ConsumerProxyType & publisher, const std::string & topicName, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ) { context.tracer().debug( "orcaice::connectToTopicWithString(thread) topic="+topicName, 10 ); IceStorm::TopicPrx topicPrx; int count = 0; while ( !thread->isStopping() && ( retryNumber<0 || count<retryNumber) ) { try { topicPrx = connectToTopicWithString<ConsumerProxyType>( context, publisher, topicName ); break; } catch ( const orcaice::NetworkException& e ) { std::stringstream ss; ss << "Failed to connect to topic with string "<<topicName<<". " <<"Will retry in "<<retryInterval<<"s." << e.what(); context.tracer().warning( ss.str() ); } ++count; IceUtil::ThreadControl::sleep(IceUtil::Time::seconds(retryInterval)); if ( !subsysName.empty() ) { context.status().heartbeat( subsysName ); } } return topicPrx; } template<class ConsumerProxyType> IceStorm::TopicPrx connectToTopicWithTag( const Context & context, ConsumerProxyType & publisher, const std::string & interfaceTag, const std::string & subtopic, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ) { context.tracer().debug( "orcaice::connectToTopicWithTag(thread) tag="+interfaceTag, 10 ); IceStorm::TopicPrx topicPrx; int count = 0; while ( !thread->isStopping() && ( retryNumber<0 || count<retryNumber) ) { try { topicPrx = connectToTopicWithTag<ConsumerProxyType>( context, publisher, interfaceTag, subtopic ); break; } catch ( const orcaice::NetworkException& e ) { std::stringstream ss; ss << "Failed to connect to topic with tag "<<interfaceTag<<". " <<"Will retry in "<<retryInterval<<"s." << e.what(); context.tracer().warning( ss.str() ); } ++count; IceUtil::ThreadControl::sleep(IceUtil::Time::seconds(retryInterval)); if ( !subsysName.empty() ) { context.status().heartbeat( subsysName ); } } return topicPrx; } std::string getInterfaceIdWithString( const Context& context, const std::string& proxyString, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ); std::string getInterfaceIdWithTag( const Context& context, const std::string& interfaceTag, gbxsickacfr::gbxiceutilacfr::Thread* thread, const std::string& subsysName="", int retryInterval=2, int retryNumber=-1 ); } // namespace #endif

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