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 NETWORKTRACESENDER_H
00012 #define NETWORKTRACESENDER_H
00013 
00014 #include <IceStorm/IceStorm.h>
00015 #include <IceUtil/Mutex.h>
00016 #include <orca/tracer.h>
00017 #include <orcaice/context.h>
00018 
00019 namespace orcaice {
00020 namespace detail {
00021 
00022 //
00023 // Knows how to send trace messages to an IceStorm topic.
00024 //
00025 // Note that this does _not_ inherit from gbxsickacfr::gbxutilacfr::Tracer, it's simply
00026 // a convenience class for use by gbxsickacfr::gbxutilacfr::Tracer classes.
00027 //
00028 // @author Alex Brooks
00029 //
00030 class NetworkTraceSender
00031 {
00032 
00033 public: 
00034 
00035     NetworkTraceSender( const std::string &topicName,
00036                         IceUtil::Mutex &mutex,
00037                         const orcaice::Context &context );
00038 
00039     // sub/unsub subscribers to the topic we're publishing to
00040     void subscribe( const ::orca::TracerConsumerPrx& subscriber );
00041     void unsubscribe( const ::orca::TracerConsumerPrx& subscriber );
00042 
00043     // Returns: true = success.
00044     bool connectToIceStorm();
00045 
00046     void sendToNetwork( const orca::TracerData &tracerData );
00047 
00048 private: 
00049 
00050     IceStorm::TopicPrx topicPrx_;
00051     orca::TracerConsumerPrx publisher_;
00052 
00053     std::string topicName_;
00054 
00055     // We only have one communicator but may have multiple threads.
00056     IceUtil::Mutex &mutex_;
00057 
00058     orcaice::Context context_;
00059 };
00060 
00061 }
00062 }
00063 
00064 #endif
networktracesender.h
