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 ORCAICE_TRACER_I_H
00012 #define ORCAICE_TRACER_I_H
00013 
00014 #include <orca/tracer.h>
00015 #include <hydroiceutil/localtracer.h>
00016 #include "networktracesender.h"
00017 #include <IceStorm/IceStorm.h>
00018 
00019 namespace orcaice
00020 {
00021 namespace detail
00022 {
00023 
00024 class TracerI : public virtual orca::Tracer, public hydroiceutil::LocalTracer
00025 {
00026 public:
00027     TracerI( const orcaice::Context & context );
00028     virtual ~TracerI(); 
00029 
00030     // orca::Tracer interface
00031 
00032     virtual ::orca::TracerVerbosityConfig getVerbosity( const ::Ice::Current& = ::Ice::Current()) const;
00033 
00034     virtual void setVerbosity( const ::orca::TracerVerbosityConfig&, const ::Ice::Current& = ::Ice::Current());
00035 
00036     // subscribe/unsubscribe functions.
00037     virtual void subscribeForComponentMessages(const ::orca::TracerConsumerPrx &subscriber,
00038                                                const ::Ice::Current& = ::Ice::Current())
00039         { subscribe( componentTraceSender_, subscriber ); }
00040     virtual void unsubscribeForComponentMessages(const ::orca::TracerConsumerPrx &subscriber,
00041                                                  const ::Ice::Current& = ::Ice::Current())
00042         { unsubscribe( componentTraceSender_, subscriber ); }
00043     virtual void subscribeForPlatformInfoMessages(const ::orca::TracerConsumerPrx &subscriber,
00044                                                   const ::Ice::Current& = ::Ice::Current())
00045         { subscribe( platformInfoSender_, subscriber ); }
00046     virtual void unsubscribeForPlatformInfoMessages(const ::orca::TracerConsumerPrx &subscriber,
00047                                                     const ::Ice::Current& = ::Ice::Current())
00048         { unsubscribe( platformInfoSender_, subscriber ); }
00049     virtual void subscribeForPlatformWarningMessages(const ::orca::TracerConsumerPrx &subscriber,
00050                                                      const ::Ice::Current& = ::Ice::Current())
00051         { subscribe( platformWarningSender_, subscriber ); }
00052     virtual void unsubscribeForPlatformWarningMessages(const ::orca::TracerConsumerPrx &subscriber,
00053                                                        const ::Ice::Current& = ::Ice::Current())
00054         { unsubscribe( platformWarningSender_, subscriber ); }
00055     virtual void subscribeForPlatformErrorMessages(const ::orca::TracerConsumerPrx &subscriber,
00056                                                    const ::Ice::Current& = ::Ice::Current())
00057         { subscribe( platformErrorSender_, subscriber ); }
00058     virtual void unsubscribeForPlatformErrorMessages(const ::orca::TracerConsumerPrx &subscriber,
00059                                                      const ::Ice::Current& = ::Ice::Current())
00060         { unsubscribe( platformErrorSender_, subscriber ); }
00061 
00062     // gbxsickacfr::gbxutilacfr::Tracer interface
00063     // reimplement from LocalTracer because we are adding toNetwork() option
00064 
00065     virtual void info( const std::string &message, int level=1 );
00066     
00067     virtual void warning( const std::string &message, int level=1 );
00068     
00069     virtual void error( const std::string &message, int level=1 );
00070 
00071     virtual void debug( const std::string &message, int level=1 );
00072 
00073 private:
00074 
00075     void subscribe( NetworkTraceSender *&sender, const ::orca::TracerConsumerPrx &subscriber );
00076     void unsubscribe( NetworkTraceSender *sender, const ::orca::TracerConsumerPrx &subscriber );
00077 
00078     // to network
00079     void toNetwork( gbxsickacfr::gbxutilacfr::Tracer::TraceType traceType,
00080                 const std::string& message,
00081                 int level );
00082     void setupAndConnectNetworkSenders();
00083     void trySetupNetworkTraceSender( NetworkTraceSender *&sender,
00084                                      std::string topic,
00085                                      bool isTracerTopicRequired );
00086     void icestormConnectFailed( const std::string &topicName,
00087                                 bool isTracerTopicRequired );
00088     std::string categoryToString( gbxsickacfr::gbxutilacfr::Tracer::TraceType category );
00089 
00090     // Responsible for sending messages to the component's tracer topic
00091     NetworkTraceSender *componentTraceSender_;
00092 
00093     // Responsible for sending messages to the platform's info/warning/error topics
00094     NetworkTraceSender *platformInfoSender_;
00095     NetworkTraceSender *platformWarningSender_;
00096     NetworkTraceSender *platformErrorSender_;
00097 
00098     orcaice::Context context_;
00099 };
00100 
00101 } // namespace
00102 } // namespace
00103 
00104 #endif
tracerI.h
