icegridsession.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2009 Alex Brooks, Alex Makarenko
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef ORCAICEGRID_ICEGRID_SESSION_H
#define ORCAICEGRID_ICEGRID_SESSION_H

#include <IceGrid/Registry.h>
#include <gbxsickacfr/gbxiceutilacfr/safethread.h>
#include <gbxsickacfr/gbxiceutilacfr/store.h>
#include <orcaice/context.h>
#include <IceUtil/Time.h>

namespace orcaicegrid
{

class SessionNotConnectedException : public gbxutilacfr::Exception
{
public:
    SessionNotConnectedException(const char *file, const char *line, const char *message)
            : Exception( file, line, message ) {};
    SessionNotConnectedException(const char *file, const char *line, const std::string &message)
            : Exception( file, line, message ) {};
};

class IceGridSession : public gbxiceutilacfr::SafeThread
{
public:
    IceGridSession( const orcaice::Context& context,
        const IceGrid::RegistryObserverPrx&     reg =IceGrid::RegistryObserverPrx(), 
        const IceGrid::NodeObserverPrx&         node=IceGrid::NodeObserverPrx(), 
        const IceGrid::ApplicationObserverPrx&  app=IceGrid::ApplicationObserverPrx(), 
        const IceGrid::AdapterObserverPrx&      adpt=IceGrid::AdapterObserverPrx(), 
        const IceGrid::ObjectObserverPrx&       obj=IceGrid::ObjectObserverPrx() );

    ~IceGridSession() {};

    enum SessionState
    {
        Disconnected,
        Connecting,
        Connected,
        Disconnecting
    };

    SessionState getState();

    void setObservers( 
        const IceGrid::RegistryObserverPrx&     reg =IceGrid::RegistryObserverPrx(), 
        const IceGrid::NodeObserverPrx&         node=IceGrid::NodeObserverPrx(), 
        const IceGrid::ApplicationObserverPrx&  app=IceGrid::ApplicationObserverPrx(), 
        const IceGrid::AdapterObserverPrx&      adpt=IceGrid::AdapterObserverPrx(), 
        const IceGrid::ObjectObserverPrx&       obj=IceGrid::ObjectObserverPrx() );

    virtual bool connectedEvent() { return true; };

    virtual void disconnectedEvent() {};

    // from SafeThread
    virtual void walk();

    static std::string toString( SessionState state );

protected:
    IceGrid::AdminSessionPrx session_;
//     IceUtil::Mutex   sessionMutex_;

    bool tryCreateSession();

private:

    gbxiceutilacfr::Store<SessionState> stateStore_;
    int timeoutSec_;
    IceUtil::Time lastKeepaliveTime_;

    IceGrid::RegistryObserverPrx     registryObserverPrx_;
    IceGrid::NodeObserverPrx         nodeObserverPrx_;
    IceGrid::ApplicationObserverPrx  applicationObserverPrx_;
    IceGrid::AdapterObserverPrx      adapterObserverPrx_;
    IceGrid::ObjectObserverPrx       objectObserverPrx_;

    // this actually tries to set observers as defined by member variables
    // if the session is not Connected, does nothing
    void trySetObservers();
    IceUtil::Mutex observerMutex_;

    orcaice::Context context_;
};

} // namespace

#endif