multiconnectutils.h

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_MULTI_CONNECT_UTILITIES_H
00012 #define ORCAICE_MULTI_CONNECT_UTILITIES_H
00013 
00014 #include <orcaice/connectutils.h>
00015 #include <gbxsickacfr/gbxiceutilacfr/thread.h>
00016 
00017 namespace orcaice
00018 {
00023 
00047 template<class ProxyType>
00048 void
00049 connectToInterfaceWithString( const Context     & context,
00050                               ProxyType         & proxy,
00051                               const std::string & proxyString,
00052                               gbxiceutilacfr::Thread*  thread, const std::string& subsysName="", 
00053                               int retryInterval=2, int retryNumber=-1 )
00054 {    
00055     context.tracer().debug( "orcaice::connectToInterfaceWithString(thread) proxy="+proxyString, 10 );
00056     int count = 0;
00057     while ( !thread->isStopping() && ( retryNumber<0 || count<retryNumber) )
00058     {
00059         try {
00060             connectToInterfaceWithString( context, proxy, proxyString );
00061             break;
00062         }
00063         catch ( const orcaice::NetworkException& e ) {
00064             std::stringstream ss;
00065             ss << "Failed to connect to interface with string "<<proxyString<<". "
00066                 <<"Will retry in "<<retryInterval<<"s."
00067                 << e.what();
00068             context.tracer().warning( ss.str() );
00069         }
00070         ++count;
00071         IceUtil::ThreadControl::sleep(IceUtil::Time::seconds(retryInterval));
00072         if ( !subsysName.empty() ) {
00073             context.status().heartbeat( subsysName );
00074         }
00075     }
00076 }
00077 
00106 template<class ProxyType>
00107 void
00108 connectToInterfaceWithTag( const Context     & context,
00109                            ProxyType         & proxy,
00110                            const std::string & interfaceTag,
00111                            gbxiceutilacfr::Thread*  thread, const std::string& subsysName="", 
00112                            int retryInterval=2, int retryNumber=-1 )
00113 {    
00114     context.tracer().debug( "orcaice::connectToInterfaceWithTag(thread) tag="+interfaceTag, 10 );
00115 
00116     int count = 0;
00117     while ( !thread->isStopping() && ( retryNumber<0 || count<retryNumber) )
00118     {
00119         try {
00120             connectToInterfaceWithTag<ProxyType>( context, proxy, interfaceTag );
00121             break;
00122         }
00123         catch ( const orcaice::NetworkException& e ) {
00124             std::stringstream ss;
00125             ss << "Failed to connect to interface with tag "<<interfaceTag<<". "
00126                 <<"Will retry in "<<retryInterval<<"s."
00127                 << e.what();
00128             context.tracer().warning( ss.str() );
00129         }
00130         ++count;
00131         IceUtil::ThreadControl::sleep(IceUtil::Time::seconds(retryInterval));
00132         if ( !subsysName.empty() ) {
00133             context.status().heartbeat( subsysName );
00134         }
00135     }
00136 }
00137 
00147 std::string getInterfaceIdWithString( const Context& context, const std::string& proxyString,
00148                             gbxiceutilacfr::Thread*  thread, const std::string& subsysName="", 
00149                             int retryInterval=2, int retryNumber=-1 );
00150 
00162 std::string getInterfaceIdWithTag( const Context& context, const std::string& interfaceTag,
00163                             gbxiceutilacfr::Thread*  thread, const std::string& subsysName="", 
00164                             int retryInterval=2, int retryNumber=-1 );
00165 
00167 
00168 } // namespace
00169 
00170 #endif