multiicestormutils.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_ICESTORM_UTILITIES_H
00012 #define ORCAICE_MULTI_ICESTORM_UTILITIES_H
00013 
00014 #include <orcaice/icestormutils.h>
00015 #include <gbxsickacfr/gbxiceutilacfr/thread.h>
00016 
00017 namespace orcaice
00018 {
00023 
00035 template<class ConsumerProxyType>
00036 IceStorm::TopicPrx
00037 connectToTopicWithString( const Context     & context,
00038                           ConsumerProxyType & publisher,
00039                           const std::string & topicName,
00040                           gbxiceutilacfr::Thread*  thread, const std::string& subsysName="", 
00041                           int retryInterval=2, int retryNumber=-1 )
00042 {
00043     IceStorm::TopicPrx topicPrx;
00044 
00045     int count = 0;
00046     while ( !thread->isStopping() && ( retryNumber<0 || count<retryNumber) )
00047     {
00048         try {
00049             topicPrx = connectToTopicWithString<ConsumerProxyType>( context, publisher, topicName );
00050             break;
00051         }
00052         catch ( const orcaice::NetworkException& e )  {
00053             std::stringstream ss;
00054             ss << "Failed to connect to topic with string "<<topicName<<". "
00055                 <<"Will retry in "<<retryInterval<<"s."
00056                 << e.what();
00057             bool localOnly = true;
00058             context.tracer().warning( ss.str(), 1, localOnly );
00059         }
00060         ++count;
00061         IceUtil::ThreadControl::sleep(IceUtil::Time::seconds(retryInterval));
00062         if ( !subsysName.empty() ) {
00063             context.status().heartbeat( subsysName );
00064         }
00065     }
00066     return topicPrx;
00067 }
00068 
00080 template<class ConsumerProxyType>
00081 IceStorm::TopicPrx
00082 connectToTopicWithTag( const Context      & context,
00083                        ConsumerProxyType  & publisher,
00084                        const std::string  & interfaceTag,
00085                        const std::string  & subtopic,
00086                        gbxiceutilacfr::Thread*  thread, const std::string& subsysName="", 
00087                        int retryInterval=2, int retryNumber=-1 )
00088 {
00089     IceStorm::TopicPrx topicPrx;
00090 
00091     int count = 0;
00092     while ( !thread->isStopping() && ( retryNumber<0 || count<retryNumber) )
00093     {
00094         try {
00095             topicPrx = connectToTopicWithTag<ConsumerProxyType>( context, publisher, interfaceTag, subtopic );
00096             break;
00097         }
00098         catch ( const orcaice::NetworkException& e ) {
00099             std::stringstream ss;
00100             ss << "Failed to connect to topic with tag "<<interfaceTag<<". "
00101                 <<"Will retry in "<<retryInterval<<"s."
00102                 << e.what();
00103             bool localOnly = true;
00104             context.tracer().warning( ss.str(), 1, localOnly );
00105         }
00106         ++count;
00107         IceUtil::ThreadControl::sleep(IceUtil::Time::seconds(retryInterval));
00108         if ( !subsysName.empty() ) {
00109             context.status().heartbeat( subsysName );
00110         }
00111     }
00112     return topicPrx;
00113 }
00114 
00116 
00117 } // namespace
00118 
00119 #endif