multiicestormutils.h

00001 /*
00002  * Orca-Robotics Project: Components for robotics 
00003  *               http://orca-robotics.sf.net/
00004  * Copyright (c) 2004-2009 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 // we only need the definition of Stoppable and checkedSleep() function.
00016 // (we don't need the actual Thread class).
00017 #include <gbxsickacfr/gbxiceutilacfr/threadutils.h>
00018 
00019 namespace orcaice
00020 {
00025 
00039 template<class ConsumerProxyType>
00040 IceStorm::TopicPrx
00041 connectToTopicWithString( const Context     & context,
00042                           ConsumerProxyType & publisher,
00043                           const std::string & topicName,
00044                           gbxutilacfr::Stoppable* activity, const std::string& subsysName="", 
00045                           int retryIntervalSec=2, int retryNumber=-1,
00046                           bool localReportingOnly=false )
00047 {
00048     assert( activity && "Null activity pointer" );
00049 
00050     IceStorm::TopicPrx topicPrx;
00051 
00052     int count = 0;
00053     while ( !activity->isStopping() && ( retryNumber<0 || count<retryNumber) )
00054     {
00055         try {
00056             topicPrx = connectToTopicWithString<ConsumerProxyType>( context, publisher, topicName );
00057             break;
00058         }
00059         catch ( const orcaice::NetworkException& e )  {
00060             std::stringstream ss;
00061             ss << "Failed to connect to topic with string "<<topicName<<". "
00062                 <<"Will retry in "<<retryIntervalSec<<"s."
00063                 << e.what();
00064             // not issuing status warnings because we would need to add localReportingOnly option
00065             context.tracer().warning( subsysName, ss.str(), 1, localReportingOnly );
00066         }
00067         ++count;
00068         gbxiceutilacfr::checkedSleep( activity, retryIntervalSec*1000 );
00069         if ( !subsysName.empty() ) {
00070             context.status().heartbeat( subsysName );
00071         }
00072     }
00073     return topicPrx;
00074 }
00075 
00091 template<class ConsumerProxyType>
00092 IceStorm::TopicPrx
00093 connectToTopicWithTag( const Context      & context,
00094                        ConsumerProxyType  & publisher,
00095                        const std::string  & interfaceTag,
00096                        const std::string  & subtopic,
00097                        gbxutilacfr::Stoppable* activity, const std::string& subsysName="", 
00098                        int retryIntervalSec=2, int retryNumber=-1,
00099                        bool localReportingOnly=false )
00100 {
00101     assert( activity && "Null activity pointer" );
00102 
00103     IceStorm::TopicPrx topicPrx;
00104 
00105     int count = 0;
00106     while ( !activity->isStopping() && ( retryNumber<0 || count<retryNumber) )
00107     {
00108         try {
00109             topicPrx = connectToTopicWithTag<ConsumerProxyType>( context, publisher, interfaceTag, subtopic );
00110             break;
00111         }
00112         catch ( const orcaice::NetworkException& e ) {
00113             std::stringstream ss;
00114             ss << "Failed to connect to topic with tag "<<interfaceTag<<". "
00115                 <<"Will retry in "<<retryIntervalSec<<"s."
00116                 << e.what();
00117             // not issuing status warnings because we would need to add localReportingOnly option
00118             context.tracer().warning( subsysName, ss.str(), 1, localReportingOnly );
00119         }
00120         ++count;
00121         gbxiceutilacfr::checkedSleep( activity, retryIntervalSec*1000 );
00122         if ( !subsysName.empty() ) {
00123             context.status().heartbeat( subsysName );
00124         }
00125     }
00126     return topicPrx;
00127 }
00128 
00130 
00131 } // namespace
00132 
00133 #endif