orcacm/utils.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 ORCACM_COMPONENT_MODEL_LOOKUP_UTILITIES_H
00012 #define ORCACM_COMPONENT_MODEL_LOOKUP_UTILITIES_H
00013 
00014 #include <orcaice/context.h>
00015 #include <orcacm/types.h>
00016 #include <gbxsickacfr/gbxiceutilacfr/thread.h>
00017 
00018 namespace orcacm
00019 {
00024 
00028 bool
00029 pingObject( const orcaice::Context& context, const std::string& objectId );
00030 
00035 bool 
00036 pingAdminObject( const orcaice::Context& context, const std::string& adminId, const std::string& facetName );
00037 
00049 // TODO: split this function into 2: get data, then ping objects.
00050 RegistryHomeData 
00051 getRegistryHomeData( const orcaice::Context& context, const std::string& locatorString );
00052 
00060 void 
00061 pingHomeObjects( RegistryHomeData& data, const orcaice::Context& context, 
00062                  gbxutilacfr::Stoppable* activity );
00063 
00064 /*
00065 OBSOLETE! Use getComponentHomeData()
00066 
00067 Connects to Home interface of the specified component and gets its
00068 deployment and interface information. If connection fails for some reason,
00069 @p isReachable field of ComponentData is set to FALSE.
00070 
00071 If you already have an instance of RegistryData, do this:
00072 @verbatim
00073 getComponentData( context, registryData.adapters[i].name )
00074 @endverbatim
00075  */
00076 ComponentData
00077 getComponentData( const orcaice::Context& context, const orca::FQComponentName& component );
00078 
00079 /*
00080 Convenience function, behaves like the one above.
00081  */
00082 ComponentData
00083 getComponentData( const orcaice::Context& context, const std::string& adapterId );
00084 
00095 ComponentData
00096 getComponentHomeData( const orcaice::Context& context, const Ice::ObjectPrx& home );
00097 
00098 
00103 ProvidesHeader
00104 getProvidesHeader( const orcaice::Context& context, const orca::FQInterfaceName& fqName );
00105 
00112 ProvidesHeader
00113 getAdminProvidesHeader( const Ice::ObjectPrx& homePrx, const orca::FQInterfaceName& fqName );
00114 
00115 
00120 RequiresHeader
00121 getRequiresHeader( const orcaice::Context& context, const orca::FQInterfaceName& fqName );
00122 
00123 RegistryHierarchicalData1
00124 home2hierarch1( const RegistryHomeData& registryHomeData );
00125 
00126 RegistryHierarchicalData2
00127 home2hierarch2( const RegistryHomeData& registryHomeData, const PlatformHeader& platform, 
00128                 bool tryToPing=true, int tracePing=0 );
00129 
00131 } // namespace
00132 
00133 #endif