orcaice/connectutils.h

/*
 * Orca-Robotics Project: Components for robotics 
 *               http://orca-robotics.sf.net/
 * Copyright (c) 2004-2008 Alex Brooks, Alexei Makarenko, Tobias Kaupp
 *
 * This copy of Orca is licensed to you under the terms described in
 * the LICENSE file included in this distribution.
 *
 */

#ifndef ORCAICE_CONNECT_UTILITIES_H
#define ORCAICE_CONNECT_UTILITIES_H

#include <Ice/Ice.h>

#include <orcaice/context.h>
#include <orcaice/exceptions.h>
#include <orcaice/configutils.h>
// #include <hydroutil/sysutils.h>
#include <orcaice/printutils.h>
#include <orcaice/stringutils.h>

namespace orcaice
{

bool isInterfaceReachable( const Context& context, const std::string& proxyString, std::string& diagnostic );

std::string getInterfaceIdWithString( const Context& context, const std::string& proxyString );

std::string getInterfaceIdWithTag( const Context& context, const std::string& interfaceTag );

//
//  Implementation Note:
//  the two 'connectToInterface' functions have to be templated, unfortunately,
//  to ensure we're connecting to the right type.
template<class InterfaceType>
void
connectToInterfaceWithString( const Context                             &context,
                              ::IceInternal::ProxyHandle<InterfaceType> &proxy,
                              const std::string                         &proxyString)
{
    // for indirect proxies only: if platform is set to 'local', replace it by hostname
    std::string resolvedProxyString = resolveLocalPlatform( context, proxyString );

    Ice::ObjectPrx base = context.communicator()->stringToProxy( resolvedProxyString );

    // check with the server that the one we found is of the right type
    // the check operation is remote and may fail (see sec.6.11.2)
    try {
        proxy = ::IceInternal::ProxyHandle<InterfaceType>::checkedCast( base );
        // got some answer, check that it's the right type
        if ( !proxy ) {
            std::string errString = "Required interface '" + resolvedProxyString +
                "' is of wrong type."+
                "  Tried to connect proxy of type "+InterfaceType::ice_staticId()+
                " to remote interface of type "+base->ice_id();
            initTracerWarning( context, errString, 2 );
            throw orcaice::TypeMismatchException( ERROR_INFO, errString );
        }
    }
    catch ( const Ice::ConnectionRefusedException& e )
    {
        std::stringstream ss;
        ss << "(while connecting to interface '" << resolvedProxyString << "') cannot reach the adaptor: "<<e.what();
        orcaice::initTracerWarning( context, ss.str(), 2 );
        throw orcaice::NetworkException( ERROR_INFO, ss.str() );
    }
    catch ( const Ice::ObjectNotExistException& e )
    {
        std::stringstream ss;
        ss << "(while connecting to interface '" << resolvedProxyString << "') reached the adaptor but not the interface: "<<e.what();
        orcaice::initTracerWarning( context, ss.str(), 2 );
        throw orcaice::NetworkException( ERROR_INFO, ss.str() );
    }
    catch ( const std::exception& e )
    {
        std::stringstream ss;
        ss << "(while connecting to interface '" << resolvedProxyString << "') something unexpected: "<<e.what();
        orcaice::initTracerWarning( context, ss.str(), 2 );
        throw orcaice::NetworkException( ERROR_INFO, ss.str() );
    }

    // @todo Record who we connected to as a required interface so that Home can report this.
}

template<class InterfaceType>
void
connectToInterfaceWithTag( const Context       & context,
                           InterfaceType       & proxy,
                           const std::string   & interfaceTag )
{
    // this may throw ConfigFileException, we don't catch it, let the user catch it at the component level
    std::string proxyString = orcaice::getRequiredInterfaceAsString( context, interfaceTag );

    // now that we have the stingified proxy, use the function above.
    connectToInterfaceWithString( context, proxy, proxyString );
}


} // namespace

#endif