YarpDataFeedReporter.cpp

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/*
Copyright 2007, 2008, 2009, 2010, 2011 Instituto de Sistemas e Robotica, Instituto Superior Tecnico

This file is part of MeRMaID.

MeRMaID is free software: you can redistribute it and/or modify
it under the terms of the GNU Lesser General Public License as published by
the Free Software Foundation, either version 3 of the License, or
(at your option) any later version.

MeRMaID is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
GNU Lesser General Public License for more details.

You should have received a copy of the GNU Lesser General Public License
along with MeRMaID.  If not, see <http://www.gnu.org/licenses/>.
*/



/**
 * @Filename YarpDataFeedReporter.cpp
 * @Description YarpDataFeedReporter implementation
 * @Status Work in Progress
 * @Version $Id: YarpDataFeedReporter.cpp 1 2011-03-04 18:13:18Z jreis $
 * @Maintainer
 */

#include "config.h"

#include "YarpDataFeedReporter.hpp"
#include "YarpDataFeedReconnectTask.hpp"
#include "YarpDataFeedSetupTask.hpp"

#include <Service.hpp>
#include <ActiveObject.hpp>

#include <iostream>

using namespace mermaid::support::communication;

YarpDataFeedReporter::YarpDataFeedReporter (YarpDataFeedInputPort * port)
{
  port_ = port;
}; // YarpDataFeedReporter

YarpDataFeedReporter::~YarpDataFeedReporter()
{

}; // ~YarpDataFeedReporter

void YarpDataFeedReporter::report (const PortInfo &info)
{
  std::cerr << "YarpDataFeedReporter::report" << std::endl;
  
  
  if (info.incoming == true) {
    std::cerr << "YarpDataFeedReporter::report : incoming connection" << std::endl;
  }
  else {
    std::cerr << "YarpDataFeedReporter::report : outgoing connection" << std::endl;
  }
  
  if (info.created == true) {
    std::cerr << "YarpDataFeedReporter::report : connection created" << std::endl;
  }
  else {
    std::cerr << "YarpDataFeedReporter::report : connection failed" << std::endl;
  }
  
  std::string portName (info.portName.c_str());
  std::string sourceName (info.sourceName.c_str());
  std::string targetName (info.targetName.c_str());
  std::string carrierName (info.carrierName.c_str());
  std::string message (info.message.c_str());
  
  std::cerr << "YarpDataFeedReporter::report : portName=\"" << portName << "\"" << std::endl;
  std::cerr << "YarpDataFeedReporter::report : sourceName=\"" << sourceName << "\"" << std::endl;
  std::cerr << "YarpDataFeedReporter::report : targetName=\"" << targetName << "\"" << std::endl;
  std::cerr << "YarpDataFeedReporter::report : carrierName=\"" << carrierName << "\"" << std::endl;
  std::cerr << "YarpDataFeedReporter::report : message=\"" << message << "\"" << std::endl;
  
  //check if incoming connection failed
  if ( (info.incoming == true) && (info.created == false)) {
#ifdef USE_COMM
    //schedule datafeed (re)setup
    shared_ptr<Task> setupTask (new YarpDataFeedSetupTask (port_->getConsumerService(), port_->getProducerEntityName(),
                                port_->getProducerServiceName(), port_->getDataFeedName(), port_->getConsumerService()->getActiveObject()));
    port_->getConsumerService()->getActiveObject()->addTask (setupTask);
#endif
    //schedule port reconnection
    shared_ptr<Task> reconnectTask (new YarpDataFeedReconnectTask (port_));
    port_->getConsumerService()->getActiveObject()->addTask (reconnectTask);
  }
}; // report()