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

#ifdef USE_COMM

#include "config.h"

#include "YarpDataFeedSetupTask.hpp"
#include "CommunicationGateway.hpp"

#include <Entity.hpp>
#include <EntityDescription.hpp>
#include <ServiceReplyHandlerMethod.hpp>

#include <Time.hpp>
#include <ace/Date_Time.h>

#include <iostream>

using namespace mermaid::support::communication;

using mermaid::support::system::Time;
using mermaid::support::communication::CommunicationGateway;
using mermaid::support::service::Entity;
using mermaid::support::service::EntityDescription;
using mermaid::support::service::ServiceReplyHandlerMethodBase;
using mermaid::support::service::ServiceReplyHandlerMethod;

YarpDataFeedSetupTask::YarpDataFeedSetupTask (shared_ptr<Service> requesterService, std::string producerEntityName,
    std::string producerServiceName, std::string dataFeedName, shared_ptr<ActiveObject> ao) : Task (Time::getCurrentTime(), true, 1.0)
{
  requesterService_ = requesterService;
  producerEntityName_ = producerEntityName;
  producerServiceName_ = producerServiceName;
  dataFeedName_ = dataFeedName;
  activeObject_ = ao;
}; // YarpDataFeedSetupTask()

void YarpDataFeedSetupTask::run()
{
  std::cerr << "Attempting to setup Data Feed : " << producerEntityName_ << "::" << producerServiceName_ << "::" << dataFeedName_ << std::endl;
  std::string requesterEntityName = requesterService_->getEntity()->getEntityDescription()->getEntityName();
  if (requesterEntityName != producerEntityName_) {
    shared_ptr<ServiceRequest> sr = requesterService_->makeNewServiceRequest (requesterEntityName, "COMM", "setUpDataFeed");
    shared_ptr<DataBox> db = sr->getRequestDataBox();
    db->setString ("TargetEntity", producerEntityName_);
    db->setString ("TargetService", producerServiceName_);
    db->setString ("DataFeedName", dataFeedName_);
    shared_ptr<ServiceReplyHandlerMethodBase> setupDataFeedHandlerMethod (new ServiceReplyHandlerMethod<YarpDataFeedSetupTask> (this, &YarpDataFeedSetupTask::treatCommReply));
    requesterService_->sendServiceRequest (sr, setupDataFeedHandlerMethod);
  }
  else {
    cancelRepeat();
  }
}; // run()

void YarpDataFeedSetupTask::treatCommReply (shared_ptr<ServiceReply> reply)
{
  if (reply->executionIsOk() == true) {
    cancelRepeat();
    shared_ptr<CommunicationGateway> commGateway = activeObject_->getCommunicationGateway();
    commGateway->notifyDataFeedSetupEnded();
    
    if (commGateway->isNewDataFeedSetupTaskAvailable()) {
      std::cout << "YarpDataFeedSetupTask::treatCommReply : adding following YarpDataFeedSetupTask" << std::endl;
      activeObject_->addTask (commGateway->getDataFeedSetupTask());
    }
    else {
      std::cout << "YarpDataFeedSetupTask::treatCommReply : no more YarpDataFeedSetupTask available" << std::endl;
    }
    
  }
  
}; //treatCommReply()

#endif // USE_COMM