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

#include "config.h"

#include "YarpServiceAsynchInputPort.hpp"
#include "PortNamingConvention.hpp"
#include "YarpServiceRequestConversionTask.hpp"

#include <ActiveObject.hpp>
#include <Entity.hpp>
#include <EntityDescription.hpp>
#include <Exception.hpp>
#include <ServiceInstanceDescription.hpp>
#include <ServiceInterfaceDescription.hpp>
#include <ServiceRequest.hpp>
#include <ServiceRequestDeliveryTask.hpp>
#include <ServiceTypeDescription.hpp>
#include <Task.hpp>

#include <DataFactory.hpp>
#include <DataValueVector.hpp>

#include <iostream>

using namespace mermaid::support::communication;

using mermaid::support::activeobject::ActiveObject;
using mermaid::support::activeobject::Task;
using mermaid::support::errorhandling::Exception;
using mermaid::support::service::Entity;
using mermaid::support::service::EntityDescription;
using mermaid::support::service::ServiceInstanceDescription;
using mermaid::support::service::ServiceInterfaceDescription;
using mermaid::support::service::ServiceRequest;
using mermaid::support::service::ServiceRequestDeliveryTask;
using mermaid::support::service::ServiceTypeDescription;

using mermaid::support::data::DataFactory;
using mermaid::support::data::DataValueVector;


YarpServiceAsynchInputPort::YarpServiceAsynchInputPort (shared_ptr<Service> s) : BufferedPort<YarpServiceAsynchRequestType>()
{
  //std::cerr << "YarpServiceAsynchInputPort::YarpServiceAsynchInputPort(service=" << s.get() << ")" << std::endl;
  targetService_ = s;
  
  std::string entityName = s->getEntity()->getEntityDescription()->getEntityName();
  std::string serviceName = s->getServiceInstanceDescription()->getServiceInstanceName();
  std::string portName = PortNamingConvention::getServiceRequestInputPortName (entityName, serviceName);
  
  //open port
  if (!open (portName.c_str())) {
    throw Exception ("YarpServiceAsynchInputPort::YarpServiceAsynchInputPort : could not open YARP port with name: " + portName);
  }
  this->useCallback();
  
  //set strict output
  this->setStrict (true);
  
}; // YarpServiceAsynchInputPort()

YarpServiceAsynchInputPort::~YarpServiceAsynchInputPort()
{
  //std::cerr << "YarpServiceAsynchInputPort::~YarpServiceAsynchInputPort()" << std::endl;
}; // ~YarpServiceAsynchInputPort()

void YarpServiceAsynchInputPort::onRead (YarpServiceAsynchRequestType& request)
{
  //std::cerr << "YarpServiceAsynchInputPort::onRead()" << std::endl;
  
  std::string targetEntityName = targetService_->getEntity()->getEntityDescription()->getEntityName();
  std::string targetServiceName = targetService_->getServiceInstanceDescription()->getServiceInstanceName();
  request.setTargetEntityName (targetEntityName);
  request.setTargetServiceName (targetServiceName);
  
  //This will be called from a thread controlled by YARP. We need to pass all the processing into an ActiveObject
  shared_ptr<Task> ct ( (Task*) new YarpServiceRequestConversionTask (targetService_, request));
  shared_ptr<ActiveObject> ao = targetService_->getActiveObject();
  ao->addTask (ct);
  
}; // onRead()