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

#include "config.h"

#include "YarpServiceAsynchReplyPort.hpp"
#include "PortNamingConvention.hpp"
#include "YarpServiceReplyConversionTask.hpp"

#include <ActiveObject.hpp>
#include <Entity.hpp>
#include <EntityDescription.hpp>
#include <Exception.hpp>
#include <ServiceInstanceDescription.hpp>
#include <ServiceInterfaceDescription.hpp>
#include <ServiceReply.hpp>
#include <ServiceReplyDeliveryTask.hpp>
#include <Task.hpp>

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


//temporary
#include <DataBox.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::ServiceReplyDeliveryTask;
using mermaid::support::service::ServiceReply;

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


//temporary
using mermaid::support::data::DataBox;

YarpServiceAsynchReplyPort::YarpServiceAsynchReplyPort (shared_ptr<Service> requesterService, std::string targetEntityName, std::string targetServiceName)
{
  //std::cerr << "YarpServiceAsynchReplyPort::YarpServiceAsynchReplyPort(clientService=" << clientServiceName << " serviceName=" << serviceName << ")" << std::endl;
  
  requesterService_ = requesterService; // hold a reference to the service
  
  std::string requesterEntityName = requesterService->getEntity()->getEntityDescription()->getEntityName();;
  std::string requesterServiceName = requesterService->getServiceInstanceDescription()->getServiceInstanceName();
  
  std::string portName = PortNamingConvention::getServiceRequestReplyPortName (requesterEntityName, requesterServiceName, targetEntityName, targetServiceName);
  
  // open port
  if (!open (portName.c_str())) {
    throw Exception ("YarpServiceAsynchReplyPort::YarpServiceAsynchReplyPort: could not open YARP port with name: " + portName);
  }
  this->useCallback();
  
  
  //set strict output
  this->setStrict (true);
}; // YarpServiceAsynchInputPort()

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

void YarpServiceAsynchReplyPort::onRead (YarpServiceAsynchReplyType& reply)
{
  //std::cerr << "YarpServiceAsynchReplyPort::onRead" << std::endl;
  
  //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 YarpServiceReplyConversionTask (requesterService_, reply));
  shared_ptr<ActiveObject> ao = requesterService_->getActiveObject();
  ao->addTask (ct);
  
  
}; // onRead()