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


#include "config.h"

#include "YarpServiceReplyConversionTask.hpp"

#include <ActiveObject.hpp>
#include "CommunicationGateway.hpp"
#include <Exception.hpp>
#include <ServiceReplyDeliveryTask.hpp>
#include <Task.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::ServiceReplyDeliveryTask;


YarpServiceReplyConversionTask::YarpServiceReplyConversionTask (shared_ptr<Service> requesterService, YarpServiceAsynchReplyType &reply) : Task()
{
  requesterService_ = requesterService;
  reply_ = shared_ptr<YarpServiceAsynchReplyType> (new YarpServiceAsynchReplyType (reply)); // copying because this object is under yarp's control
}; // YarpServiceReplyConversionTask()

void YarpServiceReplyConversionTask::run()
{
  //std::cerr << "YarpServiceReplyConversionTask" << std::endl;
  try {
    //std::cerr << "YarpServiceReplyConversionTask::run()" << std::endl;
    
    std::string requesterEntityName = reply_->getRequesterEntityName();
    std::string requesterServiceName = reply_->getRequesterServiceName();
    int requestId = reply_->getRequestId();
    
//         std::cerr << "YarpServiceReplyConversionTask::run() : reply with requestId=" << requestId << std::endl;

    //throw Exception("YarpServiceReplyConversionTask::run() : got here");
    
    shared_ptr<ActiveObject> ao = requesterService_->getActiveObject();
    shared_ptr<CommunicationGateway> commGateway = ao->getCommunicationGateway();
    
    shared_ptr<ServiceRequest> originalRequest = commGateway->getServiceRequest (requesterEntityName, requesterServiceName, requestId);
    shared_ptr<ServiceReply> serviceReply = reply_->convertToServiceReply (originalRequest);
    originalRequest->notifyReplyReceived();
    shared_ptr<Task> dt ( (Task*) new ServiceReplyDeliveryTask (requesterService_, serviceReply));
    ao->addTask (dt);
  }
  catch (Exception &e) {
    std::cerr << "YarpServiceReplyConversionTask::run : failed to create reply : " << e.what() << std::endl;
    
    if (reply_) {
      std::cerr << "\tBadly formatted reply data? : reply data was: \"" << reply_->getReplyData().toString().c_str() << "\"" << std::endl;
    }
  }
}; // run()