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


#include "config.h"

#include "YarpServiceRequestConversionTask.hpp"

#include <ActiveObject.hpp>
#include "CommunicationGateway.hpp"
#include <Exception.hpp>
#include <ServiceRequestDeliveryTask.hpp>
#include <Task.hpp>

#include <UnexpectedDataTypeException.hpp>
#include <ServiceErrorReply.hpp>
#include <UnrecognizedServiceInterfaceException.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::ServiceRequestDeliveryTask;
using mermaid::support::data::exceptions::UnexpectedDataTypeException;
using mermaid::support::service::ServiceErrorReply;
using mermaid::support::service::exceptions::UnrecognizedServiceInterfaceException;

YarpServiceRequestConversionTask::YarpServiceRequestConversionTask (shared_ptr<Service> targetService, YarpServiceAsynchRequestType &request) : Task()
{
  targetService_ = targetService;
  request_ = shared_ptr<YarpServiceAsynchRequestType> (new YarpServiceAsynchRequestType (request)); // copying because this object is under yarp's control
}; // YarpServiceRequestConversionTask()

void YarpServiceRequestConversionTask::run()
{
  //std::cerr << "YarpServiceRequestConversionTask::run()" << std::endl;
  
  std::string requesterEntityName = request_->getRequesterEntityName();
  std::string requesterServiceName = request_->getRequesterServiceName();
  std::string targetEntityName = request_->getTargetEntityName();
  std::string targetServiceName = request_->getTargetServiceName();
  std::string targetServiceInterfaceName = request_->getTargetServiceInterfaceName();
  int requestId = request_->getRequestId();
  
//     std::cerr << "YarpServiceRequestConversionTask::run() : requesterEntityName=\"" << requesterEntityName << "\", requesterServiceName=\"" << requesterServiceName << "\"" << std::endl;

//     std::cerr << "YarpServiceRequestConversionTask::run() : targetEntityName=\"" << targetEntityName << "\", targetServiceName=\"" << targetServiceName << "\", targetServiceInterfaceName=\"" << targetServiceInterfaceName << "\", requestId=" << requestId << std::endl;

  //throw Exception("YarpServiceRequestConversionTask::run() : got here");
  
  shared_ptr<ActiveObject> ao = targetService_->getActiveObject();
  shared_ptr<CommunicationGateway> commGateway = ao->getCommunicationGateway();
  
  try {
    shared_ptr<ServiceRequest> serviceRequest = request_->convertToServiceRequest();
    shared_ptr<Task> dt ( (Task*) new ServiceRequestDeliveryTask (targetService_, serviceRequest));
    ao->addTask (dt);
  }
  catch (UnexpectedDataTypeException &e) {
    std::cerr << "YarpServiceRequestConversionTask::run : caught an UnexpectedDataTypeException while processing a Service Request : " << e.what() << std::endl;
    shared_ptr<ServiceErrorReply> errorReply (new ServiceErrorReply (requesterEntityName, requesterServiceName, targetEntityName, targetServiceName, targetServiceInterfaceName, requestId, "ERROR: " + targetServiceInterfaceName + ": unexpected data type."));
    commGateway->sendServiceReply (targetService_, requesterEntityName, requesterServiceName, errorReply);
    throw e;
  }
  catch (UnrecognizedServiceInterfaceException &e) {
    std::cerr << "YarpServiceRequestConversionTask::run : caught an UnrecognizedServiceInterfaceException while processing a Service Request : " << e.what() << std::endl;
    shared_ptr<ServiceErrorReply> errorReply (new ServiceErrorReply (requesterEntityName, requesterServiceName, targetEntityName, targetServiceName, targetServiceInterfaceName, requestId, "ERROR: Unrecognized service interface: " + targetServiceInterfaceName));
    
    commGateway->sendServiceReply (targetService_, requesterEntityName, requesterServiceName, errorReply);
    throw e;
  }
  
}; // run()