ConnectorComp.cpp

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// -*- C++ -*-
#include <iostream>
#include <vector>
#include <string>
#include <rtm/idl/OpenRTMSkel.h>
#include <rtm/CorbaNaming.h>
#include <rtm/RTObject.h>
#include <rtm/NVUtil.h>
#include <rtm/CORBA_SeqUtil.h>
#include <rtm/CorbaConsumer.h>
#include <assert.h>
#include <coil/stringutil.h>


using namespace RTC;

void usage()
{
  std::cout << std::endl;
  std::cout << "usage: ConnectorCompExt [options].." << std::endl;
  std::cout << std::endl;
  std::cout << "  --flush         ";
  std::cout << ": Set subscription type flush" << std::endl;
  std::cout << "  --new           ";
  std::cout << ": Set subscription type new" << std::endl;
  std::cout << "  --periodic [Hz] ";
  std::cout << ": Set subscription type periodic" << std::endl;
  std::cout << "  --policy [any]  ";
  std::cout << ": Set push policy ALL or FIFO or SKIP or NEW" << std::endl;
  std::cout << "  --skip [n]      ";
  std::cout << ": Set skip count 0..n" << std::endl;
  std::cout << std::endl;
  std::cout << "exsample:" << std::endl;
  std::cout << "  ConnectorCompExt --flush" << std::endl;
  std::cout << "  ConnectorCompExt --new" << std::endl;
  std::cout << "  ConnectorCompExt --new --policy ALL" << std::endl;
  std::cout << "  ConnectorCompExt --new --policy SKIP --skip 100" << std::endl;
  std::cout << "  ConnectorCompExt --periodic 10" << std::endl;
  std::cout << "  ConnectorCompExt --periodic 10 --policy FIFO" << std::endl;
  std::cout << "  ConnectorCompExt --periodic 10 --policy NEW" << std::endl;
  std::cout << std::endl;
}

int main (int argc, char** argv)
{
  int _argc(0);
  char** _argv(0);

  std::string subs_type;
  std::string period;
  std::string push_policy;
  std::string skip_count;
  if (argc < 2)
    {
      usage();
    }

  for (int i = 1; i < argc; ++i)
    {
      std::string arg(argv[i]);
      coil::normalize(arg);
      if (arg == "--flush")         subs_type = "flush";
      else if (arg == "--new")      subs_type = "new";
      else if (arg == "--periodic")
        {
          subs_type = "periodic";
          if (++i < argc) period = argv[i];
          else            period = "1.0";
        }
      else if (arg == "--help")
        {
          usage();
          exit(1);
        }
      else if (arg == "--policy")
        {
          if (++i < argc)
            {
              std::string arg2(argv[i]);
              coil::normalize(arg2);
              push_policy = arg2;
            }
          else            push_policy = "new";
        }
      else if (arg == "--skip")
        {
          if (++i < argc) skip_count = argv[i];
          else            skip_count = "0";
        }
      else
        {
          subs_type = "flush";
        }
    }
  
  std::cout << "Subscription Type: " << subs_type << std::endl;
  if (period != "")
    std::cout << "Period: " << period << " [Hz]" << std::endl;
  std::cout << "push policy: " << push_policy << std::endl;
  std::cout << "skip count: " << skip_count << std::endl;


  CORBA::ORB_var orb = CORBA::ORB_init(_argc, _argv);
  CorbaNaming naming(orb, "localhost:9876");

  CorbaConsumer<RTObject> conin, conout;
  CorbaConsumer<OpenRTM::ExtTrigExecutionContextService> ec0, ec1;

  PortServiceList_var pin;
  PortServiceList_var pout;

  // find ConsoleIn0 component
  conin.setObject(naming.resolve("ConsoleIn0.rtc"));

  // get ports
  pin = conin->get_ports();
  pin[(CORBA::ULong)0]->disconnect_all();
  assert(pin->length() > 0);
  // activate ConsoleIn0
  ExecutionContextList_var eclisti;
  eclisti = conin->get_owned_contexts();
  eclisti[(CORBA::ULong)0]->activate_component(RTObject::_duplicate(conin._ptr()));
  ec0.setObject(eclisti[(CORBA::ULong)0]);

  // find ConsoleOut0 component
  conout.setObject(naming.resolve("ConsoleOut0.rtc"));
  // get ports
  pout = conout->get_ports();
  pout[(CORBA::ULong)0]->disconnect_all();
  assert(pout->length() > 0);
  // activate ConsoleOut0
  ExecutionContextList_var eclisto;
  eclisto = conout->get_owned_contexts();
  eclisto[(CORBA::ULong)0]->activate_component(RTObject::_duplicate(conout._ptr()));
  ec1.setObject(eclisto[(CORBA::ULong)0]);

  // connect ports
  ConnectorProfile prof;
  prof.connector_id = "";
  prof.name = CORBA::string_dup("connector0");
  prof.ports.length(2);
  prof.ports[0] = pin[(CORBA::ULong)0];
  prof.ports[1] = pout[(CORBA::ULong)0];
  CORBA_SeqUtil::push_back(prof.properties,
                           NVUtil::newNV("dataport.interface_type",
                                         "corba_cdr"));
  CORBA_SeqUtil::push_back(prof.properties,
                           NVUtil::newNV("dataport.dataflow_type",
                                         "push"));
  if (subs_type != "")
    CORBA_SeqUtil::push_back(prof.properties,
                           NVUtil::newNV("dataport.subscription_type",
                                         subs_type.c_str()));
  else
    CORBA_SeqUtil::push_back(prof.properties,
                           NVUtil::newNV("dataport.subscription_type",
                                         "flush"));
  if (subs_type == "periodic" && period != "")
    CORBA_SeqUtil::push_back(prof.properties,
                           NVUtil::newNV("dataport.publisher.push_rate",
                                         period.c_str()));
  if (push_policy != "")
    CORBA_SeqUtil::push_back(prof.properties,
                           NVUtil::newNV("dataport.publisher.push_policy",
                                         push_policy.c_str()));
  if (push_policy == "skip" && skip_count != "")
    CORBA_SeqUtil::push_back(prof.properties,
                           NVUtil::newNV("dataport.publisher.skip_count",
                                         skip_count.c_str()));

  ReturnCode_t ret;
  ret = pin[(CORBA::ULong)0]->connect(prof);
  assert(ret == RTC::RTC_OK);

  std::cout << "Connector ID: " << prof.connector_id << std::endl;
  NVUtil::dump(prof.properties);

  std::string cmd;
  while (1)
    {
      try
        {
          std::cout << std::endl;
          std::cout << std::endl;
          std::cout << "0: tick ConsoleIn component" << std::endl;
          std::cout << "1: tick ConsoleOut component" << std::endl;
          std::cout << "2: tick both components" << std::endl;
          std::cout << "cmd? >";
          std::cin >> cmd;
          if (cmd == "0")
            {
              ec0->tick();
            }
          else if (cmd == "1")
            {
              ec1->tick();
            }
          else if (cmd == "2")
            {
              ec0->tick();
              ec1->tick();
            }
        }
      catch (...)
        {
        }
    }
  orb->destroy();
  exit(1);
}