MyServiceConsumer.cpp
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00001 // -*- C++ -*-
00010 #include "MyServiceConsumer.h"
00011 #include <rtm/CORBA_SeqUtil.h>
00012 #include <vector>
00013 #include <stdlib.h>
00014 #include <coil/Async.h>
00015 #include <functional>
00016 
00017 // Module specification
00018 // <rtc-template block="module_spec">
00019 static const char* myserviceconsumer_spec[] =
00020   {
00021     "implementation_id", "MyServiceConsumer",
00022     "type_name",         "MyServiceConsumer",
00023     "description",       "MyService Consumer Sample component",
00024     "version",           "0.1",
00025     "vendor",            "AIST",
00026     "category",          "Generic",
00027     "activity_type",     "DataFlowComponent",
00028     "max_instance",      "10",
00029     "language",          "C++",
00030     "lang_type",         "compile",
00031     ""
00032   };
00033 // </rtc-template>
00034 
00035 MyServiceConsumer::MyServiceConsumer(RTC::Manager* manager)
00036   : RTC::DataFlowComponentBase(manager),
00037     // <rtc-template block="initializer">
00038     m_MyServicePort("MyService"),
00039     // </rtc-template>
00040     async_set_value(0), async_echo(0)
00041 {
00042 }
00043 
00044 MyServiceConsumer::~MyServiceConsumer()
00045 {
00046 }
00047 
00048 
00049 RTC::ReturnCode_t MyServiceConsumer::onInitialize()
00050 {
00051   // Registration: InPort/OutPort/Service
00052   // <rtc-template block="registration">
00053   // Set InPort buffers
00054   
00055   // Set OutPort buffer
00056   
00057   // Set service provider to Ports
00058   
00059   // Set service consumers to Ports
00060   m_MyServicePort.registerConsumer("myservice0", "MyService", m_myservice0);
00061   
00062   // Set CORBA Service Ports
00063   addPort(m_MyServicePort);
00064   
00065   // </rtc-template>
00066 
00067   return RTC::RTC_OK;
00068 }
00069 
00070 /*
00071 RTC::ReturnCode_t MyServiceConsumer::onFinalize()
00072 {
00073   return RTC::RTC_OK;
00074 }
00075 */
00076 
00077 /*
00078 RTC::ReturnCode_t MyServiceConsumer::onStartup(RTC::UniqueId ec_id)
00079 {
00080   return RTC::RTC_OK;
00081 }
00082 */
00083 
00084 /*
00085 RTC::ReturnCode_t MyServiceConsumer::onShutdown(RTC::UniqueId ec_id)
00086 {
00087   return RTC::RTC_OK;
00088 }
00089 */
00090 
00091 /*
00092 RTC::ReturnCode_t MyServiceConsumer::onActivated(RTC::UniqueId ec_id)
00093 {
00094   return RTC::RTC_OK;
00095 }
00096 */
00097 
00098 /*
00099 RTC::ReturnCode_t MyServiceConsumer::onDeactivated(RTC::UniqueId ec_id)
00100 {
00101   return RTC::RTC_OK;
00102 }
00103 */
00104 
00105 
00106 RTC::ReturnCode_t MyServiceConsumer::onExecute(RTC::UniqueId ec_id)
00107 {
00108   try
00109     {
00110       std::cout << std::endl;
00111       std::cout << "Command list: " << std::endl;
00112       std::cout << " echo [msg]       : echo message." << std::endl;
00113       std::cout << " set_value [value]: set value." << std::endl;
00114       std::cout << " get_value        : get current value." << std::endl;
00115       std::cout << " get_echo_history : get input messsage history." << std::endl;
00116       std::cout << " get_value_history: get input value history." << std::endl;
00117       std::cout << "> ";
00118       
00119       std::string args;
00120       std::string::size_type pos;
00121       std::vector<std::string> argv;
00122       std::getline(std::cin, args);
00123       
00124       pos = args.find_first_of(" ");
00125       if (pos != std::string::npos)
00126         {
00127           argv.push_back(args.substr(0, pos));
00128           argv.push_back(args.substr(++pos));
00129         }
00130       else
00131         {
00132           argv.push_back(args);
00133         }
00134       
00135       if (async_echo != 0 && async_echo->finished())
00136         {
00137           std::cout << "echo() finished: " <<  m_result << std::endl;
00138           delete async_echo;
00139           async_echo = 0;
00140         }
00141       
00142       if (argv[0] == "echo" && argv.size() > 1)
00143         {
00144           if (async_echo == 0)
00145             {
00146               // char* retmsg;
00147               // retmsg = m_myservice0->echo(argv[1].c_str());
00148               async_echo = 
00149                 coil::AsyncInvoker(&m_myservice0,
00150                                    echo_functor(argv[1], m_result));
00151               async_echo->invoke();
00152               // std::cout << "echo return: " << retmsg << std::endl;
00153             }
00154           else
00155             {
00156               std::cout << "set_value() still invoking" << std::endl;
00157             }
00158           return RTC::RTC_OK;
00159         }
00160       
00161       if (argv[0] == "set_value" && argv.size() > 1)
00162         {
00163           CORBA::Float val(atof(argv[1].c_str()));
00164           coil::AsyncInvoker(&m_myservice0, set_value_functor(val),
00165                              true)->invoke();
00166           std::cout << "Set remote value: " << val << std::endl;
00167 
00168           return RTC::RTC_OK;
00169         }
00170       
00171       if (argv[0] == "get_value")
00172         {
00173           std::cout << "Current remote value: "
00174                     << m_myservice0->get_value() << std::endl;
00175           return RTC::RTC_OK;
00176         }
00177       
00178       if (argv[0] == "get_echo_history")
00179         {
00180           CORBA_SeqUtil::for_each(*(m_myservice0->get_echo_history()),
00181                                   seq_print<const char*>());
00182           return RTC::RTC_OK;
00183         }
00184       
00185       if (argv[0] == "get_value_history")
00186         {
00187           CORBA_SeqUtil::for_each(*(m_myservice0->get_value_history()),
00188                                   seq_print<CORBA::Float>());
00189           return RTC::RTC_OK;
00190         }
00191       
00192       std::cout << "Invalid command or argument(s)." << std::endl;
00193     }
00194   catch (...)
00195     {
00196       std::cout << "No service connected." << std::endl;
00197     }
00198   return RTC::RTC_OK;
00199 }
00200 
00201 
00202 /*
00203 RTC::ReturnCode_t MyServiceConsumer::onAborting(RTC::UniqueId ec_id)
00204 {
00205   return RTC::RTC_OK;
00206 }
00207 */
00208 
00209 /*
00210 RTC::ReturnCode_t MyServiceConsumer::onError(RTC::UniqueId ec_id)
00211 {
00212   return RTC::RTC_OK;
00213 }
00214 */
00215 
00216 /*
00217 RTC::ReturnCode_t MyServiceConsumer::onReset(RTC::UniqueId ec_id)
00218 {
00219   return RTC::RTC_OK;
00220 }
00221 */
00222 
00223 /*
00224 RTC::ReturnCode_t MyServiceConsumer::onStateUpdate(RTC::UniqueId ec_id)
00225 {
00226   return RTC::RTC_OK;
00227 }
00228 */
00229 
00230 /*
00231 RTC::ReturnCode_t MyServiceConsumer::onRateChanged(RTC::UniqueId ec_id)
00232 {
00233   return RTC::RTC_OK;
00234 }
00235 */
00236 
00237 
00238 
00239 extern "C"
00240 {
00241  
00242   void MyServiceConsumerInit(RTC::Manager* manager)
00243   {
00244     coil::Properties profile(myserviceconsumer_spec);
00245     manager->registerFactory(profile,
00246                              RTC::Create<MyServiceConsumer>,
00247                              RTC::Delete<MyServiceConsumer>);
00248   }
00249   
00250 };
00251 
00252 


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sat Jun 8 2019 18:49:05