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#include <RobotRaconteur.h>
#include "robotraconteur_generated.h"
using namespace RobotRaconteur;
using namespace std;
using namespace com::robotraconteur::testing::TestService1;
using namespace com::robotraconteur::testing::TestService2;
using namespace com::robotraconteur::testing::TestService3;
uint64_t servicetest_connectcount;
bool servicetest_keepgoing;
uint64_t servicetest_count;
boost::mutex servicetest_lock;
void servicetest7(RR_SHARED_PTR<PipeEndpoint<double> > p)
{
boost::mutex::scoped_lock lock(servicetest_lock);
while (p->Available() > 0)
{
p->ReceivePacket();
}
}
void servicetest6(uint32_t pnum, const RR_SHARED_PTR<RobotRaconteurException>& e) {}
void servicetest5(RR_SHARED_PTR<PipeEndpoint<double> > p, RR_SHARED_PTR<WireConnection<double> > w,
const TimerEvent& ev)
{
if (ev.stopped)
return;
p->AsyncSendPacket((double)servicetest_count, &servicetest6);
for (size_t i = 0; i < 100; i++)
{
double d = (double)servicetest_count * 100 + i;
w->SetOutValue(d);
}
servicetest_count++;
}
void servicetest3(const std::string& url1, const RR_SHARED_PTR<RRObject>& obj,
const RR_SHARED_PTR<RobotRaconteurException>& exp);
void servicetest4(const std::string& url1)
{
RobotRaconteurNode::s()->AsyncConnectService(
url1, "", RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >(), RR_NULL_FN, "",
boost::bind(&servicetest3, url1, RR_BOOST_PLACEHOLDERS(_1), RR_BOOST_PLACEHOLDERS(_2)));
}
void servicetest3(const std::string& url1, const RR_SHARED_PTR<RRObject>& obj,
const RR_SHARED_PTR<RobotRaconteurException>& exp)
{
if (exp)
{
cout << "Got exception" << endl;
if (servicetest_keepgoing)
std::terminate();
return;
}
RobotRaconteurNode::s()->AsyncDisconnectService(obj, boost::bind(&servicetest4, url1));
}
void servicetest2(const RR_SHARED_PTR<async_testroot>& o, double d, const RR_SHARED_PTR<RobotRaconteurException>& exp)
{
if (exp)
{
cout << "Got exception" << endl;
if (servicetest_keepgoing)
std::terminate();
return;
}
o->async_func3(1, 2, boost::bind(&servicetest2, o, RR_BOOST_PLACEHOLDERS(_1), RR_BOOST_PLACEHOLDERS(_2)));
}
void servicetest1(const RR_SHARED_PTR<RRObject>& obj, const RR_SHARED_PTR<RobotRaconteurException>& exp)
{
if (exp)
{
cout << "Got exception" << endl;
if (servicetest_keepgoing)
std::terminate();
return;
}
try
{
RR_SHARED_PTR<async_testroot> o = rr_cast<async_testroot>(obj);
o->async_func3(1, 2, boost::bind(&servicetest2, o, RR_BOOST_PLACEHOLDERS(_1), RR_BOOST_PLACEHOLDERS(_2)));
}
catch (std::exception&)
{
if (!servicetest_keepgoing)
std::terminate();
}
}
int main(int argc, char* argv[])
{
if (argc < 2)
{
cout << "Usage for client: RobotRaconteurTest url" << endl;
return -1;
}
string url1(argv[1]);
// string url2(argv[3]);
RobotRaconteurNode::s()->SetLogLevelFromEnvVariable();
RR_SHARED_PTR<TcpTransport> c = RR_MAKE_SHARED<TcpTransport>();
c->EnableNodeAnnounce(IPNodeDiscoveryFlags_NODE_LOCAL | IPNodeDiscoveryFlags_LINK_LOCAL |
IPNodeDiscoveryFlags_SITE_LOCAL);
c->EnableNodeDiscoveryListening(IPNodeDiscoveryFlags_NODE_LOCAL | IPNodeDiscoveryFlags_LINK_LOCAL |
IPNodeDiscoveryFlags_SITE_LOCAL);
RR_SHARED_PTR<LocalTransport> c2 = RR_MAKE_SHARED<LocalTransport>();
RobotRaconteurNode::s()->RegisterTransport(c2);
RR_SHARED_PTR<HardwareTransport> c3 = RR_MAKE_SHARED<HardwareTransport>();
RobotRaconteurNode::s()->RegisterTransport(c3);
RobotRaconteurNode::s()->RegisterTransport(c);
RobotRaconteurNode::s()->RegisterServiceType(RR_MAKE_SHARED<com__robotraconteur__testing__TestService1Factory>());
RobotRaconteurNode::s()->RegisterServiceType(RR_MAKE_SHARED<com__robotraconteur__testing__TestService2Factory>());
servicetest_count = 0;
servicetest_connectcount = 0;
servicetest_keepgoing = true;
// RobotRaconteurNode::s()->AsyncConnectService(url1,"",RR_INTRUSIVE_PTR<RRMap<std::string,RRValue>
// >(),NULL,"",&servicetest1);
// RobotRaconteurNode::s()->AsyncConnectService(url1,"",RR_INTRUSIVE_PTR<RRMap<std::string,RRValue>
// >(),NULL,"",boost::bind(&servicetest3,url1,RR_BOOST_PLACEHOLDERS(_1),RR_BOOST_PLACEHOLDERS(_2)));
RR_SHARED_PTR<RRObject> obj = RobotRaconteurNode::s()->ConnectService(
url1, "", RR_INTRUSIVE_PTR<RRMap<std::string, RRValue> >(), RR_NULL_FN, "");
RR_SHARED_PTR<async_testroot> o = rr_cast<async_testroot>(obj);
RR_SHARED_PTR<testroot> o2 = rr_cast<testroot>(obj);
o->async_func3(1, 2, boost::bind(&servicetest2, o, RR_BOOST_PLACEHOLDERS(_1), RR_BOOST_PLACEHOLDERS(_2)));
RR_SHARED_PTR<PipeEndpoint<double> > p = o2->get_broadcastpipe()->Connect(-1);
p->PacketReceivedEvent.connect(&servicetest7);
RR_SHARED_PTR<WireConnection<double> > w = o2->get_broadcastwire()->Connect();
RR_SHARED_PTR<Timer> t = RobotRaconteurNode::s()->CreateTimer(
boost::posix_time::milliseconds(40), boost::bind(&servicetest5, p, w, RR_BOOST_PLACEHOLDERS(_1)));
t->Start();
cout << "Press enter to quit" << endl;
boost::this_thread::sleep(boost::posix_time::seconds(120));
servicetest_keepgoing = false;
t->TryStop();
RobotRaconteurNode::s()->DisconnectService(obj);
RobotRaconteurNode::s()->Shutdown();
cout << "Test completed, no errors detected!" << endl;
boost::this_thread::sleep(boost::posix_time::seconds(10));
return 0;
}
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