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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;
// TODO: Use GTest
void servicesubscription_connected(const RR_SHARED_PTR<ServiceSubscription>& sub,
const ServiceSubscriptionClientID& noden, const RR_SHARED_PTR<RRObject>& obj)
{
cout << "Subscription Connected: " << noden.NodeID.ToString() << ", " << noden.ServiceName << endl;
}
void servicesubscription_disconnected(const RR_SHARED_PTR<ServiceSubscription>& sub,
const ServiceSubscriptionClientID& noden, const RR_SHARED_PTR<RRObject>& obj)
{
cout << "Subscription Disconnected: " << noden.NodeID.ToString() << ", " << noden.ServiceName << endl;
}
void subscribertest_waitwire(RR_SHARED_PTR<WireSubscription<RR_INTRUSIVE_PTR<RobotRaconteur::RRArray<double> > > > w1)
{
w1->WaitInValueValid();
w1->WaitInValueValid();
}
void subscribertest_wirechanged(
RR_SHARED_PTR<WireSubscription<RR_INTRUSIVE_PTR<RobotRaconteur::RRArray<double> > > > w1,
const RR_INTRUSIVE_PTR<RobotRaconteur::RRArray<double> >& val, const TimeSpec& time)
{
// cout << "Wire value: " << RRArrayToScalar(val) << endl;
}
void subscribertest_pipereceived(RR_SHARED_PTR<PipeSubscription<double> > p1)
{
static int c = 0;
double val;
while (p1->TryReceivePacket(val))
{
c++;
if (c > 10)
{
cout << "Pipe value: " << val << endl;
c = 0;
}
}
}
int main(int argc, char* argv[])
{
if (argc < 2)
{
cout << "Usage for subscribertest: subscribertest servicetype" << endl;
return -1;
}
string servicetype = string(argv[1]);
// vector<string> schemes;
// boost::split(schemes, argv[3], boost::is_from_range(',', ','));
RobotRaconteurNode::s()->SetLogLevelFromEnvVariable();
RR_SHARED_PTR<TcpTransport> t = RR_MAKE_SHARED<TcpTransport>();
t->EnableNodeDiscoveryListening();
RobotRaconteurNode::s()->RegisterTransport(t);
RR_SHARED_PTR<LocalTransport> c2 = RR_MAKE_SHARED<LocalTransport>();
c2->EnableNodeDiscoveryListening();
RobotRaconteurNode::s()->RegisterTransport(c2);
RR_SHARED_PTR<HardwareTransport> c5 = RR_MAKE_SHARED<HardwareTransport>();
RobotRaconteurNode::s()->RegisterTransport(c5);
RobotRaconteurNode::s()->RegisterServiceType(RR_MAKE_SHARED<com__robotraconteur__testing__TestService1Factory>());
RobotRaconteurNode::s()->RegisterServiceType(RR_MAKE_SHARED<com__robotraconteur__testing__TestService2Factory>());
std::vector<std::string> servicetypes;
servicetypes.push_back(servicetype);
RR_SHARED_PTR<ServiceSubscription> subscription = RobotRaconteurNode::s()->SubscribeServiceByType(servicetypes);
subscription->AddClientConnectListener(servicesubscription_connected);
subscription->AddClientDisconnectListener(servicesubscription_disconnected);
RR_SHARED_PTR<WireSubscription<RR_INTRUSIVE_PTR<RobotRaconteur::RRArray<double> > > > broadcastwire =
subscription->SubscribeWire<RR_INTRUSIVE_PTR<RobotRaconteur::RRArray<double> > >("broadcastwire");
broadcastwire->AddWireValueChangedListener(subscribertest_wirechanged);
RR_SHARED_PTR<WireSubscription<RR_INTRUSIVE_PTR<RobotRaconteur::RRArray<double> > > > w1 =
subscription->SubscribeWire<RR_INTRUSIVE_PTR<RobotRaconteur::RRArray<double> > >("w1");
RR_SHARED_PTR<PipeSubscription<double> > broadcastpipe =
subscription->SubscribePipe<double>("broadcastpipe", "", 100);
broadcastpipe->AddPipePacketReceivedListener(subscribertest_pipereceived);
boost::thread t1(boost::bind(&subscribertest_waitwire, w1));
boost::this_thread::sleep(boost::posix_time::seconds(10));
std::map<ServiceSubscriptionClientID, RR_SHARED_PTR<RRObject> > clients = subscription->GetConnectedClients();
typedef std::map<ServiceSubscriptionClientID, RR_SHARED_PTR<RRObject> >::value_type e_type;
BOOST_FOREACH (e_type& e, clients)
{
cout << "Subscribed Node: " << e.first.NodeID.ToString() << " " << e.first.ServiceName << endl;
}
RR_INTRUSIVE_PTR<RobotRaconteur::RRArray<double> > w1_value;
TimeSpec w1_time;
broadcastwire->TryGetInValue(w1_value, &w1_time);
broadcastwire->TryGetInValue(w1_value);
broadcastwire->GetInValue(&w1_time);
broadcastwire->GetInValue();
double pipe_val;
while (broadcastpipe->TryReceivePacket(pipe_val))
{
cout << "Got pipe value: " << pipe_val << endl;
}
if (w1_value)
{
cout << "broadcastwire: len=" << w1_value->size() << " [0]=" << (*w1_value)[0] << endl;
}
RR_SHARED_PTR<WireConnection<RR_INTRUSIVE_PTR<RRArray<double> > > > c;
RR_INTRUSIVE_PTR<RRArray<double> > v;
TimeSpec time;
if (!broadcastwire->TryGetInValue(v, &time, &c))
{
cout << "Value not set" << endl;
}
cout << "Press enter to quit" << endl;
getchar();
subscription->Close();
t1.join();
RobotRaconteurNode::s()->Shutdown();
return 0;
}
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