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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;
}
static void asyncgetdefaultclient_handler(const RR_SHARED_PTR<testroot>& obj,
const RR_SHARED_PTR<RobotRaconteurException>& err)
{
std::cout << "Got default client callback" << std::endl;
}
static void asyncgetdefaultclient_failed_handler(const RR_SHARED_PTR<ServiceSubscription>& sub,
const ServiceSubscriptionClientID& id,
const std::vector<std::string>& url,
const RR_SHARED_PTR<RobotRaconteurException>& err)
{
std::cout << "Connect to " << id.NodeID.ToString() << " with url: " << boost::join(url, ",")
<< " failed: " << err->ToString() << std::endl;
}
int main(int argc, char* argv[])
{
if (argc < 2)
{
cout << "Usage for subscriberurltest: RobotRaconteurTest subscriberurltest url" << endl;
return -1;
}
string url = 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> urls;
urls.push_back(url);
RR_SHARED_PTR<ServiceSubscription> subscription = RobotRaconteurNode::s()->SubscribeService(urls);
subscription->AddClientConnectListener(servicesubscription_connected);
subscription->AddClientDisconnectListener(servicesubscription_disconnected);
subscription->AddClientConnectFailedListener(boost::bind(&asyncgetdefaultclient_failed_handler,
RR_BOOST_PLACEHOLDERS(_1), RR_BOOST_PLACEHOLDERS(_2),
RR_BOOST_PLACEHOLDERS(_3), RR_BOOST_PLACEHOLDERS(_4)));
subscription->AsyncGetDefaultClient<testroot>(
boost::bind(&asyncgetdefaultclient_handler, RR_BOOST_PLACEHOLDERS(_1), RR_BOOST_PLACEHOLDERS(_2)), 5000);
RR_SHARED_PTR<testroot> defaultclient2 = subscription->GetDefaultClientWait<testroot>(10000);
RR_SHARED_PTR<testroot> defaultclient3;
subscription->TryGetDefaultClientWait<testroot>(defaultclient3, 10000);
if (!defaultclient3)
{
throw std::runtime_error("");
}
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;
}
try
{
cout << "Client d1: " << subscription->GetDefaultClient<testroot>()->get_d1() << endl;
}
catch (ConnectionException& e)
{
cout << "No client connected" << endl;
}
RR_SHARED_PTR<testroot> default_client;
if (subscription->TryGetDefaultClient<testroot>(default_client))
{
cout << "Client d1: " << default_client->get_d1() << endl;
}
cout << "Press enter to quit" << endl;
getchar();
subscription->Close();
RobotRaconteurNode::s()->Shutdown();
return 0;
}
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