IceApp::sensorinfo_t
IceApp::connectToSensor(const std::string &sensor_name) const
{
Ice::PropertiesPtr props = this->communicator()->getProperties();
Ice::LoggerPtr log = this->communicator()->getLogger();
try
{
log->print(string("Connecting to ") + sensor_name + " sensor");
const string prop_name = sensor_name + ".proxy";
string sensor_str_proxy = props->getProperty(prop_name);
sensors::SensorGroupPrx sensor_prx;
if(sensor_str_proxy.empty())
log->warning(prop_name
+ string(" property is not set. No ")
+ sensor_name + ".");
else
{
Ice::ObjectPrx objprx =
this->communicator()->stringToProxy(sensor_str_proxy);
sensor_prx = sensors::SensorGroupPrx::checkedCast(objprx);
if(!sensor_prx)
log->warning(string("Can not connect to ")
+ sensor_name
+ string(" sensor. No ")
+ sensor_name + ".");
else
{
string msg = "Connected to sensor group ";
log->print(msg + sensor_name);
sensors::SensorDescriptionSeq descr =
sensor_prx->getSensorDescription();
for(sensors::SensorDescriptionSeq::const_iterator d = descr.begin();
d != descr.end(); ++d)
{
ostringstream os;
os << " Vendor id: " << d->vendorid << endl;
os << " Description: " << d->description << endl;
os << " Id: " << d->id << endl;
os << " Min value: " << d->minvalue << endl;
os << " Max value: " << d->maxvalue << endl;
os << " Recommended refresh rate, Hz: " << d->refreshrate;
log->print(os.str());
}
return make_pair(sensor_prx, descr);
}
}
}
catch(const Ice::Exception& ex)
{
ostringstream os;
os << "Can not connect to " << sensor_name << " sensor. No "
<< sensor_name + ".\n";
ex.ice_print(os);
log->warning(os.str());
}
return make_pair(sensors::SensorGroupPrx(),
sensors::SensorDescriptionSeq());
}
IceApp::actuatorinfo_t
IceApp::connectToActuator(const std::string &actuator_name) const
{
Ice::PropertiesPtr props = this->communicator()->getProperties();
Ice::LoggerPtr log = this->communicator()->getLogger();
try
{
log->print(string("Connecting to ") + actuator_name + " actuators");
const string prop_name = actuator_name + ".proxy";
string actuator_str_proxy = props->getProperty(prop_name);
actuators::ActuatorGroupPrx actuator_prx;
if(actuator_str_proxy.empty())
log->warning(prop_name
+ string(" property is not set. No ")
+ actuator_name + ".");
else
{
Ice::ObjectPrx objprx =
this->communicator()->stringToProxy(actuator_str_proxy);
actuator_prx =
actuators::ActuatorGroupPrx::checkedCast(objprx);
if(!actuator_prx)
log->warning(string("Can not connect to ")
+ actuator_name
+ string(" actuator. No ")
+ actuator_name + ".");
else
{
string msg = "Connected to actuator group ";
log->print(msg + actuator_name);
actuators::ActuatorDescriptionSeq descr =
actuator_prx->getActuatorDescription();
for(actuators::ActuatorDescriptionSeq::const_iterator d = descr.begin();
d != descr.end(); ++d)
{
ostringstream os;
os << " Vendor id: " << d->vendorid << endl;
os << " Description: " << d->description << endl;
os << " Id: " << d->id << endl;
log->print(os.str());
}
return make_pair(actuator_prx, descr);
}
}
}
catch(const Ice::Exception &ex)
{
std::ostringstream os;
os << "Can not connect to actuator " + actuator_name + ".\n";
ex.ice_print(os);
log->warning(os.str());
}
return make_pair(actuators::ActuatorGroupPrx(),
actuators::ActuatorDescriptionSeq());
}
