/**
* The thread to read the actual azimuth and elevation
* The reads are synchronous
*
*/
static void
worker(void *threadParam_p) {
if (threadParam_p==NULL) {
ACS_SHORT_LOG((LM_ERROR,"Invalid parameter for thread!"));
return;
}
//Get access to the BACI thread this function is being executed from
BACIThreadParameter *baciParameter_p = static_cast<BACIThreadParameter *>(threadParam_p);
BACIThread *myself_p = baciParameter_p->getBACIThread();
// Init the thread
if (BACIThread::InitThread != 0) {
BACIThread::InitThread("Position thread");
}
ACS_SHORT_LOG((LM_INFO,"Thread started with name %s",myself_p->getName().c_str()));
// Get the struct from the parameter
ThreadParamStruct* param=(ThreadParamStruct*)baciParameter_p->getParameter();
// Get the reference to the actAz property of the mount
ACS::ROdouble_var actAz = param->mount->actAz();
if (CORBA::is_nil(actAz)) {
ACS_SHORT_LOG((LM_ERROR,"ERROR getting actAz"));
return;
}
// Get the reference to the actEl property of the mount
ACS::ROdouble_var actEl = param->mount->actEl();
if (CORBA::is_nil(actEl)) {
ACS_SHORT_LOG((LM_ERROR,"ERROR getting actEl"));
return;
}
// The az (azimuth) and el (elevation) are declared here
// but they are both updated in the callback
double az,el;
ACSErr::Completion_var completion;
// Create the structs for the async calls to read the values of az
AsyncCBdouble azCallback("actAz",&az);
ACS::CBdouble_var actAz_CB = azCallback._this();
ACS::CBDescIn actAzDescIn;
// Create the structs for the async calls to read the values of az
AsyncCBdouble elCallback("actEl",&el);
ACS::CBdouble_var actEl_CB = elCallback._this();
ACS::CBDescIn actElDescIn;
// Create the callback for the objfix method
AsyncMethodCBvoid objfixCB("objfix");
ACS::CBvoid_var objfix_CB = objfixCB._this();
ACS::CBDescIn objfixDescIn;
// Times handshaking is not yet implemented so
// we do not really need to fill these fields
//objfixDescIn.normal_timeout=10000000;
//objfixDescIn.negotiable_timeout=5000000;
CORBA::Double newAz=(CORBA::Double)param->az;
CORBA::Double newEl=(CORBA::Double)param->el;
ACS_SHORT_LOG((LM_INFO,"Calling the asynchronous objfix"))
param->mount->objfix(newAz,newEl,objfix_CB.in(),objfixDescIn);
while(myself_p->check() == true) {
if(myself_p->isSuspended() == false) {
ACS_SHORT_LOG((LM_INFO,"Calling the async methods to read Az and El"))
actAz->get_async(actAz_CB.in(),actAzDescIn);
actEl->get_async(actEl_CB.in(),actElDescIn);
} else {
myself_p->sleep();
}
sleep(1);
}
ACS_SHORT_LOG((LM_INFO,"Exiting thread"))
sleep(5);
if (BACIThread::DoneThread != 0) {
BACIThread::DoneThread();
}
delete baciParameter_p;
myself_p->setStopped();
}
int main(int argc, char *argv[])
{
// Checks command-line arguments.
if (argc < 2)
{
ACS_SHORT_LOG((LM_INFO, "Usage: %s <component name> <options>", argv[0]));
return -1;
}
else
{
ACS_SHORT_LOG((LM_INFO, "Welcome to %s!", argv[0]));
}
//Creates and initializes the SimpleClient object
SimpleClient client;
if (client.init(argc,argv) == 0)
{
ACE_DEBUG((LM_DEBUG,"Cannot init client"));
return -1;
}
else
{
//Must log into manager before we can really do anything
client.login();
}
try
{
//List all components of type "*Mount*" the Manager knows of.
ACS_SHORT_LOG((LM_INFO, "Listing all components of type *Mount*"));
maci::HandleSeq seq;
//See the doxygen documentation for maci.idl to understand what these parameters
//are.
maci::ComponentInfoSeq_var components = client.manager()->get_component_info(client.handle(),
seq,
"*",
"*Mount*",
false);
for (CORBA::ULong i = static_cast<CORBA::ULong>(0); i < components->length(); i++)
{
//just print out all known mount components
ACS_SHORT_LOG((LM_INFO,"%s (%s)", components[i].name.in(), components[i].type.in()));
}
// Now get the specific component we have requested from the command-line
ACS_SHORT_LOG((LM_INFO, "Getting component: %s", argv[1]));
//getComponent can throw an exception if it fails
MOUNT_ACS::Mount_var mount = client.getComponent<MOUNT_ACS::Mount>(argv[1], 0, true);
//Prints the descriptor of the requested component
ACS_SHORT_LOG((LM_DEBUG, "Requesting descriptor()... "));
ACS::CharacteristicComponentDesc_var descriptor = mount->descriptor();
ACS_SHORT_LOG((LM_DEBUG, "Got descriptor()."));
ACS_SHORT_LOG((LM_INFO,"Descriptor:"));
ACS_SHORT_LOG((LM_INFO,"\tname: %s", descriptor->name.in()));
//Get the reference to the actAz double property
ACS_SHORT_LOG((LM_INFO, "Getting component property: %s:actAz", argv[1]));
ACS::ROdouble_var actAz = mount->actAz();
if (actAz.ptr() != ACS::ROdouble::_nil())
{
//Get the current value of the property synchronously
ACSErr::Completion_var completion;
CORBA::Double val = actAz->get_sync(completion.out());
ACS_SHORT_LOG((LM_INFO,"Value: %f", val));
//Create the CBdouble property
ACS_SHORT_LOG((LM_INFO, "Trying to narrow CB for actAz... "));
MyCBdouble myCallback("actAz");
//Activate it as a CORBA object
ACS::CBdouble_var cb = myCallback._this();
ACS_SHORT_LOG((LM_INFO, "OK"));
//Invoke the asynchronous method.
ACS_SHORT_LOG((LM_INFO, "Call get_async for actAz..."));
ACS::CBDescIn desc;
actAz->get_async(cb.in(), desc); //returns control immediately
//Here some other useful things should be done
//while the asyncrhonous reply comes
//...
//...
//...
//Enter main loop and stays there for a fixed amount of time (1s)
//This is done to give the asynchronous method a chance to finish.
ACE_Time_Value tv(1);
client.run(tv);
}//if
}
catch(maciErrType::CannotGetComponentExImpl &_ex) // can be thrown by getComponent<..>(...)
{
_ex.log();
return -1;
}
catch( CORBA::SystemException &_ex ) // can be thrown by get_component_info
{
ACSErrTypeCommon::CORBAProblemExImpl corbaProblemEx(__FILE__, __LINE__,
"main");
corbaProblemEx.setMinor(_ex.minor());
corbaProblemEx.setCompletionStatus(_ex.completed());
corbaProblemEx.setInfo(_ex._info().c_str());
corbaProblemEx.log();
return -1;
}
catch(...)
{
ACSErrTypeCommon::UnexpectedExceptionExImpl uex(__FILE__, __LINE__,
"main");
uex.log();
return -1;
}//try-catch
//Another try section where we release our component and logout from the Manager
try
{
ACS_SHORT_LOG((LM_INFO,"Releasing..."));
client.releaseComponent( argv[1]);
client.logout();
}
catch(maciErrType::CannotReleaseComponentExImpl &_ex)
{
_ex.log();
return -1;
}
catch(...)
{
ACSErrTypeCommon::UnexpectedExceptionExImpl uex(__FILE__, __LINE__,
"main");
uex.log();
return -1;
}//try-catch
//sleep for 3 sec to allow everytihng to cleanup and stabilize
//so that the tests can be determinitstic.
ACE_OS::sleep(3);
return 0;
}