Fawkes API  Fawkes Development Version
broker_thread.cpp
00001 
00002 /***************************************************************************
00003  *  broker_thread.cpp - NaoQi broker providing Thread
00004  *
00005  *  Created: Thu May 12 19:03:40 2011
00006  *  Copyright  2006-2011  Tim Niemueller [www.niemueller.de]
00007  *
00008  ****************************************************************************/
00009 
00010 /*  This program is free software; you can redistribute it and/or modify
00011  *  it under the terms of the GNU General Public License as published by
00012  *  the Free Software Foundation; either version 2 of the License, or
00013  *  (at your option) any later version.
00014  *
00015  *  This program is distributed in the hope that it will be useful,
00016  *  but WITHOUT ANY WARRANTY; without even the implied warranty of
00017  *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
00018  *  GNU Library General Public License for more details.
00019  *
00020  *  Read the full text in the LICENSE.GPL file in the doc directory.
00021  */
00022 
00023 #include "broker_thread.h"
00024 #include "naoqi_broker.h"
00025 
00026 #include <cerrno>
00027 #include <csignal>
00028 #include <unistd.h>
00029 #include <sys/wait.h>
00030 
00031 #include <alcommon/albrokermanager.h>
00032 #include <alcore/alerror.h>
00033 
00034 using namespace fawkes;
00035 
00036 /** @class NaoQiBrokerThread "broker_thread.h"
00037  * NaoQi Broker Thread.
00038  * This thread maintains a NaoQi broker which can be used by other
00039  * threads and is provided via the NaoQiAspect.
00040  *
00041  * @author Tim Niemueller
00042  */
00043 
00044 /** Constructor. */
00045 NaoQiBrokerThread::NaoQiBrokerThread()
00046   : Thread("NaoQiBrokerThread", Thread::OPMODE_WAITFORWAKEUP),
00047     AspectProviderAspect("NaoQiAspect", &__naoqi_aspect_inifin)
00048 {
00049 }
00050 
00051 
00052 /** Destructor. */
00053 NaoQiBrokerThread::~NaoQiBrokerThread()
00054 {
00055 }
00056 
00057 
00058 void
00059 NaoQiBrokerThread::init()
00060 {
00061   if (fawkes::naoqi::broker) {
00062     __broker = fawkes::naoqi::broker;
00063     logger->log_debug(name(), "Using NaoQi Module broker");
00064   } else {
00065     throw Exception("NaoQi broker not set, embedding of NaoQi "
00066                     "not implemented, yet");
00067   }
00068 
00069   /*
00070   std::vector<AL::ALModuleInfo>::iterator m;
00071   AL::ALPtr<std::vector<AL::ALModuleInfo> >
00072     modules(new std::vector<AL::ALModuleInfo>);
00073 
00074   __broker->getModuleList(modules);
00075   for (m = modules->begin(); m != modules->end(); ++m) {
00076     printf("Module: %s @ %s:%i\n", m->name.c_str(), m->ip.c_str(), m->port);
00077   }
00078 
00079   modules->clear();
00080   __broker->getGlobalModuleList(modules);
00081   for (m = modules->begin(); m != modules->end(); ++m) {
00082     printf("Global Module: %s @ %s:%i\n", m->name.c_str(), m->ip.c_str(), m->port);
00083   }
00084   */
00085 
00086   __naoqi_aspect_inifin.set_naoqi_broker(__broker);
00087 }
00088 
00089 
00090 void
00091 NaoQiBrokerThread::finalize()
00092 {
00093   __broker.reset();
00094   __naoqi_aspect_inifin.set_naoqi_broker(__broker);
00095 }
00096 
00097 
00098 void
00099 NaoQiBrokerThread::loop()
00100 {
00101 }