app-ScorbotSimpleServer.C

#include <Ice/Ice.h>
#include "Devices/Serial.H"
#include "Component/ModelComponent.H"
#include "Component/ModelManager.H"
#include "Robots/Scorbot/ScorbotSimple.ice.H"

class ScorbotSimpleI: public ScorbotSimpleIce::ScorbotSimple, public ModelComponent
{
        public:
                ScorbotSimpleI(OptionManager& mgr, 
                                const std::string& descrName = "",
                                const std::string& tagName = "") :
                        ModelComponent(mgr, descrName, tagName),
                        itsSerial(new Serial(mgr)) 
                        {
                                addSubComponent(itsSerial);
                                itsSerial->configure("/dev/ttyACM0", 115200, "8N1", false, false, 1000000);
                        }

                        bool getState(const Ice::Current&)
                        {
                                char cmd = 'a';
                                itsSerial->write(&cmd, 1);
                                usleep(10000);
                                char retVal;
                                itsSerial->read(&retVal, 1);
                                return (retVal == 'B');
                        }

                        void setNext(const Ice::Current&)
                        {
                                char cmd = 'b';
                                itsSerial->write(&cmd, 1);
                        }

                        void reset(const Ice::Current&)
                        {
                                char cmd = 'c';
                                itsSerial->write(&cmd, 1);
                                usleep(10000);
                        }

        private:
                        nub::ref<Serial> itsSerial;
};


int main(int argc, char** argv)
{
        ModelManager manager("ScorbotServerManager");
        nub::ref<ScorbotSimpleI> scorbot(new ScorbotSimpleI(manager));
        manager.addSubComponent(scorbot);

        manager.parseCommandLine(argc, argv, "", 0, 0);
        manager.start();

        std::string connString("default -p 10000");

        int status = 0;
        Ice::CommunicatorPtr ic;

        try {
                ic = Ice::initialize(argc, argv);
                Ice::ObjectAdapterPtr adapter = 
                        ic->createObjectAdapterWithEndpoints(
                                        "ScorbotServerAdapter", connString.c_str());
                Ice::ObjectPtr object = scorbot.get();
                adapter->add(object, ic->stringToIdentity("ScorbotServer"));
                adapter->activate();
                ic->waitForShutdown();
        } catch(const Ice::Exception& e) {
                std::cerr << e << std::endl;
                status = 1;
        } catch(const char* msg)  {
                std::cerr << msg << std::endl;
                status = 1;
        }

        if(ic) {
                try {
                        ic->destroy(); 
                } catch(const Ice::Exception& e) {
                        std::cerr << e << std::endl;
                        status = 1;
                }
        }

        return status;
}