test-ParticleFilter.C

#include "Component/ModelManager.H"
#include "Component/ModelComponent.H"
#include "Component/ModelOptionDef.H"
#include "Robots/SeaBeeIII/ParticleFilter.H"
#include <Ice/Ice.h>
#include <Ice/Service.h>
#include "Ice/RobotSimEvents.ice.H"
#include "Ice/RobotBrainObjects.ice.H"
#include "Ice/SimEventsUtils.H"
#include "Ice/IceImageUtils.H"
#include "XBox360RemoteControlI.H"

class RobotBrainServiceService: public Ice::Service
{
protected:
        virtual bool start(int, char* argv[]);
        virtual bool stop()
        {
                if (itsMgr)
                        delete itsMgr;
                return true;
        }

private:
        Ice::ObjectAdapterPtr itsAdapter;
        ModelManager *itsMgr;
};

bool RobotBrainServiceService::start(int argc, char* argv[])
{
        char adapterStr[255];

        //Create the adapter
        int port = RobotBrainObjects::RobotBrainPort;
        bool connected = false;

        while (!connected)
        {
                try
                {
                        LINFO("Trying Port:%d", port);
                        sprintf(adapterStr, "default -p %i", port);
                        itsAdapter = communicator()->createObjectAdapterWithEndpoints(
                                        "ParticleFilter", adapterStr);
                        connected = true;
                }
                catch (Ice::SocketException)
                {
                        port++;
                }
        }

        //Create the manager and its objects
        itsMgr = new ModelManager("ParticleFilterService");

        /*LINFO("Starting XBox360RemoteControl");
        XBox360RemoteControlI * controller = new XBox360RemoteControlI(0, *itsMgr, "XBox360RemoteControl1", "XBox360RemoteControl2");
        nub::ref<XBox360RemoteControlI> ret(controller);
        LINFO("XBox360RemoteControl Created");
        itsMgr->addSubComponent(ret);
        LINFO("XBox360RemoteControl Added As Sub Component");
        ret->init(communicator(), itsAdapter);
        LINFO("XBox360RemoteControl Inited");*/

        LINFO("Starting ParticleFilter");
        nub::ref<ParticleFilter> bbc(new ParticleFilter(0, *itsMgr, NULL /*controller*/,
                        "ParticleFilter1", "ParticleFilter2"));
        LINFO("ParticleFilter Created");
        itsMgr->addSubComponent(bbc);
        LINFO("ParticleFilter Added As Sub Component");
        bbc->init(communicator(), itsAdapter);
        LINFO("ParticleFilter Inited");

        itsMgr->parseCommandLine((const int) argc, (const char**) argv, "", 0, 0);

        itsAdapter->activate();

        itsMgr->start();

        return true;
}

// ######################################################################
int main(int argc, char** argv)
{

        RobotBrainServiceService svc;
        return svc.main(argc, argv);
}