app-BeoLogger.C

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00001 /*!@file Robots/Beobot2/app-BeoLogger.C to log data from all the Beobot ICE
00002   modules */
00003 // //////////////////////////////////////////////////////////////////// //
00004 // The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2000-2002   //
00005 // by the University of Southern California (USC) and the iLab at USC.  //
00006 // See http://iLab.usc.edu for information about this project.          //
00007 // //////////////////////////////////////////////////////////////////// //
00008 // Major portions of the iLab Neuromorphic Vision Toolkit are protected //
00009 // under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
00010 // in Visual Environments, and Applications'' by Christof Koch and      //
00011 // Laurent Itti, California Institute of Technology, 2001 (patent       //
00012 // pending; application number 09/912,225 filed July 23, 2001; see      //
00013 // http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
00014 // //////////////////////////////////////////////////////////////////// //
00015 // This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
00016 //                                                                      //
00017 // The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
00018 // redistribute it and/or modify it under the terms of the GNU General  //
00019 // Public License as published by the Free Software Foundation; either  //
00020 // version 2 of the License, or (at your option) any later version.     //
00021 //                                                                      //
00022 // The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
00023 // that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
00024 // implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
00025 // PURPOSE.  See the GNU General Public License for more details.       //
00026 //                                                                      //
00027 // You should have received a copy of the GNU General Public License    //
00028 // along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
00029 // to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
00030 // Boston, MA 02111-1307 USA.                                           //
00031 // //////////////////////////////////////////////////////////////////// //
00032 //
00033 // Primary maintainer for this file: Christian Siagian <siagian@usc.edu>
00034 // $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Robots/Beobot2/app-BeoLogger.C $
00035 // $Id: app-BeoLogger.C 12962 2010-03-06 02:13:53Z irock $
00036 //
00037 
00038 #include "Component/ModelManager.H"
00039 #include "Component/ModelComponent.H"
00040 #include "Component/ModelOptionDef.H"
00041 #include "Robots/Beobot2/BeoLogger.H"
00042 
00043 #include <Ice/Ice.h>
00044 #include <Ice/Service.h>
00045 #include "Ice/RobotSimEvents.ice.H"
00046 #include "Ice/SimEventsUtils.H"
00047 #include "Ice/IceImageUtils.H"
00048 #include "Ice/RobotBrainObjects.ice.H"
00049 
00050 
00051 // ######################################################################
00052 // ######################################################################
00053 class RobotBrainServiceService : public Ice::Service {
00054   protected:
00055     virtual bool start(int, char* argv[]);
00056     virtual bool stop() {
00057       if (itsMgr)
00058         delete itsMgr;
00059       return true;
00060     }
00061 
00062   private:
00063     Ice::ObjectAdapterPtr itsAdapter;
00064     ModelManager *itsMgr;
00065 };
00066 
00067 // ######################################################################
00068 bool RobotBrainServiceService::start(int argc, char* argv[])
00069 {
00070   MYLOGVERB = LOG_INFO;
00071 
00072   char adapterStr[255];
00073 
00074   //Create the adapter
00075   int port = RobotBrainObjects::RobotBrainPort;
00076   bool connected = false;
00077 
00078   // try to connect to ports until successful
00079   LDEBUG("Opening Connection");
00080   while(!connected)
00081   {
00082     try
00083     {
00084       LINFO("Trying Port:%d", port);
00085       sprintf(adapterStr, "default -p %i", port);
00086       itsAdapter = communicator()->createObjectAdapterWithEndpoints
00087         ("BeoLogger", adapterStr);
00088       connected = true;
00089     }
00090     catch(Ice::SocketException)
00091     {
00092       port++;
00093     }
00094   }
00095 
00096   //Create the manager and its objects
00097   itsMgr = new ModelManager("BeoLoggerService");
00098 
00099   LINFO("Starting BeoLogger System");
00100   nub::ref<BeoLogger>
00101     logger(new BeoLogger(*itsMgr, "BeoLogger", "BeoLogger"));
00102   LINFO("BeoLogger created");
00103   itsMgr->addSubComponent(logger);
00104   LINFO("BeoLogger Added As a subcomponent");
00105   logger->init(communicator(), itsAdapter);
00106   LINFO("BeoLogger initiated");
00107 
00108   // check command line inputs/options
00109   if (itsMgr->parseCommandLine (argc, argv, "", 0, 0) == false) return(1);
00110 
00111   // activate manager and adapter
00112   itsAdapter->activate();
00113   itsMgr->start();
00114 
00115   return true;
00116 }
00117 
00118 // ######################################################################
00119 int main(int argc, char** argv) {
00120 
00121   RobotBrainServiceService svc;
00122   return svc.main(argc, argv);
00123 }
00124 
00125 // ######################################################################
00126 /* So things look consistent in everyone's emacs... */
00127 /* Local Variables: */
00128 /* indent-tabs-mode: nil */
00129 /* End: */
00130 
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