test-SV.C

#include "Component/ModelManager.H"
#include "Component/ModelComponent.H"
#include "Component/ModelOptionDef.H"
#include "Robots/SeaBeeIII/StereoVisionI.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"


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("MovementController",
                                                                        adapterStr);
          connected = true;
        }
      catch(Ice::SocketException)
        {
          port++;
        }
    }
  
  //Create the manager and its objects
  itsMgr = new ModelManager("StereoVisionService"); 
  
  LINFO("Starting StereoVision");
  nub::ref<StereoVision> bbc(new StereoVision(0, *itsMgr, "StereoVision1", "StereoVision2"));
  LINFO("StereoVision Created");
  itsMgr->addSubComponent(bbc);
  LINFO("StereoVision Added As Sub Component");
  bbc->init(communicator(), itsAdapter); 
  LINFO("StereoVision 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);
}