Robotics Service Bus

#include <rsb/Listener.h>

#include <rsb/Factory.h>

#include <rsb/CommException.h>

#include <rsc/misc/IllegalStateException.h>

using namespace std;

class TestCallback: public rsb::patterns::Server::Callback<string, string> {

public:

  virtual ~TestCallback() {

  }

  string methodName;

  TestCallback(const string &methodName) :

    methodName(methodName) {

  }

  boost::shared_ptr<string> call(const string &methodName,

                                 boost::shared_ptr<string> input) {

    assert(methodName == this->methodName);

    if (methodName == "methodError") {

      throw runtime_error("Intentionally failing.");

    }

    return boost::shared_ptr<string>(new string("reply to '" + *input + "' (method is '" + methodName + "')"));

  }

};

int main(){

  try{

    /*rsb::patterns::ServerPtr server = rsb::Factory::getInstance().createServer(rsb::Scope("/some/scope"));

    rsb::patterns::Server::CallbackPtr m1(new TestCallback("bla"));

    server->registerMethod("bla", m1);

    sleep(10);*/

    rsb::patterns::RemoteServerPtr server = rsb::Factory::getInstance().createRemoteServer(rsb::Scope("/some/scope"));

    server->call<string>("foo", boost::shared_ptr<string>(new string("bla")));

  }

  catch(rsb::CommException &e){

    std::cerr << "\t Caught rsb::CommException: " << e.what() << std::endl;

  }

  catch(rsc::misc::IllegalStateException &e){

    std::cerr << "\t Caught rsc::misc::IllegalStateException: " << e.what() << std::endl;

  }

  catch(...){

    std::cerr << "\t Caught unknown exception." << std::endl;

  }

}