[Jderobot-admin] jderobot-r1244 - trunk/src/stable/libs/parallelIce

[frivas en jderobot.org]

Author: frivas
Date: 2014-10-28 17:08:19 +0100 (Tue, 28 Oct 2014)
New Revision: 1244

Modified:
   trunk/src/stable/libs/parallelIce/cameraClient.cpp
   trunk/src/stable/libs/parallelIce/laserClient.cpp
   trunk/src/stable/libs/parallelIce/pointcloudClient.cpp
Log:
#284 Included Ice exception handler in parallelIce


Modified: trunk/src/stable/libs/parallelIce/cameraClient.cpp
===================================================================
--- trunk/src/stable/libs/parallelIce/cameraClient.cpp	2014-10-28 15:38:05 UTC (rev 1243)
+++ trunk/src/stable/libs/parallelIce/cameraClient.cpp	2014-10-28 16:08:19 UTC (rev 1244)
@@ -136,16 +136,24 @@
 			this->sem.wait(sync);
 		}
 
-		dataPtr = this->prx->getImageData();
-		fmt = colorspaces::Image::Format::searchFormat(dataPtr->description->format);
-		if (!fmt)
-			throw "Format not supported";
-		colorspaces::Image imageRGB(dataPtr->description->width,dataPtr->description->height,fmt,&(dataPtr->pixelData[0]));
-		colorspaces::ImageRGB8 img_rgb888(imageRGB);//conversion will happen if needed
-		this->controlMutex.lock();
-		cv::Mat(cvSize(img_rgb888.width,img_rgb888.height), CV_8UC3, img_rgb888.data).copyTo(this->data);
-		this->controlMutex.unlock();
-		img_rgb888.release();
+		try{
+			dataPtr = this->prx->getImageData();
+			fmt = colorspaces::Image::Format::searchFormat(dataPtr->description->format);
+			if (!fmt)
+				throw "Format not supported";
+			colorspaces::Image imageRGB(dataPtr->description->width,dataPtr->description->height,fmt,&(dataPtr->pixelData[0]));
+			colorspaces::ImageRGB8 img_rgb888(imageRGB);//conversion will happen if needed
+			this->controlMutex.lock();
+			cv::Mat(cvSize(img_rgb888.width,img_rgb888.height), CV_8UC3, img_rgb888.data).copyTo(this->data);
+			this->controlMutex.unlock();
+			img_rgb888.release();
+		}
+		catch(...){
+			jderobot::Logger::getInstance()->warning(prefix +"error during request (connection error)");
+			usleep(5000);
+
+		}
+
 		int process = this->cycle - (IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds());
 
 		if (process > (int)cycle ){

Modified: trunk/src/stable/libs/parallelIce/laserClient.cpp
===================================================================
--- trunk/src/stable/libs/parallelIce/laserClient.cpp	2014-10-28 15:38:05 UTC (rev 1243)
+++ trunk/src/stable/libs/parallelIce/laserClient.cpp	2014-10-28 16:08:19 UTC (rev 1244)
@@ -83,14 +83,22 @@
 			this->sem.wait(sync);
 		}
 
-		jderobot::LaserDataPtr localLaser=this->prx->getLaserData();
+		try{
+			jderobot::LaserDataPtr localLaser=this->prx->getLaserData();
 
-		this->controlMutex.lock();
-		this->data.resize(localLaser->distanceData.size());
-		std::copy( localLaser->distanceData.begin(), localLaser->distanceData.end(), this->data.begin() );
+			this->controlMutex.lock();
+			this->data.resize(localLaser->distanceData.size());
+			std::copy( localLaser->distanceData.begin(), localLaser->distanceData.end(), this->data.begin() );
 
-		this->controlMutex.unlock();
+			this->controlMutex.unlock();
+		}
+		catch(...){
+			jderobot::Logger::getInstance()->warning(prefix +"error during request (connection error)");
+			usleep(5000);
 
+		}
+
+
 		if ((IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds()) > this->cycle ){
 			jderobot::Logger::getInstance()->warning(prefix + ": pointCloud adquisition timeout-");
 		}

Modified: trunk/src/stable/libs/parallelIce/pointcloudClient.cpp
===================================================================
--- trunk/src/stable/libs/parallelIce/pointcloudClient.cpp	2014-10-28 15:38:05 UTC (rev 1243)
+++ trunk/src/stable/libs/parallelIce/pointcloudClient.cpp	2014-10-28 16:08:19 UTC (rev 1244)
@@ -40,14 +40,15 @@
 			this->prx = jderobot::pointCloudPrx::checkedCast(basePointCloud);
 			if (0==this->prx)
 				throw "Invalid proxy" + prefix;
-
 		}
 	}catch (const Ice::Exception& ex) {
 		std::cerr << ex << std::endl;
+		throw "Invalid proxy" + prefix;
 	}
 	catch (const char* msg) {
 		std::cerr << msg << std::endl;
 		jderobot::Logger::getInstance()->error(prefix + " Not camera provided");
+		throw "Invalid proxy" + prefix;
 	}
 	_done=false;
 	this->pauseStatus=false;
@@ -76,10 +77,12 @@
 		}
 	}catch (const Ice::Exception& ex) {
 		std::cerr << ex << std::endl;
+		throw "Invalid proxy" + prefix;
 	}
 	catch (const char* msg) {
 		std::cerr << msg << std::endl;
 		jderobot::Logger::getInstance()->error(prefix + " Not camera provided");
+		throw "Invalid proxy" + prefix;
 	}
 	_done=false;
 	this->pauseStatus=false;
@@ -117,15 +120,22 @@
 			this->sem.wait(sync);
 		}
 
-		jderobot::pointCloudDataPtr localCloud=this->prx->getCloudData();
+		try{
+			jderobot::pointCloudDataPtr localCloud=this->prx->getCloudData();
+			this->controlMutex.lock();
+			this->data.resize(localCloud->p.size());
+			std::copy( localCloud->p.begin(), localCloud->p.end(), this->data.begin() );
+			this->controlMutex.unlock();
+		}
+		catch(...){
+			jderobot::Logger::getInstance()->warning(prefix +"error during request (connection error)");
+			usleep(5000);
 
-		this->controlMutex.lock();
-		this->data.resize(localCloud->p.size());
-		std::copy( localCloud->p.begin(), localCloud->p.end(), this->data.begin() );
+		}
 
-		this->controlMutex.unlock();
 
 
+
 		int process = this->cycle - (IceUtil::Time::now().toMicroSeconds() - last.toMicroSeconds());
 
 		if (process > (int)cycle ){