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Need a sanity check: gSoap and Webservices

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Well I received that dreaded email yesterday " We have a new integration project we need you to look at, it has a few legacy systems" !!
Here's the layout. I have 3 C++ applications (2 Wintel and 1 Linux) that essentially listen on a respective port, pick off a message, and plot the information on a map. Each of these systems was developed without knowledge of the other so there's no current data exchange.
I have a fourth system that has some similar funcationality (plotting things to a map) but uses JMS with MDBs.
I'd like to have all the systems use a pub/sub type design to get the messages (vice listening on a port).
My initial thoughth is to put a SOAP interface (using gSoap) in front of each of the legacy C++ apps. Define a webservice that invokes methods on the SOAP interface each time a message is passed to it (the webservice) from a MDB (via a JMS queue).
Does this make conceptual sense? I'm trying not to alter the legacy apps at all if possible.
As always, I appreciate everyone's feedback and necessary critcisim
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