Orocos Real-Time Toolkit  2.9.0
TaskContextServer.hpp
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1 /***************************************************************************
2  tag: Peter Soetens Wed Jan 18 14:09:48 CET 2006 TaskContextServer.hpp
3 
4  TaskContextServer.hpp - description
5  -------------------
6  begin : Wed January 18 2006
7  copyright : (C) 2006 Peter Soetens
8  email : peter.soetens@fmtc.be
9 
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37 
38 #ifndef ORO_CORBA_CONTROLTASK_SERVER_HPP
39 #define ORO_CORBA_CONTROLTASK_SERVER_HPP
40 
41 #include <map>
42 #ifndef _REENTRANT
43 #define _REENTRANT
44 #endif
45 #include "corba.h"
46 #ifdef CORBA_IS_TAO
47 #include "TaskContextS.h"
48 #else
49 #include "TaskContextC.h"
50 #endif
51 #include "../../TaskContext.hpp"
52 #include "ApplicationServer.hpp"
53 #include "../../base/ActivityInterface.hpp"
54 
56 namespace RTT
57 {namespace corba
58 {
65  class RTT_CORBA_API TaskContextServer
66  : public ApplicationServer
67  {
68  protected:
69  friend class OrbRunner;
70  friend class TaskContextProxy;
71 
72  typedef std::map<TaskContext*, TaskContextServer*> ServerMap;
73  static ServerMap servers;
75  static bool is_shutdown;
76 
77  PortableServer::POA_var mpoa;
78 
79  typedef std::map<TaskContext*, std::string> IorMap;
80  static IorMap iors;
81 
85  TaskContextServer(TaskContext* taskcontext, bool use_naming, bool require_name_service);
89  TaskContextServer(TaskContext* taskcontext, const std::string& alias, bool use_naming, bool require_name_service);
90 
91  // initialize a new servant
92  void initTaskContextServer(bool require_name_service);
93 
94  PortableServer::ServantBase_var mtask_i;
95  corba::CTaskContext_var mtask;
98  std::string mregistered_name;
99 
104  static void DoShutdownOrb(bool wait_for_completion = true);
105  public:
106 
112 
118  static void ShutdownOrb(bool wait_for_completion = true);
119 
123  static void CleanupServers();
124 
129  static void RunOrb();
130 
137  static void ThreadOrb();
138 
144  static void ThreadOrb(int scheduler, int priority = RTT::os::LowestPriority, unsigned cpu_affinity = 0);
145 
149  static void DestroyOrb();
150 
160  static TaskContextServer* Create(TaskContext* tc, bool use_naming = true, bool require_name_service = false);
161 
172  static TaskContextServer* Create(TaskContext* tc, const std::string& alias, bool use_naming = true, bool require_name_service = false);
173 
187  static CTaskContext_ptr CreateServer(TaskContext* tc, bool use_naming = true, bool require_name_service = false);
188 
203  static CTaskContext_ptr CreateServer(TaskContext* tc, const std::string& alias, bool use_naming = true, bool require_name_service = false);
204 
209  static void CleanupServer( TaskContext* tc );
210 
217  CTaskContext_ptr server() const;
218 
224  static std::string getIOR(TaskContext* tc);
225 
226 
227  };
228 }}
229 #endif
This class manages the creation of TaskContext Corba Servers and a Corba Object Request Broker (Orb) ...
PortableServer::ServantBase_var mtask_i
PortableServer::POA_var mpoa
static base::ActivityInterface * orbrunner
A class which an provides ORB to the application process.
This class manages the access of remote TaskContext Corba Servers and a Corba Object Request Broker (...
Interface to start/stop and query a Activity.
Class which runs an orb in an Orocos thread.
corba::CTaskContext_var mtask
std::map< TaskContext *, TaskContextServer * > ServerMap
The TaskContext is the C++ representation of an Orocos component.
Definition: TaskContext.hpp:93
std::map< TaskContext *, std::string > IorMap
const int LowestPriority
An integer denoting the lowest priority of the selected OS.
Definition: ecosthreads.cpp:44
Contains TaskContext, Activity, OperationCaller, Operation, Property, InputPort, OutputPort, Attribute.
Definition: Activity.cpp:52