controltaskserver.cpp

机器人开源项目orocos的源代码

        }
        catch (CORBA::Exception &e) {
            log(Error) << "CORBA exception raised!" << endlog();
            log() << e._info().c_str() << endlog();
        }

    }

    bool ControlTaskServer::InitOrb(int argc, char* argv[] ) {
        if ( orb.in() )
            return false;
        try {
            // First initialize the ORB, that will remove some arguments...
            orb =
                CORBA::ORB_init (argc, argv,
                                 "" /* the ORB name, it can be anything! */);
            CORBA::Object_var poa_object =
                orb->resolve_initial_references ("RootPOA");
            rootPOA =
                PortableServer::POA::_narrow (poa_object.in ());
            PortableServer::POAManager_var poa_manager =
                rootPOA->the_POAManager ();
            poa_manager->activate ();

            return true;
        }
        catch (CORBA::Exception &e) {
            log(Error) << "Orb Init : CORBA exception raised!" << endlog();
            log() << e._info().c_str() << endlog();
        }
        return false;

    }

    void ControlTaskServer::CleanupServers() {
        if ( !CORBA::is_nil(orb) ) {
            log(Info) << "Cleaning up ControlTaskServers..."<<endlog();
            ServerMap::iterator it = servers.begin();
            while ( !servers.empty() ){
                delete servers.begin()->second;
            }
            log() << "Cleanup done."<<endlog();
        }
    }

    void ControlTaskServer::ShutdownOrb(bool wait_for_completion) 
    {
        Logger::In in("ShutdownOrb");
        DoShutdownOrb(wait_for_completion);
    }

    void ControlTaskServer::DoShutdownOrb(bool wait_for_completion) 
    {
        if ( CORBA::is_nil(orb) ) {
            log(Error) << "Orb Shutdown...failed! Orb is nil." << endlog();
            return;
        }

        try {
            log(Info) << "Orb Shutdown...";
            if (wait_for_completion)
                log(Info)<<"waiting..."<<endlog();
            orb->shutdown( wait_for_completion );
            log(Info) << "done." << endlog();
        }
        catch (CORBA::Exception &e) {
            log(Error) << "Orb Shutdown...failed! CORBA exception raised." << endlog();
            log() << e._info().c_str() << endlog();
            return;
        }
    }


    void ControlTaskServer::RunOrb()
    {
        if ( CORBA::is_nil(orb) ) {
            log(Error) << "RunOrb...failed! Orb is nil." << endlog();
            return;
        }
        try {
            log(Info) <<"Entering orb->run()."<<endlog();
            orb->run();
            log(Info) <<"Breaking out of orb->run()."<<endlog();
        }
        catch (CORBA::Exception &e) {
            log(Error) << "Orb Run : CORBA exception raised!" << endlog();
            log() << e._info().c_str() << endlog();
        }
    }

    /**
     * Class which runs an orb in an Orocos thread.
     */
    struct OrbRunner
        : public NonPeriodicActivity
    {
        OrbRunner()
            : NonPeriodicActivity(RTT::OS::LowestPriority)
        {}
        void loop()
        {
            Logger::In in("OrbRunner");
            ControlTaskServer::RunOrb();
        }

        bool breakLoop()
        {
            return true;
        }

        void finalize()
        {
            Logger::In in("OrbRunner");
            log(Info) <<"Safely stopped."<<endlog();
        }
    };

    void ControlTaskServer::ThreadOrb()
    {
        Logger::In in("ThreadOrb");
        if ( CORBA::is_nil(orb) ) {
            log(Error) << "ThreadOrb...failed! Orb is nil." << endlog();
            return;
        }
        if (orbrunner != 0) {
            log(Error) <<"Orb already running in a thread."<<endlog();
        } else {
            log(Info) <<"Starting Orb in a thread."<<endlog();
            orbrunner = new OrbRunner();

            orbrunner->start();
        }
    }

    void ControlTaskServer::DestroyOrb()
    {
        Logger::In in("DestroyOrb");
        if ( CORBA::is_nil(orb) ) {
            log(Error) << "DestroyOrb...failed! Orb is nil." << endlog();
            return;
        }

        if (orbrunner) {
            orbrunner->stop();
            delete orbrunner;
            orbrunner = 0;
        }

        try {
            // Destroy the POA, waiting until the destruction terminates
            //poa->destroy (1, 1);
            CleanupServers();
            orb->destroy();
            log(Info) <<"Orb destroyed."<<endlog();
        }
        catch (CORBA::Exception &e) {
            log(Error) << "Orb Destroy : CORBA exception raised!" << endlog();
            log() << e._info().c_str() << endlog();
        }

    }

    ControlTaskServer* ControlTaskServer::Create(TaskContext* tc, bool use_naming) {
        if ( !orb )
            return 0;

        if ( servers.count(tc) ) {
            log(Debug) << "Returning existing ControlTaskServer for "<<tc->getName()<<endlog();
            return servers.find(tc)->second;
        }

        // create new:
        log(Info) << "Creating new ControlTaskServer for "<<tc->getName()<<endlog();
        ControlTaskServer* cts = new ControlTaskServer(tc, use_naming);
        return cts;
    }

    ControlTask_ptr ControlTaskServer::CreateServer(TaskContext* tc, bool use_naming) {
        if ( !orb )
            return 0;

        if ( servers.count(tc) ) {
            log(Debug) << "Returning existing ControlTaskServer for "<<tc->getName()<<endlog();
            return servers.find(tc)->second->server();
        }

        for (ControlTaskProxy::PMap::iterator it = ControlTaskProxy::proxies.begin(); it != ControlTaskProxy::proxies.end(); ++it)
            if ( (it->second) == tc ) {
                log(Debug) << "Returning server of Proxy for "<<tc->getName()<<endlog();
                return ControlTask::_duplicate(it->first);
            }

        // create new:
        log(Info) << "Creating new ControlTaskServer for "<<tc->getName()<<endlog();
        ControlTaskServer* cts = new ControlTaskServer(tc, use_naming);
        return cts->server();
    }


    Corba::ControlTask_ptr ControlTaskServer::server() const
    {
        return Corba::ControlTask::_duplicate(mtask.in());
    }

}}