actionproxy.cpp

机器人开源项目orocos的源代码

/***************************************************************************
  tag: Peter Soetens  Mon Jun 26 13:25:59 CEST 2006  ActionProxy.cxx 

                        ActionProxy.cxx -  description
                           -------------------
    begin                : Mon June 26 2006
    copyright            : (C) 2006 Peter Soetens
    email                : [e-mail]
 
 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
 *   modify it under the terms of the GNU General Public                   *
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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
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 *   resulting executable to be covered by the GNU General Public          *
 *   License.  This exception does not however invalidate any other        *
 *   reasons why the executable file might be covered by the GNU General   *
 *   Public License.                                                       *
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 *   Lesser General Public License for more details.                       *
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 ***************************************************************************/
 
 

#include "OperationsI.h"
#include "ActionProxy.hpp"

#include <ace/String_Base.h>

using namespace std;

namespace RTT
{namespace Corba
{
    std::map<Corba::Action_ptr, ActionProxy*> ActionProxy::proxies;

    ActionProxy::ActionProxy( ::RTT::Corba::Action_ptr e) 
        : mdata( ::RTT::Corba::Action::_duplicate(e) )
    {
        try {
            mdata->reset(); // force connect to object.
        }
        catch (CORBA::Exception &e) {
            Logger::log() <<Logger::Error << "CORBA exception raised when creating ActionProxy!" << Logger::nl;
            Logger::log() << e._info().c_str() << Logger::endl;
        }
        catch (...) {
            throw;
        }
    }

    ActionProxy* ActionProxy::Create(::RTT::Corba::Action_ptr t) {
        if ( CORBA::is_nil( t ) )
            return 0;

        // proxy present for this object ?
        if ( proxies.count( t ) )
            return proxies[t];

        // create new:
        ActionProxy* ctp = new ActionProxy( t );
        proxies[t] = ctp;
        return ctp;
    }

    Corba::Action_ptr ActionProxy::server() const
    {
        return Corba::Action::_duplicate( mdata.in() );
    }

}}