| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// Copyright (c) 2015, Joseph Mirabel |
| 2 |
|
|
// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
| 3 |
|
|
// |
| 4 |
|
|
|
| 5 |
|
|
// Redistribution and use in source and binary forms, with or without |
| 6 |
|
|
// modification, are permitted provided that the following conditions are |
| 7 |
|
|
// met: |
| 8 |
|
|
// |
| 9 |
|
|
// 1. Redistributions of source code must retain the above copyright |
| 10 |
|
|
// notice, this list of conditions and the following disclaimer. |
| 11 |
|
|
// |
| 12 |
|
|
// 2. Redistributions in binary form must reproduce the above copyright |
| 13 |
|
|
// notice, this list of conditions and the following disclaimer in the |
| 14 |
|
|
// documentation and/or other materials provided with the distribution. |
| 15 |
|
|
// |
| 16 |
|
|
// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
| 17 |
|
|
// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
| 18 |
|
|
// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
| 19 |
|
|
// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
| 20 |
|
|
// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
| 21 |
|
|
// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
| 22 |
|
|
// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
| 23 |
|
|
// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
| 24 |
|
|
// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
| 25 |
|
|
// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
| 26 |
|
|
// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
| 27 |
|
|
// DAMAGE. |
| 28 |
|
|
|
| 29 |
|
|
#include "hpp/corbaserver/client.hh" |
| 30 |
|
|
|
| 31 |
|
|
#include <iostream> |
| 32 |
|
|
|
| 33 |
|
|
namespace hpp { |
| 34 |
|
|
namespace corbaServer { |
| 35 |
|
|
using CORBA::Exception; |
| 36 |
|
|
using CORBA::Object_var; |
| 37 |
|
|
using CORBA::ORB_init; |
| 38 |
|
|
using CORBA::PolicyList; |
| 39 |
|
|
using CORBA::SystemException; |
| 40 |
|
|
using omniORB::fatalException; |
| 41 |
|
|
|
| 42 |
|
✗ |
ClientBase::ClientBase(int argc, char* argv[]) { |
| 43 |
|
✗ |
orb_ = CORBA::ORB_init(argc, argv); |
| 44 |
|
|
} |
| 45 |
|
|
|
| 46 |
|
✗ |
ClientBase::~ClientBase() {} |
| 47 |
|
|
|
| 48 |
|
✗ |
bool ClientBase::createFromDirectLink(const std::string& iiop) { |
| 49 |
|
✗ |
std::string url = iiop + "/hpp-corbaserver"; |
| 50 |
|
|
|
| 51 |
|
✗ |
CORBA::Object_var obj = orb_->string_to_object(url.c_str()); |
| 52 |
|
✗ |
tools_ = hpp::Tools::_narrow(obj.in()); |
| 53 |
|
✗ |
return !CORBA::is_nil(tools_); |
| 54 |
|
|
} |
| 55 |
|
|
|
| 56 |
|
✗ |
bool ClientBase::createFromNameService(const std::string& iiop) { |
| 57 |
|
✗ |
std::string url = iiop + "/NameService"; |
| 58 |
|
|
|
| 59 |
|
✗ |
CORBA::Object_var obj = orb_->string_to_object(url.c_str()); |
| 60 |
|
✗ |
if (CORBA::is_nil(obj)) return false; |
| 61 |
|
✗ |
CosNaming::NamingContext_var nc = CosNaming::NamingContext::_narrow(obj.in()); |
| 62 |
|
✗ |
if (CORBA::is_nil(nc)) return false; |
| 63 |
|
|
|
| 64 |
|
|
// Bind robotObj with name Robot to the hppContext: |
| 65 |
|
✗ |
CosNaming::Name objectName; |
| 66 |
|
✗ |
objectName.length(1); |
| 67 |
|
✗ |
objectName[0].id = (const char*)"hpp"; // string copied |
| 68 |
|
✗ |
objectName[0].kind = (const char*)"tools"; // string copied |
| 69 |
|
|
|
| 70 |
|
|
// Invoke the root context to retrieve the object reference |
| 71 |
|
✗ |
obj = nc->resolve(objectName); |
| 72 |
|
|
// Narrow the previous object to obtain the correct type |
| 73 |
|
✗ |
tools_ = hpp::Tools::_narrow(obj.in()); |
| 74 |
|
|
|
| 75 |
|
✗ |
return CORBA::is_nil(tools_); |
| 76 |
|
|
} |
| 77 |
|
|
|
| 78 |
|
✗ |
void ClientBase::connect(const std::string& iiop) { |
| 79 |
|
✗ |
bool ok = createFromDirectLink(iiop); |
| 80 |
|
✗ |
if (!ok) ok = createFromNameService(iiop); |
| 81 |
|
✗ |
if (!ok) |
| 82 |
|
✗ |
throw std::runtime_error("Could not connect to hpp server at " + iiop); |
| 83 |
|
|
} |
| 84 |
|
|
|
| 85 |
|
✗ |
Client::Client(int argc, char* argv[]) : ClientBase(argc, argv) {} |
| 86 |
|
|
|
| 87 |
|
✗ |
void Client::connect(const char* iiop, const char* context) { |
| 88 |
|
✗ |
ClientBase::connect(iiop); |
| 89 |
|
|
|
| 90 |
|
✗ |
CORBA::Object_var obj; |
| 91 |
|
|
|
| 92 |
|
✗ |
obj = tools()->getServer(context, "", "robot"); |
| 93 |
|
✗ |
robot_ = hpp::corbaserver::Robot::_narrow(obj.in()); |
| 94 |
|
|
|
| 95 |
|
✗ |
obj = tools()->getServer(context, "", "problem"); |
| 96 |
|
✗ |
problem_ = hpp::corbaserver::Problem::_narrow(obj.in()); |
| 97 |
|
|
|
| 98 |
|
✗ |
obj = tools()->getServer(context, "", "obstacle"); |
| 99 |
|
✗ |
obstacle_ = hpp::corbaserver::Obstacle::_narrow(obj.in()); |
| 100 |
|
|
} |
| 101 |
|
|
|
| 102 |
|
✗ |
Client::~Client() {} |
| 103 |
|
|
} // end of namespace corbaServer. |
| 104 |
|
|
} // end of namespace hpp. |
| 105 |
|
|
|