| Directory: | ./ |
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| File: | include/hpp/corbaserver/server-plugin.hh |
| Date: | 2024-09-11 11:37:19 |
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| Lines: | 16 | 18 | 88.9% |
| Branches: | 3 | 24 | 12.5% |
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| 1 | // Copyright (C) 2019 CNRS-LAAS | ||
| 2 | // Author: Joseph Mirabel | ||
| 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 | #ifndef HPP_CORBASERVER_SERVER_PLUGIN_HH | ||
| 30 | #define HPP_CORBASERVER_SERVER_PLUGIN_HH | ||
| 31 | |||
| 32 | #include <hpp/corba/template/server.hh> | ||
| 33 | #include <hpp/corbaserver/config.hh> | ||
| 34 | #include <hpp/corbaserver/fwd.hh> | ||
| 35 | #include <hpp/corbaserver/problem-solver-map.hh> | ||
| 36 | #include <hpp/corbaserver/server.hh> | ||
| 37 | #include <hpp/util/exception.hh> | ||
| 38 | #include <stdexcept> | ||
| 39 | |||
| 40 | #define HPP_CORBASERVER_DEFINE_PLUGIN(PluginClassName) \ | ||
| 41 | extern "C" { \ | ||
| 42 | ::hpp::corbaServer::ServerPlugin* createServerPlugin( \ | ||
| 43 | ::hpp::corbaServer::Server* server) { \ | ||
| 44 | return new PluginClassName(server); \ | ||
| 45 | } \ | ||
| 46 | } | ||
| 47 | |||
| 48 | namespace hpp { | ||
| 49 | namespace corbaServer { | ||
| 50 | class HPP_CORBASERVER_DLLAPI ServerPlugin { | ||
| 51 | public: | ||
| 52 | 16 | virtual ~ServerPlugin() {} | |
| 53 | |||
| 54 | /// Start corba server | ||
| 55 | virtual void startCorbaServer(const std::string& contextId, | ||
| 56 | const std::string& contextKind) = 0; | ||
| 57 | |||
| 58 | virtual std::string name() const = 0; | ||
| 59 | |||
| 60 | virtual ::CORBA::Object_ptr servant(const std::string& name) const = 0; | ||
| 61 | |||
| 62 | 58 | Server* parent() { return parent_; } | |
| 63 | |||
| 64 | 106 | core::ProblemSolverPtr_t problemSolver() const { | |
| 65 | 106 | return problemSolverMap_->selected(); | |
| 66 | } | ||
| 67 | |||
| 68 | ✗ | ProblemSolverMapPtr_t problemSolverMap() const { return problemSolverMap_; } | |
| 69 | |||
| 70 | /// Set planner that will be controlled by server | ||
| 71 | 8 | void setProblemSolverMap(ProblemSolverMapPtr_t psMap) { | |
| 72 | 8 | problemSolverMap_ = psMap; | |
| 73 | 8 | } | |
| 74 | |||
| 75 | protected: | ||
| 76 | 8 | ServerPlugin(Server* parent) : parent_(parent) {} | |
| 77 | |||
| 78 | Server* parent_; | ||
| 79 | ProblemSolverMapPtr_t problemSolverMap_; | ||
| 80 | |||
| 81 | template <typename T> | ||
| 82 | 48 | void initializeTplServer(corba::Server<T>*& server, | |
| 83 | const std::string& contextId, | ||
| 84 | const std::string& contextKind, | ||
| 85 | const std::string& objectId, | ||
| 86 | const std::string& objectKind) { | ||
| 87 |
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48 | server = new corba::Server<T>(0, NULL); |
| 88 | 48 | server->initRootPOA(parent()->multiThread()); | |
| 89 | |||
| 90 | 48 | int ret = parent()->nameService() | |
| 91 |
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48 | ? server->startCorbaServer(contextId, contextKind, objectId, |
| 92 | objectKind) | ||
| 93 | 48 | : server->startCorbaServer(); | |
| 94 | |||
| 95 |
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48 | if (ret != 0) { |
| 96 | ✗ | throw std::runtime_error("Failed to start corba " + contextId + '.' + | |
| 97 | contextKind + '/' + objectId + '.' + objectKind + | ||
| 98 | " server."); | ||
| 99 | } | ||
| 100 | 48 | } | |
| 101 | }; // class ServerPlugin | ||
| 102 | } // namespace corbaServer | ||
| 103 | } // namespace hpp | ||
| 104 | |||
| 105 | #endif // HPP_CORBASERVER_SERVER_PLUGIN_HH | ||
| 106 |