| Line |
Branch |
Exec |
Source |
| 1 |
|
|
// Copyright (C) 2009, 2010 by Florent Lamiraux, Thomas Moulard, Joseph Mirabel, |
| 2 |
|
|
// JRL. |
| 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 |
|
|
// This software is provided "as is" without warranty of any kind, |
| 30 |
|
|
// either expressed or implied, including but not limited to the |
| 31 |
|
|
// implied warranties of fitness for a particular purpose. |
| 32 |
|
|
// |
| 33 |
|
|
// See the COPYING file for more information. |
| 34 |
|
|
|
| 35 |
|
|
#ifndef HPP_CORBASERVER_SERVER_HH |
| 36 |
|
|
#define HPP_CORBASERVER_SERVER_HH |
| 37 |
|
|
|
| 38 |
|
|
#include <omniORB4/CORBA.h> |
| 39 |
|
|
|
| 40 |
|
|
#include <hpp/corba/template/server.hh> |
| 41 |
|
|
#include <hpp/corbaserver/config.hh> |
| 42 |
|
|
#include <hpp/corbaserver/fwd.hh> |
| 43 |
|
|
#include <hpp/corbaserver/problem-solver-map.hh> |
| 44 |
|
|
#include <hpp/corbaserver/read-write-lock.hh> |
| 45 |
|
|
|
| 46 |
|
|
namespace hpp { |
| 47 |
|
|
namespace corbaServer { |
| 48 |
|
|
/// Implementation of Hpp module Corba server. |
| 49 |
|
|
|
| 50 |
|
|
/// This class initializes the Corba server and starts the following Corba |
| 51 |
|
|
/// interface implementations. \li hpp::corbaserver::Robot: to build a |
| 52 |
|
|
/// hpp::model::Device and to insert it in a hpp::core::ProblemSolver object, |
| 53 |
|
|
/// \li hpp::corbaserver::Obstacle: to build obstacles and insert them in a |
| 54 |
|
|
/// hpp::core::ProblemSolver object, \li hpp::corbaserver::Problem: to define a |
| 55 |
|
|
/// path planning problem and solve it. |
| 56 |
|
|
|
| 57 |
|
|
/// To use this object, call the constructor |
| 58 |
|
|
|
| 59 |
|
|
/// \code |
| 60 |
|
|
/// int argc=1; |
| 61 |
|
|
/// char *argv[1] = {"program"}; |
| 62 |
|
|
/// core::ProblemSolverPtr_t problemSolver = new core::ProblemSolver; |
| 63 |
|
|
/// Server server(problemSolver, argc, argv, isMultiThread); |
| 64 |
|
|
/// \endcode |
| 65 |
|
|
/// where \c isMultiThread specifies whether the server should process |
| 66 |
|
|
/// requests using multi-thread policy of not. |
| 67 |
|
|
|
| 68 |
|
|
/// After starting a name server and configuring your Corba implementation, |
| 69 |
|
|
/// start the servers. |
| 70 |
|
|
/// \code |
| 71 |
|
|
/// server.startCorbaServer(); |
| 72 |
|
|
/// \endcode |
| 73 |
|
|
/// Then, enter in the loop that handle the Corba requests |
| 74 |
|
|
/// \code |
| 75 |
|
|
/// server.processRequest(true); |
| 76 |
|
|
/// \endcode |
| 77 |
|
|
/// You can then send request to the servers. |
| 78 |
|
|
class HPP_CORBASERVER_DLLAPI Server { |
| 79 |
|
|
public: |
| 80 |
|
|
/// Constructor |
| 81 |
|
|
/// \param problemSolver the object that will handle Corba requests. |
| 82 |
|
|
/// \param argc, argv parameter to feed ORB initialization. |
| 83 |
|
|
/// \param multiThread whether the server may process request using |
| 84 |
|
|
/// multithred policy. |
| 85 |
|
|
/// \note It is recommended to configure your Corba implementation |
| 86 |
|
|
/// through environment variables and to set argc to 1 and argv to |
| 87 |
|
|
/// any string. |
| 88 |
|
|
/// \note It is highly recommended not to enable multi-thread policy in |
| 89 |
|
|
/// CORBA request processing if this library is run from an openGL |
| 90 |
|
|
/// based GUI, since OpenGL does not support multithreading. |
| 91 |
|
|
Server(core::ProblemSolverPtr_t problemSolver, int argc, const char* argv[], |
| 92 |
|
|
bool multiThread = false); |
| 93 |
|
|
|
| 94 |
|
|
/// Constructor |
| 95 |
|
|
/// \param problemSolver the object that will handle Corba requests. |
| 96 |
|
|
/// \param multiThread whether the server may process request using |
| 97 |
|
|
/// multithred policy. |
| 98 |
|
|
Server(core::ProblemSolverPtr_t problemSolver, bool multiThread = false); |
| 99 |
|
|
|
| 100 |
|
|
///\name CORBA server initialization |
| 101 |
|
|
/// \{ |
| 102 |
|
|
|
| 103 |
|
|
/// Configure using command line argument |
| 104 |
|
|
bool parseArguments(int argc, const char* argv[]); |
| 105 |
|
|
|
| 106 |
|
|
/// Initialize ORB and CORBA servers. |
| 107 |
|
|
void initialize(); |
| 108 |
|
|
|
| 109 |
|
|
/// \} |
| 110 |
|
|
|
| 111 |
|
|
/// \brief Shutdown CORBA server |
| 112 |
|
|
~Server(); |
| 113 |
|
|
|
| 114 |
|
14 |
PortableServer::POA_var poa() { return tools_->main_poa(); } |
| 115 |
|
|
|
| 116 |
|
9 |
CORBA::ORB_var orb() { return tools_->orb(); } |
| 117 |
|
|
|
| 118 |
|
|
/// \brief Initialize CORBA server to process requests from clients |
| 119 |
|
|
/// \return 0 if success, -1 if failure. |
| 120 |
|
|
void startCorbaServer(); |
| 121 |
|
|
|
| 122 |
|
|
/// Get main context ID |
| 123 |
|
8 |
const std::string& mainContextId() const { return mainContextId_; } |
| 124 |
|
|
|
| 125 |
|
24 |
const bool& multiThread() const { return multiThread_; } |
| 126 |
|
|
|
| 127 |
|
24 |
const bool& nameService() const { return nameService_; } |
| 128 |
|
|
|
| 129 |
|
|
/// \brief If ORB work is pending, process it |
| 130 |
|
|
/// \param loop if true, the function never returns, |
| 131 |
|
|
/// if false, the function processes pending requests and |
| 132 |
|
|
/// returns. |
| 133 |
|
|
int processRequest(bool loop); |
| 134 |
|
|
|
| 135 |
|
|
/// Request a shutdown |
| 136 |
|
|
/// \param wait if true, the method waits for the server to be shut down. |
| 137 |
|
|
/// \warning From a servant method, set wait to false. Otherwise the |
| 138 |
|
|
/// application will be deadlocked. |
| 139 |
|
|
void requestShutdown(bool wait); |
| 140 |
|
|
|
| 141 |
|
|
bool createContext(const std::string& contextName); |
| 142 |
|
|
|
| 143 |
|
|
std::vector<std::string> getContexts() const; |
| 144 |
|
|
|
| 145 |
|
|
bool deleteContext(const std::string& contextName); |
| 146 |
|
|
|
| 147 |
|
|
CORBA::Object_ptr getServer(const std::string& contextName, |
| 148 |
|
|
const std::string& pluginName, |
| 149 |
|
|
const std::string& objectName); |
| 150 |
|
|
|
| 151 |
|
|
/// Load a plugin if not already loaded. |
| 152 |
|
|
/// \return true if the plugin is correctly loaded, false otherwise (which |
| 153 |
|
|
/// includes the case where the plugin was already loaded). |
| 154 |
|
|
bool loadPlugin(const std::string& contextName, |
| 155 |
|
|
const std::string& libFilename); |
| 156 |
|
|
|
| 157 |
|
|
ProblemSolverMapPtr_t problemSolverMap(); |
| 158 |
|
|
|
| 159 |
|
|
core::ProblemSolverPtr_t problemSolver(); |
| 160 |
|
|
|
| 161 |
|
|
typedef void* ServantKey; |
| 162 |
|
|
|
| 163 |
|
|
PortableServer::Servant getServant(ServantKey servantKey) const; |
| 164 |
|
|
|
| 165 |
|
|
void addServantKeyAndServant(ServantKey servantKey, |
| 166 |
|
|
PortableServer::Servant servant); |
| 167 |
|
|
|
| 168 |
|
|
void removeServant(PortableServer::Servant servant); |
| 169 |
|
|
|
| 170 |
|
|
void clearServantsMap(); |
| 171 |
|
|
|
| 172 |
|
|
std::vector<std::string> getAllObjectIds(); |
| 173 |
|
|
|
| 174 |
|
|
private: |
| 175 |
|
|
corba::Server<Tools>* tools_; |
| 176 |
|
|
|
| 177 |
|
|
std::string ORBendPoint; |
| 178 |
|
|
std::string mainContextId_; |
| 179 |
|
|
|
| 180 |
|
|
bool multiThread_, nameService_; |
| 181 |
|
|
|
| 182 |
|
|
/// pointer to core::ProblemSolver Object. |
| 183 |
|
|
/// |
| 184 |
|
|
/// At initialization, the constructor creates a core::ProblemSolver |
| 185 |
|
|
/// object and keeps a pointer to this object. All Corba requests are |
| 186 |
|
|
/// processed by this object. Notice that this pointer is passed |
| 187 |
|
|
/// to each constructor of implementation classes of the server |
| 188 |
|
|
/// Corba interface. |
| 189 |
|
|
ProblemSolverMapPtr_t problemSolverMap_; |
| 190 |
|
|
|
| 191 |
|
|
typedef shared_ptr<ServerPlugin> ServerPluginPtr_t; |
| 192 |
|
|
typedef std::map<std::string, ServerPluginPtr_t> ServerPluginMap_t; |
| 193 |
|
|
struct Context { |
| 194 |
|
|
ServerPluginPtr_t main; |
| 195 |
|
|
ServerPluginMap_t plugins; |
| 196 |
|
|
}; |
| 197 |
|
|
std::map<std::string, Context> contexts_; |
| 198 |
|
|
|
| 199 |
|
|
Context& getContext(const std::string& name); |
| 200 |
|
|
|
| 201 |
|
|
typedef std::map<ServantKey, PortableServer::Servant> |
| 202 |
|
|
ServantKeyToServantMap_t; |
| 203 |
|
|
typedef std::map<PortableServer::Servant, ServantKey> |
| 204 |
|
|
ServantToServantKeyMap_t; |
| 205 |
|
|
ServantKeyToServantMap_t servantKeyToServantMap_; |
| 206 |
|
|
ServantToServantKeyMap_t servantToServantKeyMap_; |
| 207 |
|
|
// Mutex for accessing servant / servant key maps. |
| 208 |
|
|
ReadWriteLock lock_; |
| 209 |
|
|
}; |
| 210 |
|
|
} // end of namespace corbaServer. |
| 211 |
|
|
} // end of namespace hpp. |
| 212 |
|
|
#endif |
| 213 |
|
|
|