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// Copyright (c) 2015, Joseph Mirabel |
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// Authors: Joseph Mirabel (joseph.mirabel@laas.fr) |
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// |
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// Redistribution and use in source and binary forms, with or without |
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// modification, are permitted provided that the following conditions are |
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// met: |
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// |
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// 1. Redistributions of source code must retain the above copyright |
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// notice, this list of conditions and the following disclaimer. |
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// |
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// 2. Redistributions in binary form must reproduce the above copyright |
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// notice, this list of conditions and the following disclaimer in the |
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// documentation and/or other materials provided with the distribution. |
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// |
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// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS |
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// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT |
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// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR |
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// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT |
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// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, |
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// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT |
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// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, |
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// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY |
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// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT |
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// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE |
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// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH |
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// DAMAGE. |
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#include "hpp/corbaserver/manipulation/client.hh" |
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#include <iostream> |
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namespace hpp { |
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namespace corbaServer { |
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namespace manipulation { |
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using CORBA::Exception; |
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using CORBA::Object_var; |
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using CORBA::ORB_init; |
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using CORBA::PolicyList; |
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using CORBA::SystemException; |
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using omniORB::fatalException; |
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Client::Client(int argc, char* argv[]) : ClientBase(argc, argv) {} |
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void Client::connect(const char* iiop, const char* context) { |
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ClientBase::connect(iiop); |
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CORBA::Object_var obj; |
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const char* plugin = "manipulation"; |
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obj = tools()->getServer(context, plugin, "robot"); |
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robot_ = hpp::corbaserver::manipulation::Robot::_narrow(obj.in()); |
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obj = tools()->getServer(context, plugin, "problem"); |
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problem_ = hpp::corbaserver::manipulation::Problem::_narrow(obj.in()); |
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obj = tools()->getServer(context, plugin, "graph"); |
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graph_ = hpp::corbaserver::manipulation::Graph::_narrow(obj.in()); |
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} |
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/// \brief Shutdown CORBA server |
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Client::~Client() {} |
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} // end of namespace manipulation. |
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} // end of namespace corbaServer. |
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} // end of namespace hpp. |
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