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// Copyright (c) 2012 CNRS |
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// Author: Florent Lamiraux |
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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/server.hh> |
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#include <hpp/corbaserver/server.hh> |
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#include <hpp/manipulation/package-config.hh> |
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#include <hpp/manipulation/problem-solver.hh> |
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typedef hpp::corbaServer::Server CorbaServer; |
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typedef hpp::manipulation::Server ManipulationServer; |
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typedef hpp::manipulation::ProblemSolver ProblemSolver; |
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typedef hpp::manipulation::ProblemSolverPtr_t ProblemSolverPtr_t; |
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int main(int argc, char* argv[]) { |
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if (argc > 0) |
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std::cerr << argv[0]; |
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else |
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std::cerr << "hpp-manipulation-server"; |
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std::cerr << " is provided for backward compatibility.\n" |
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"You can now use hppcorbaserver and add the following lines to " |
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"your Python script:\n" |
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"from hpp.corbaserver import loadServerPlugin\n" |
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"loadServerPlugin (\"corbaserver\", \"manipulation-corba.so\")\n" |
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<< std::endl; |
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ProblemSolverPtr_t problemSolver = new ProblemSolver(); |
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CorbaServer corbaServer(problemSolver, argc, const_cast<const char**>(argv), |
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true); |
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corbaServer.startCorbaServer(); |
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corbaServer.loadPlugin(corbaServer.mainContextId(), "manipulation-corba.so"); |
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corbaServer.processRequest(true); |
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} |
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