| Directory: | ./ |
|---|---|
| File: | src/server.cc |
| Date: | 2025-03-26 15:03:21 |
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| Lines: | 34 | 130 | 26.2% |
| Branches: | 35 | 416 | 8.4% |
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| 1 | // Copyright (C) 2019 by Joseph Mirabel | ||
| 2 | // | ||
| 3 | // This file is part of hpp-template-corba | ||
| 4 | // | ||
| 5 | // This software is provided "as is" without warranty of any kind, | ||
| 6 | // either expressed or implied, including but not limited to the | ||
| 7 | // implied warranties of fitness for a particular purpose. | ||
| 8 | // | ||
| 9 | // See the COPYING file for more information. | ||
| 10 | |||
| 11 | #include <pthread.h> | ||
| 12 | #include <stdio.h> | ||
| 13 | |||
| 14 | #include <hpp/corba/template/server.hh> | ||
| 15 | #include <iostream> | ||
| 16 | |||
| 17 | namespace hpp { | ||
| 18 | namespace corba { | ||
| 19 | using CORBA::COMM_FAILURE; | ||
| 20 | using CORBA::Exception; | ||
| 21 | using CORBA::Object_ptr; | ||
| 22 | using CORBA::Object_var; | ||
| 23 | using CORBA::ORB_init; | ||
| 24 | using CORBA::PolicyList; | ||
| 25 | using CORBA::SystemException; | ||
| 26 | using omniORB::fatalException; | ||
| 27 | |||
| 28 | typedef CORBA::ORB::InvalidName InvalidName; | ||
| 29 | |||
| 30 | namespace { | ||
| 31 | /// \brief Forward logging messages to hpp logging mechanism. | ||
| 32 | /// If debug is disabled, CORBA logging will be disabled too. | ||
| 33 | /// | ||
| 34 | /// Tracing has to be enabled in your ``omniORB.cfg'' to use this | ||
| 35 | /// feature. | ||
| 36 | /// See ``omniORB configuration and API'' > ``Tracing options'' | ||
| 37 | /// section of omniORB manual for more information. | ||
| 38 | void logFunction(const char* msg); | ||
| 39 | |||
| 40 | ✗ | void logFunction(const char* msg) { | |
| 41 | (void)msg; | ||
| 42 | hppCorbaDout(info, "omniORB: " << msg); | ||
| 43 | } | ||
| 44 | } // end of anonymous namespace. | ||
| 45 | |||
| 46 | 1 | ServerBase::ServerBase(int argc, const char* argv[], const char* orb_identifier, | |
| 47 |
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1 | const char* options[][2]) { |
| 48 | // Register log function. | ||
| 49 |
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1 | omniORB::setLogFunction(&logFunction); |
| 50 |
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1 | initORB(argc, argv, orb_identifier, options); |
| 51 | 1 | } | |
| 52 | |||
| 53 | 2 | ServerBase::~ServerBase() {} | |
| 54 | |||
| 55 | 1 | void ServerBase::setServant(CORBA::Object_ptr obj) { servant_ = obj; } | |
| 56 | |||
| 57 | /* | ||
| 58 | CORBA SERVER INITIALIZATION | ||
| 59 | */ | ||
| 60 | 1 | bool ServerBase::initORB(int argc, const char* argv[], | |
| 61 | const char* orb_identifier, const char* options[][2]) { | ||
| 62 | try { | ||
| 63 |
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1 | orb_ = ORB_init(argc, const_cast<char**>(argv), orb_identifier, options); |
| 64 |
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1 | if (is_nil(orb_)) { |
| 65 | hppCorbaDout(error, "failed to initialize ORB"); | ||
| 66 | ✗ | return false; | |
| 67 | } | ||
| 68 | } | ||
| 69 | ✗ | HPP_CORBA_CATCH("failed to initialize ORB", false); | |
| 70 | 1 | return true; | |
| 71 | } | ||
| 72 | |||
| 73 | 1 | bool ServerBase::initRootPOA(bool inMultiThread) { | |
| 74 |
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1 | Object_var obj; |
| 75 |
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1 | PortableServer::ThreadPolicy_var threadPolicy; |
| 76 |
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1 | PortableServer::POA_var rootPoa; |
| 77 | |||
| 78 | try { | ||
| 79 |
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1 | obj = orb_->resolve_initial_references("RootPOA"); |
| 80 | } | ||
| 81 | ✗ | HPP_CORBA_CATCH("failed to resolve initial references", false); | |
| 82 | |||
| 83 | /* | ||
| 84 | Create and duplicate thread policy | ||
| 85 | */ | ||
| 86 | |||
| 87 | try { | ||
| 88 | // | ||
| 89 | // Make the CORBA object single-threaded to avoid GUI krash | ||
| 90 | // | ||
| 91 | // Create a sigle threaded policy object | ||
| 92 |
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1 | rootPoa = PortableServer::POA::_narrow(obj); |
| 93 | |||
| 94 |
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1 | if (inMultiThread) { |
| 95 | threadPolicy = | ||
| 96 |
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1 | rootPoa->create_thread_policy(PortableServer::ORB_CTRL_MODEL); |
| 97 | } else { | ||
| 98 | threadPolicy = | ||
| 99 | ✗ | rootPoa->create_thread_policy(PortableServer::MAIN_THREAD_MODEL); | |
| 100 | } | ||
| 101 | } | ||
| 102 | ✗ | HPP_CORBA_CATCH("failed to create thread policy", false); | |
| 103 | |||
| 104 | 1 | PolicyList policyList; | |
| 105 |
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1 | policyList.length(1); |
| 106 | |||
| 107 | try { | ||
| 108 |
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1 | policyList[0] = PortableServer::ThreadPolicy::_duplicate(threadPolicy); |
| 109 | } | ||
| 110 | ✗ | HPP_CORBA_CATCH("failed to duplicate thread policy", false); | |
| 111 | |||
| 112 | // Find or create the POA | ||
| 113 | try { | ||
| 114 | try { | ||
| 115 |
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1 | main_poa_ = rootPoa->find_POA("child", false); |
| 116 |
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1 | } catch (const CORBA::UserException& exc) { |
| 117 | main_poa_ = | ||
| 118 |
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1 | rootPoa->create_POA("child", rootPoa->the_POAManager(), policyList); |
| 119 |
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1 | } |
| 120 | } | ||
| 121 | ✗ | HPP_CORBA_CATCH("failed to find or create POA", false); | |
| 122 | |||
| 123 | // Destroy policy object | ||
| 124 | try { | ||
| 125 |
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1 | threadPolicy->destroy(); |
| 126 | } | ||
| 127 | ✗ | HPP_CORBA_CATCH("failed to destroy thread policy", false); | |
| 128 | |||
| 129 | 1 | return true; | |
| 130 | 1 | } | |
| 131 | |||
| 132 | ✗ | bool ServerBase::initOmniINSPOA() { | |
| 133 | ✗ | Object_var obj; | |
| 134 | try { | ||
| 135 | ✗ | obj = orb_->resolve_initial_references("omniINSPOA"); | |
| 136 | ✗ | } catch (CORBA::SystemException& e) { | |
| 137 | std::cerr << "OmniORB::resolve_initial_references throws " | ||
| 138 | "CORBA::SystemException " | ||
| 139 | ✗ | << e.NP_minorString() << '\n'; | |
| 140 | ✗ | perror("A possible reason"); | |
| 141 | ✗ | return false; | |
| 142 | ✗ | } catch (CORBA::Exception& e) { | |
| 143 | std::cerr << "OmniORB::resolve_initial_references throws " | ||
| 144 | ✗ | "CORBA::Exception" | |
| 145 | ✗ | << std::endl; | |
| 146 | ✗ | return false; | |
| 147 | } | ||
| 148 | |||
| 149 | try { | ||
| 150 | ✗ | ins_poa_ = PortableServer::POA::_narrow(obj); | |
| 151 | } | ||
| 152 | ✗ | HPP_CORBA_CATCH("failed to narrow the POA", false); | |
| 153 | |||
| 154 | ✗ | return true; | |
| 155 | } | ||
| 156 | |||
| 157 | ✗ | int ServerBase::startCorbaServer(const std::string& contextId, | |
| 158 | const std::string& contextKind, | ||
| 159 | const std::string& objectId, | ||
| 160 | const std::string& objectKind) { | ||
| 161 | try { | ||
| 162 | // Obtain a reference to objects, and register them in | ||
| 163 | // the naming service. | ||
| 164 | |||
| 165 | ✗ | if (!createHppContext(contextId, contextKind)) { | |
| 166 | ✗ | return -1; | |
| 167 | } | ||
| 168 | ✗ | CosNaming::Name objectName; | |
| 169 | ✗ | objectName.length(1); | |
| 170 | ✗ | objectName[0].id = (const char*)objectId.c_str(); | |
| 171 | ✗ | objectName[0].kind = (const char*)objectKind.c_str(); | |
| 172 | |||
| 173 | ✗ | if (!bindObjectToName(servant_, objectName)) { | |
| 174 | ✗ | return -1; | |
| 175 | } | ||
| 176 | } | ||
| 177 | ✗ | HPP_CORBA_CATCH("failed to start CORBA server", false) | |
| 178 | ✗ | return 0; | |
| 179 | |||
| 180 | return startCorbaServer(); | ||
| 181 | } | ||
| 182 | |||
| 183 | ✗ | int ServerBase::startCorbaServer(const std::string& contextId, | |
| 184 | const std::string& contextKind) { | ||
| 185 | ✗ | CosNaming::NamingContext_var rootContext; | |
| 186 | ✗ | Object_var localObj; | |
| 187 | |||
| 188 | try { | ||
| 189 | // Obtain a reference to the root context of the Name service: | ||
| 190 | ✗ | localObj = orb_->resolve_initial_references("NameService"); | |
| 191 | } | ||
| 192 | ✗ | HPP_CORBA_CATCH("failed to get the name service", -1); | |
| 193 | |||
| 194 | try { | ||
| 195 | // Narrow the reference returned. | ||
| 196 | ✗ | rootContext = CosNaming::NamingContext::_narrow(localObj); | |
| 197 | ✗ | if (is_nil(rootContext)) { | |
| 198 | hppCorbaDout(error, "Failed to narrow the root naming context."); | ||
| 199 | ✗ | return -1; | |
| 200 | } | ||
| 201 | ✗ | } catch (InvalidName& ex) { | |
| 202 | // This should not happen! | ||
| 203 | hppCorbaDout(error, "Service required is invalid [does not exist]."); | ||
| 204 | ✗ | return -1; | |
| 205 | } | ||
| 206 | ✗ | HPP_CORBA_CATCH("failed to narrow the root naming context.", -1); | |
| 207 | |||
| 208 | try { | ||
| 209 | // Obtain a reference to objects, and register them in | ||
| 210 | // the naming service. | ||
| 211 | ✗ | CosNaming::Name objectName; | |
| 212 | ✗ | objectName.length(1); | |
| 213 | ✗ | objectName[0].id = (const char*)contextId.c_str(); | |
| 214 | ✗ | objectName[0].kind = (const char*)contextKind.c_str(); | |
| 215 | |||
| 216 | ✗ | if (!bindObjectToName(rootContext, servant_, objectName)) return -1; | |
| 217 | } | ||
| 218 | ✗ | HPP_CORBA_CATCH("failed to start CORBA server", -1) | |
| 219 | |||
| 220 | ✗ | return startCorbaServer(); | |
| 221 | } | ||
| 222 | |||
| 223 | 1 | int ServerBase::startCorbaServer() { | |
| 224 | try { | ||
| 225 |
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1 | PortableServer::POAManager_var pman = poa()->the_POAManager(); |
| 226 |
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1 | pman->activate(); |
| 227 | 1 | } | |
| 228 | ✗ | HPP_CORBA_CATCH("failed to start CORBA server", false); | |
| 229 | 1 | return 0; | |
| 230 | } | ||
| 231 | |||
| 232 | ✗ | int ServerBase::processRequest(bool loop) { | |
| 233 | ✗ | if (loop) { | |
| 234 | hppCorbaDout(info, "start processing CORBA requests for ever."); | ||
| 235 | ✗ | orb_->run(); | |
| 236 | } else { | ||
| 237 | ✗ | if (orb_->work_pending()) orb_->perform_work(); | |
| 238 | } | ||
| 239 | ✗ | return 0; | |
| 240 | } | ||
| 241 | |||
| 242 | ✗ | bool ServerBase::createHppContext(const std::string& id, | |
| 243 | const std::string kind) { | ||
| 244 | ✗ | CosNaming::NamingContext_var rootContext; | |
| 245 | ✗ | Object_var localObj; | |
| 246 | ✗ | CosNaming::Name contextName; | |
| 247 | |||
| 248 | try { | ||
| 249 | // Obtain a reference to the root context of the Name service: | ||
| 250 | ✗ | localObj = orb_->resolve_initial_references("NameService"); | |
| 251 | } | ||
| 252 | ✗ | HPP_CORBA_CATCH("failed to get the name service", false) | |
| 253 | |||
| 254 | try { | ||
| 255 | // Narrow the reference returned. | ||
| 256 | ✗ | rootContext = CosNaming::NamingContext::_narrow(localObj); | |
| 257 | ✗ | if (is_nil(rootContext)) { | |
| 258 | hppCorbaDout(error, "Failed to narrow the root naming context."); | ||
| 259 | ✗ | return false; | |
| 260 | } | ||
| 261 | ✗ | } catch (InvalidName& ex) { | |
| 262 | // This should not happen! | ||
| 263 | hppCorbaDout(error, "Service required is invalid [does not exist]."); | ||
| 264 | ✗ | return false; | |
| 265 | } | ||
| 266 | ✗ | HPP_CORBA_CATCH("failed to narrow the root naming context.", false) | |
| 267 | |||
| 268 | try { | ||
| 269 | // Bind a context called "hpp" to the root context: | ||
| 270 | |||
| 271 | ✗ | contextName.length(1); | |
| 272 | ✗ | contextName[0].id = (const char*)id.c_str(); // string copied | |
| 273 | ✗ | contextName[0].kind = (const char*)kind.c_str(); // string copied | |
| 274 | // Note on kind: The kind field is used to indicate the type | ||
| 275 | // of the object. This is to avoid conventions such as that used | ||
| 276 | // by files (name.type -- e.g. hpp.ps = postscript etc.) | ||
| 277 | |||
| 278 | try { | ||
| 279 | // Bind the context to root. | ||
| 280 | ✗ | hppContext_ = rootContext->bind_new_context(contextName); | |
| 281 | ✗ | } catch (CosNaming::NamingContext::AlreadyBound& ex) { | |
| 282 | // If the context already exists, this exception will be raised. | ||
| 283 | // In this case, just resolve the name and assign hppContext | ||
| 284 | // to the object returned: | ||
| 285 | ✗ | Object_var localObj; | |
| 286 | ✗ | localObj = rootContext->resolve(contextName); | |
| 287 | ✗ | hppContext_ = CosNaming::NamingContext::_narrow(localObj); | |
| 288 | ✗ | if (is_nil(hppContext_)) { | |
| 289 | hppCorbaDout(error, "Failed to narrow naming context."); | ||
| 290 | ✗ | return false; | |
| 291 | } | ||
| 292 | } | ||
| 293 | ✗ | } catch (COMM_FAILURE& ex) { | |
| 294 | hppCorbaDout( | ||
| 295 | error, "Caught system exception COMM_FAILURE -- unable to contact the " | ||
| 296 | << "naming service."); | ||
| 297 | ✗ | return false; | |
| 298 | ✗ | } catch (SystemException&) { | |
| 299 | hppCorbaDout(error, "Caught a SystemException while creating the context."); | ||
| 300 | ✗ | return false; | |
| 301 | } | ||
| 302 | |||
| 303 | ✗ | return true; | |
| 304 | } | ||
| 305 | |||
| 306 | ✗ | bool ServerBase::bindObjectToName(Object_ptr objref, | |
| 307 | CosNaming::Name objectName) { | ||
| 308 | ✗ | return bindObjectToName(hppContext_, objref, objectName); | |
| 309 | } | ||
| 310 | |||
| 311 | ✗ | bool ServerBase::bindObjectToName(CosNaming::NamingContext_ptr context, | |
| 312 | CORBA::Object_ptr objref, | ||
| 313 | CosNaming::Name objectName) { | ||
| 314 | try { | ||
| 315 | ✗ | context->bind(objectName, objref); | |
| 316 | ✗ | } catch (CosNaming::NamingContext::AlreadyBound& ex) { | |
| 317 | ✗ | context->rebind(objectName, objref); | |
| 318 | } | ||
| 319 | // Note: Using rebind() will overwrite any Object previously bound | ||
| 320 | // to /hpp/RobotConfig with localObj. | ||
| 321 | // Alternatively, bind() can be used, which will raise a | ||
| 322 | // CosNaming::NamingContext::AlreadyBound exception if the name | ||
| 323 | // supplied is already bound to an object. | ||
| 324 | |||
| 325 | // Amendment: When using OrbixNames, it is necessary to first try bind | ||
| 326 | // and then rebind, as rebind on it's own will throw a NotFoundexception if | ||
| 327 | // the Name has not already been bound. [This is incorrect behaviour - | ||
| 328 | // it should just bind]. | ||
| 329 | ✗ | catch (COMM_FAILURE& ex) { | |
| 330 | hppCorbaDout( | ||
| 331 | error, "Caught system exception COMM_FAILURE -- unable to contact the " | ||
| 332 | << "naming service."); | ||
| 333 | ✗ | return false; | |
| 334 | ✗ | } catch (SystemException&) { | |
| 335 | hppCorbaDout( | ||
| 336 | error, | ||
| 337 | "Caught a SystemException while binding object to name service."); | ||
| 338 | ✗ | return false; | |
| 339 | } | ||
| 340 | |||
| 341 | ✗ | return true; | |
| 342 | } | ||
| 343 | |||
| 344 | } // end of namespace corba. | ||
| 345 | } // end of namespace hpp. | ||
| 346 |