Implementation of Hpp module Corba server. More...

#include <gepetto/viewer/corba/server.hh>

Public Member Functions
	Server (WindowsManagerPtr_t windowsManager, int argc, const char *argv[], bool multiThread=false, bool useNameService=false)
	Constructor. More...

	~Server ()
	Shutdown CORBA server. More...

void	startCorbaServer ()
	Initialize CORBA server to process requests from clients. More...

int	processRequest (bool loop)
	If ORB work is pending, process it. More...

void	shutdown (bool wait)
	Stop processing requests. More...

WindowsManagerPtr_t	windowsManager () const

void	qparent (QObject *parent)

Detailed Description

Implementation of Hpp module Corba server.

This class initializes the Corba server and starts the following Corba interface implementations.

hpp::Robot: to build a model::Device and to insert it in a core::ProblemSolver object,
hpp::Obstacle: to build obstacles and insert them in a core::ProblemSolver object,
hpp::Problem: to define a path planning problem and solve it. To use this object, call the constructor
int argc=1;
char *argv[1] = {"program"};
core::ProblemSolverPtr_t problemSolver = new core::ProblemSolver;
Server server(problemSolver, argc, argv, isMultiThread);
where isMultiThread specifies whether the server should process requests using multi-thread policy of not. After starting a name server and configuring your Corba implementation, start the servers.
server.startCorbaServer();
Then, enter in the loop that handle the Corba requests
server.processRequest(true);
You can then send request to the servers.

Constructor & Destructor Documentation

gepetto::viewer::corba::Server::Server	(	WindowsManagerPtr_t	windowsManager,
		int	argc,
		const char *	argv[],
		bool	multiThread = `false`,
		bool	useNameService = `false`
	)

Constructor.

Parameters

the	object that handles CORBA requests.
argc,argv	parameter to feed ORB initialization.
multiThread	whether the server may process request using multithred policy.

Note: It is recommended to configure your Corba implementation through environment variables and to set argc to 1 and argv to any string.; It is highly recommended not to enable multi-thread policy in CORBA request processing if this library is run from an openGL based GUI, since OpenGL does not support multithreading.

gepetto::viewer::corba::Server::~Server ( )

Shutdown CORBA server.

int gepetto::viewer::corba::Server::processRequest ( bool loop )

If ORB work is pending, process it.

Parameters

loop	if true, the function never returns, if false, the function processes pending requests and returns.

void gepetto::viewer::corba::Server::qparent ( QObject * parent )

void gepetto::viewer::corba::Server::shutdown ( bool wait )

Stop processing requests.

Parameters

wait	if true, the method waits for the server to be shut down.

Warning: From a servant method, set wait to false. Otherwise the application will be deadlocked.

void gepetto::viewer::corba::Server::startCorbaServer ( )

Initialize CORBA server to process requests from clients.

WindowsManagerPtr_t gepetto::viewer::corba::Server::windowsManager ( ) const

inline

References qparent().