hpp::corbaServer::Server Class Reference

Implementation of Hpp module Corba server. More...

#include <hpp/corbaserver/server.hh>

Public Types
typedef void *	ServantKey

Public Member Functions
	Server (core::ProblemSolverPtr_t problemSolver, int argc, const char *argv[], bool multiThread=false)
	Constructor. More...
	Server (ProblemSolverMapPtr_t problemSolverMap, int argc, const char *argv[], bool multiThread=false)
	Constructor. More...
	~Server ()
	Shutdown CORBA server. More...
PortableServer::POA_var	poa ()
CORBA::ORB_var	orb ()
void	startCorbaServer ()
	Initialize CORBA server to process requests from clients. More...
const std::string &	mainContextId () const
	Get main context ID. More...
const bool &	multiThread () const
int	processRequest (bool loop)
	If ORB work is pending, process it. More...
void	requestShutdown (bool wait)
	Request a shutdown. More...
bool	createContext (const std::string &contextName)
bool	loadPlugin (const std::string &contextName, const std::string &libFilename)
	Load a plugin if not already loaded. More...
ProblemSolverMapPtr_t	problemSolverMap ()
core::ProblemSolverPtr_t	problemSolver ()
PortableServer::Servant	getServant (ServantKey servantKey) const
void	addServantKeyAndServant (ServantKey servantKey, PortableServer::Servant servant)
void	removeServant (PortableServer::Servant servant)

Detailed Description

Implementation of Hpp module Corba server.

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

• hpp::corbaserver::Robot: to build a hpp::model::Device and to insert it in a hpp::core::ProblemSolver object,
• hpp::corbaserver::Obstacle: to build obstacles and insert them in a hpp::core::ProblemSolver object,
• hpp::corbaserver::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.

Member Typedef Documentation

typedef void* hpp::corbaServer::Server::ServantKey

Constructor & Destructor Documentation

hpp::corbaServer::Server::Server	(	core::ProblemSolverPtr_t	problemSolver,
		int	argc,
		const char *	argv[],
		bool	multiThread = false
	)

Constructor.

Parameters

problemSolver	the object that will handle 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.

hpp::corbaServer::Server::Server	(	ProblemSolverMapPtr_t	problemSolverMap,
		int	argc,
		const char *	argv[],
		bool	multiThread = false
	)

Constructor.

Parameters

problemSolverMap	the object that will handle 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.

hpp::corbaServer::Server::~Server

(

)

Shutdown CORBA server.

Member Function Documentation

void hpp::corbaServer::Server::addServantKeyAndServant	(	ServantKey	servantKey,
		PortableServer::Servant	servant
	)

Referenced by hpp::corbaServer::makeServant(), and hpp::corbaServer::AbstractStorage< D, core::SteeringMethod >::operator bool().

bool hpp::corbaServer::Server::createContext

(

const std::string &

contextName

)

PortableServer::Servant hpp::corbaServer::Server::getServant

(

ServantKey

servantKey

)

const

Referenced by hpp::corbaServer::makeServant(), and hpp::corbaServer::AbstractStorage< D, core::SteeringMethod >::operator bool().

bool hpp::corbaServer::Server::loadPlugin	(	const std::string &	contextName,
		const std::string &	libFilename
	)

Load a plugin if not already loaded.

Returns

true if the plugin is correctly loaded, false otherwise (which includes the case where the plugin was already loaded).

const std::string& hpp::corbaServer::Server::mainContextId ( ) const

inline

Get main context ID.

const bool& hpp::corbaServer::Server::multiThread ( ) const

inline

References loadPlugin().

Referenced by hpp::corbaServer::BasicServer::startCorbaServer().

CORBA::ORB_var hpp::corbaServer::Server::orb ( )

inline

PortableServer::POA_var hpp::corbaServer::Server::poa ( )

inline

Referenced by hpp::corbaServer::makeServant(), hpp::corbaServer::AbstractStorage< D, core::SteeringMethod >::operator bool(), hpp::corbaServer::reference_to_servant(), and hpp::corbaServer::reference_to_servant_base().

core::ProblemSolverPtr_t hpp::corbaServer::Server::problemSolver

(

)

ProblemSolverMapPtr_t hpp::corbaServer::Server::problemSolverMap

(

)

int hpp::corbaServer::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 hpp::corbaServer::Server::removeServant

(

PortableServer::Servant

servant

)

void hpp::corbaServer::Server::requestShutdown

(

bool

wait

)

Request a shutdown.

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 hpp::corbaServer::Server::startCorbaServer

(

)

Initialize CORBA server to process requests from clients.

Returns

0 if success, -1 if failure.