This class manages the creation of TaskContext Corba Servers and a Corba Object Request Broker (Orb) which executes the servers. More...

#include <rtt/transports/corba/TaskContextServer.hpp>

Inheritance diagram for RTT::corba::TaskContextServer:

Public Member Functions
	~TaskContextServer ()
	When a TaskContextServer is destroyed, the object reference is removed from the Naming Service and the servant is deleted. More...

CTaskContext_ptr	server () const
	Get the Corba Object of this TaskContext. More...

Static Public Member Functions
static void	ShutdownOrb (bool wait_for_completion=true)
	Invoke this method once to shutdown the Orb which is running the task servers in RunOrb(). More...

static void	CleanupServers ()
	Destroys all TaskContextServer objects. More...

static void	RunOrb ()
	Invoke this method to run the orb and accept client requests. More...

static void	ThreadOrb ()
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.This is kept (instead of using only default parameters in the other version) for ABI compatibility. More...

static void	ThreadOrb (int scheduler, int priority=RTT::os::LowestPriority, unsigned cpu_affinity=0)
	Invoke this method to run the orb in a separate thread and accept client requests from that thread. More...

static void	DestroyOrb ()
	Invoke this method once to cleanup the orb. More...

static TaskContextServer *	Create (TaskContext *tc, bool use_naming=true, bool require_name_service=false)
	Factory method: create a CORBA server for an existing TaskContext. More...

static TaskContextServer *	Create (TaskContext *tc, const std::string &alias, bool use_naming=true, bool require_name_service=false)
	Factory method: create a CORBA server for an existing TaskContext. More...

static CTaskContext_ptr	CreateServer (TaskContext *tc, bool use_naming=true, bool require_name_service=false)
	Factory method: create a CORBA server for an existing TaskContext. More...

static CTaskContext_ptr	CreateServer (TaskContext *tc, const std::string &alias, bool use_naming=true, bool require_name_service=false)
	Factory method: create a CORBA server for an existing TaskContext. More...

static void	CleanupServer (TaskContext *tc)
	Deletes a TaskContext server for a given taskcontext. More...

static std::string	getIOR (TaskContext *tc)
	Get the IOR of a given TaskContext. More...

static RTT_CORBA_API bool	InitOrb (int argc, char *argv[], Seconds orb_timeout=0)
	Invoke this method once to initialise the Orb which will run the task servers. More...

Static Public Attributes
static CORBA::ORB_var	orb
	The orb of this process. More...

static PortableServer::POA_var	rootPOA
	The root POA of this process. More...

Protected Types
typedef std::map< TaskContext , TaskContextServer >	ServerMap

typedef std::map< TaskContext *, std::string >	IorMap

Protected Member Functions
	TaskContextServer (TaskContext *taskcontext, bool use_naming, bool require_name_service)
	Private constructor which creates a new servant. More...

	TaskContextServer (TaskContext *taskcontext, const std::string &alias, bool use_naming, bool require_name_service)
	Private constructor which creates a new servant using an alias. More...

void	initTaskContextServer (bool require_name_service)

Static Protected Member Functions
static void	DoShutdownOrb (bool wait_for_completion=true)
	Internal shutdown function, used by both thread and ShutdownOrb. More...

Protected Attributes
PortableServer::POA_var	mpoa

PortableServer::ServantBase_var	mtask_i

corba::CTaskContext_var	mtask

TaskContext *	mtaskcontext

bool	muse_naming

std::string	mregistered_name

Static Protected Attributes
static ServerMap	servers

static base::ActivityInterface *	orbrunner = 0

static bool	is_shutdown = false

static IorMap	iors

Friends
class	OrbRunner

class	TaskContextProxy

Detailed Description

This class manages the creation of TaskContext Corba Servers and a Corba Object Request Broker (Orb) which executes the servers.

The Orb may be run from the main thread or in its own thread.

Definition at line 65 of file TaskContextServer.hpp.

Member Typedef Documentation

typedef std::map<TaskContext*, std::string> RTT::corba::TaskContextServer::IorMap

protected

Definition at line 79 of file TaskContextServer.hpp.

typedef std::map<TaskContext*, TaskContextServer*> RTT::corba::TaskContextServer::ServerMap

protected

Definition at line 72 of file TaskContextServer.hpp.

Constructor & Destructor Documentation

RTT::corba::TaskContextServer::TaskContextServer	(	TaskContext *	taskcontext,
		bool	use_naming,
		bool	require_name_service
	)

protected

Private constructor which creates a new servant.

Definition at line 252 of file TaskContextServer.cpp.

References initTaskContextServer().

Referenced by Create(), and CreateServer().

RTT::corba::TaskContextServer::TaskContextServer	(	TaskContext *	taskcontext,
		const std::string &	alias,
		bool	use_naming,
		bool	require_name_service
	)

protected

Private constructor which creates a new servant using an alias.

Definition at line 245 of file TaskContextServer.cpp.

References initTaskContextServer().

RTT::corba::TaskContextServer::~TaskContextServer ( )

When a TaskContextServer is destroyed, the object reference is removed from the Naming Service and the servant is deleted.

Definition at line 77 of file TaskContextServer.cpp.

References RTT::Info, and RTT::Warning.

Member Function Documentation

void RTT::corba::TaskContextServer::CleanupServer ( TaskContext * tc )

static

Deletes a TaskContext server for a given taskcontext.

If no such server exists, this method silently does nothing.

Definition at line 270 of file TaskContextServer.cpp.

References RTT::corba::CDataFlowInterface_i::deregisterServant(), RTT::TaskContext::getName(), RTT::Info, RTT::corba::ApplicationServer::orb, RTT::TaskContext::provides(), and servers.

void RTT::corba::TaskContextServer::CleanupServers ( )

static

Destroys all TaskContextServer objects.

Definition at line 258 of file TaskContextServer.cpp.

References RTT::corba::CDataFlowInterface_i::clearServants(), RTT::Info, is_shutdown, RTT::corba::ApplicationServer::orb, and servers.

Referenced by DestroyOrb(), and DoShutdownOrb().

TaskContextServer * RTT::corba::TaskContextServer::Create	(	TaskContext *	tc,
		bool	use_naming = `true`,
		bool	require_name_service = `false`
	)

static

Factory method: create a CORBA server for an existing TaskContext.

Parameters

tc	The TaskContext to serve.
use_naming	Set to false in order not to use the Corba Naming Service.
require_naming	Set to true to require that the Corba Naming Service be found.

Return values

0	if the ORB is not initialised, or if require_name_service==true and the name service was not found

Returns: A new or previously created CORBA server for tc.

Definition at line 408 of file TaskContextServer.cpp.

References RTT::TaskContext::getName().

Referenced by RTT::corba::TaskContextProxy::addPeer(), RTT::corba::TaskContextProxy::connectPeers(), RTT::corba::TaskContextProxy::connectPorts(), and RTT::corba::TaskContextProxy::connectServices().

TaskContextServer * RTT::corba::TaskContextServer::Create	(	TaskContext *	tc,
		const std::string &	alias,
		bool	use_naming = `true`,
		bool	require_name_service = `false`
	)

static

Factory method: create a CORBA server for an existing TaskContext.

Parameters

tc	The TaskContext to serve.
alias	Alias to use as name when registering the CORBA server.
use_naming	Set to false in order not to use the Corba Naming Service.
require_naming	Set to true to require that the Corba Naming Service be found.

Return values

0	if the ORB is not initialised, or if require_name_service==true and the name service was not found

Returns: A new or previously created CORBA server for tc.

Definition at line 412 of file TaskContextServer.cpp.

References RTT::Debug, RTT::os::endl(), RTT::Info, RTT::corba::ApplicationServer::orb, servers, TaskContextServer(), and RTT::corba::IllegalServer::what().

CTaskContext_ptr RTT::corba::TaskContextServer::CreateServer	(	TaskContext *	tc,
		bool	use_naming = `true`,
		bool	require_name_service = `false`
	)

static

Factory method: create a CORBA server for an existing TaskContext.

Same as above, but immediately return the Corba object. Also checks if tc is TaskContextProxy and returns the server of the proxy if so.

Parameters

tc	The TaskContext to serve.
use_naming	Set to false in order not to use the Corba Naming Service.
require_naming	Set to true to require that the Corba Naming Service be found.

Return values

0	if the ORB is not initialised, or if require_name_service==true and the name service was not found

Returns: A new or previously created CORBA server for tc. Since this is a factory function, you need to store the object in a _var and don't need to _duplicate it.

Definition at line 433 of file TaskContextServer.cpp.

References RTT::TaskContext::getName().

Referenced by RTT::corba::AnyConversion< RTT::TaskContext * >::createAny(), and RTT::corba::AnyConversion< RTT::TaskContext * >::updateAny().

CTaskContext_ptr RTT::corba::TaskContextServer::CreateServer	(	TaskContext *	tc,
		const std::string &	alias,
		bool	use_naming = `true`,
		bool	require_name_service = `false`
	)

static

Factory method: create a CORBA server for an existing TaskContext.

Same as above, but immediately return the Corba object. Also checks if tc is TaskContextProxy and returns the server of the proxy if so.

Parameters

tc	The TaskContext to serve.
alias	Alias to use as name when registering the CORBA server.
use_naming	Set to false in order not to use the Corba Naming Service.
require_naming	Set to true to require that the Corba Naming Service be found.

Return values

0	if the ORB is not initialised, or if require_name_service==true and the name service was not found

Returns: A new or previously created CORBA server for tc. Since this is a factory function, you need to store the object in a _var and don't need to _duplicate it.

Definition at line 437 of file TaskContextServer.cpp.

References RTT::Debug, RTT::os::endl(), RTT::Info, RTT::corba::ApplicationServer::orb, RTT::corba::TaskContextProxy::proxies, server(), servers, TaskContextServer(), and RTT::corba::IllegalServer::what().

void RTT::corba::TaskContextServer::DestroyOrb ( )

static

Invoke this method once to cleanup the orb.

Definition at line 378 of file TaskContextServer.cpp.

References CleanupServers(), CORBA_EXCEPTION_INFO, RTT::Error, RTT::Info, RTT::corba::ApplicationServer::orb, orbrunner, RTT::corba::ApplicationServer::rootPOA, and RTT::base::ActivityInterface::stop().

void RTT::corba::TaskContextServer::DoShutdownOrb ( bool wait_for_completion = true )

staticprotected

Internal shutdown function, used by both thread and ShutdownOrb.

Definition at line 288 of file TaskContextServer.cpp.

References CleanupServers(), CORBA_EXCEPTION_INFO, RTT::Error, RTT::Info, is_shutdown, and RTT::corba::ApplicationServer::orb.

Referenced by ShutdownOrb().

std::string RTT::corba::TaskContextServer::getIOR ( TaskContext * tc )

static

Get the IOR of a given TaskContext.

Parameters

tc	The TaskContext to find the IOR for

Returns: IOR of the provided TaskContext or an empty string if the TaskContext is unknown

Definition at line 471 of file TaskContextServer.cpp.

References iors.

RTT_CORBA_API bool RTT::corba::ApplicationServer::InitOrb	(	int	argc,
		char *	argv[],
		Seconds	orb_timeout = `0`
	)

staticinherited

Invoke this method once to initialise the Orb which will run the task servers.

Parameters

orb_timeout timeout value for each remote call, expressed in seconds. The resolution is up to 100 nano seconds. Anything smaller will be interpreted as a zero.

Definition at line 55 of file ApplicationServer.cpp.

References CORBA_EXCEPTION_INFO, RTT::Error, RTT::Logger::log(), RTT::Logger::nl(), RTT::corba::ApplicationServer::orb, and RTT::corba::ApplicationServer::rootPOA.

Referenced by RTT::corba::TaskContextFactory::InitOrb().

void RTT::corba::TaskContextServer::initTaskContextServer ( bool require_name_service )

protected

Definition at line 119 of file TaskContextServer.cpp.

References RTT_corba_CTaskContext_i::activate_this(), CORBA_EXCEPTION_INFO, RTT::Debug, RTT::os::endl(), RTT::Error, RTT::Info, and RTT::Warning.

Referenced by TaskContextServer().

void RTT::corba::TaskContextServer::RunOrb ( )

static

Invoke this method to run the orb and accept client requests.

Use ShutdownOrb() to break out of this method.

Definition at line 316 of file TaskContextServer.cpp.

References CORBA_EXCEPTION_INFO, RTT::Error, RTT::Info, and RTT::corba::ApplicationServer::orb.

Referenced by RTT::corba::OrbRunner::loop().

CTaskContext_ptr RTT::corba::TaskContextServer::server ( ) const

Get the Corba Object of this TaskContext.

If you want to store this reference, you must _duplicate it. This object universally identifies the remote TaskContextServer and can be used to tell other (remote) objects where to find it.

Definition at line 465 of file TaskContextServer.cpp.

References mtask.

Referenced by RTT::corba::TaskContextProxy::addPeer(), RTT::corba::TaskContextProxy::connectPeers(), RTT::corba::TaskContextProxy::connectPorts(), RTT::corba::TaskContextProxy::connectServices(), and CreateServer().

void RTT::corba::TaskContextServer::ShutdownOrb ( bool wait_for_completion = true )

static

Invoke this method once to shutdown the Orb which is running the task servers in RunOrb().

When this function returns, no CORBA invocations are in progress, unless wait_for_completion is false.

Definition at line 282 of file TaskContextServer.cpp.

References DoShutdownOrb().

void RTT::corba::TaskContextServer::ThreadOrb ( )

static

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.This is kept (instead of using only default parameters in the other version) for ABI compatibility.

Definition at line 361 of file TaskContextServer.cpp.

References ORO_SCHED_RT.

void RTT::corba::TaskContextServer::ThreadOrb	(	int	scheduler,
		int	priority = `RTT::os::LowestPriority`,
		unsigned	cpu_affinity = `0`
	)

static

Invoke this method to run the orb in a separate thread and accept client requests from that thread.

Use ShutdownOrb() to break out of this method.

Definition at line 362 of file TaskContextServer.cpp.

References RTT::Error, RTT::Info, RTT::corba::ApplicationServer::orb, OrbRunner, orbrunner, and RTT::base::ActivityInterface::start().

Friends And Related Function Documentation

friend class OrbRunner

friend

Definition at line 69 of file TaskContextServer.hpp.

Referenced by ThreadOrb().

friend class TaskContextProxy

friend

Definition at line 70 of file TaskContextServer.hpp.

Member Data Documentation

std::map< TaskContext *, std::string > RTT::corba::TaskContextServer::iors

staticprotected

Definition at line 80 of file TaskContextServer.hpp.

Referenced by getIOR().

bool RTT::corba::TaskContextServer::is_shutdown = false

staticprotected

Definition at line 75 of file TaskContextServer.hpp.

Referenced by CleanupServers(), and DoShutdownOrb().

PortableServer::POA_var RTT::corba::TaskContextServer::mpoa

protected

Definition at line 77 of file TaskContextServer.hpp.

std::string RTT::corba::TaskContextServer::mregistered_name

protected

Definition at line 98 of file TaskContextServer.hpp.

corba::CTaskContext_var RTT::corba::TaskContextServer::mtask

protected

Definition at line 95 of file TaskContextServer.hpp.

Referenced by server().

PortableServer::ServantBase_var RTT::corba::TaskContextServer::mtask_i

protected

Definition at line 94 of file TaskContextServer.hpp.

TaskContext* RTT::corba::TaskContextServer::mtaskcontext

protected

Definition at line 96 of file TaskContextServer.hpp.

bool RTT::corba::TaskContextServer::muse_naming

protected

Definition at line 97 of file TaskContextServer.hpp.

CORBA::ORB_var RTT_API RTT::corba::ApplicationServer::orb

staticinherited

The orb of this process.

Definition at line 62 of file ApplicationServer.hpp.

Referenced by CleanupServer(), CleanupServers(), RTT::corba::TaskContextProxy::Create(), Create(), RTT::corba::TaskContextProxy::CreateFromFile(), CreateServer(), RTT::corba::TaskContextProxy::DestroyOrb(), DestroyOrb(), DoShutdownOrb(), RTT::corba::RemoteChannelElement< T >::getRemoteURI(), RTT::corba::TaskContextProxy::initFromURIOrTaskname(), RTT::corba::ApplicationServer::InitOrb(), RTT::corba::TaskContextProxy::ProxyPOA(), RTT::corba::RemoteChannelElement< T >::RemoteChannelElement(), RunOrb(), and ThreadOrb().

base::ActivityInterface * RTT::corba::TaskContextServer::orbrunner = 0

staticprotected

Definition at line 74 of file TaskContextServer.hpp.

Referenced by DestroyOrb(), and ThreadOrb().

PortableServer::POA_var RTT::corba::ApplicationServer::rootPOA

staticinherited

The root POA of this process.

Definition at line 67 of file ApplicationServer.hpp.

Referenced by RTT::corba::TaskContextProxy::DestroyOrb(), DestroyOrb(), and RTT::corba::ApplicationServer::InitOrb().

std::map< TaskContext *, TaskContextServer * > RTT::corba::TaskContextServer::servers

staticprotected

Definition at line 73 of file TaskContextServer.hpp.

Referenced by CleanupServer(), CleanupServers(), RTT::corba::TaskContextProxy::Create(), Create(), and CreateServer().

The documentation for this class was generated from the following files:

rtt/transports/corba/TaskContextServer.hpp
rtt/transports/corba/TaskContextServer.cpp

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Types

Protected Member Functions

Static Protected Member Functions

Protected Attributes

Static Protected Attributes

Friends

Detailed Description

Member Typedef Documentation

Constructor & Destructor Documentation

Member Function Documentation

Friends And Related Function Documentation

Member Data Documentation