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rtt
transports
corba
corba.h
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/***************************************************************************
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tag: Peter Soetens Thu Oct 22 11:59:07 CEST 2009 corba.h
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corba.h - description
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-------------------
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begin : Thu October 22 2009
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copyright : (C) 2009 Peter Soetens
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email : peter@thesourcworks.com
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***************************************************************************
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* This library is free software; you can redistribute it and/or *
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* modify it under the terms of the GNU General Public *
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* License as published by the Free Software Foundation; *
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* version 2 of the License. *
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* *
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* As a special exception, you may use this file as part of a free *
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* software library without restriction. Specifically, if other files *
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* instantiate templates or use macros or inline functions from this *
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* file, or you compile this file and link it with other files to *
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* produce an executable, this file does not by itself cause the *
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* resulting executable to be covered by the GNU General Public *
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* License. This exception does not however invalidate any other *
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* reasons why the executable file might be covered by the GNU General *
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* Public License. *
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* *
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* This library is distributed in the hope that it will be useful, *
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* but WITHOUT ANY WARRANTY; without even the implied warranty of *
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
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* Lesser General Public License for more details. *
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* *
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* You should have received a copy of the GNU General Public *
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* License along with this library; if not, write to the Free Software *
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* Foundation, Inc., 59 Temple Place, *
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* Suite 330, Boston, MA 02111-1307 USA *
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* *
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***************************************************************************/
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#ifndef ORO_CORBA_SUPPORT_HH
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#define ORO_CORBA_SUPPORT_HH
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#include "rtt-corba-config.h"
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// This macro had to be introduced to make Omniorb compatible with Xenomai.
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// Omniorb4 creates its own threads, which are not Xenomai threads.
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// This check turns plain posix threads into Xenomai threads on the Xenomai target.
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#define CORBA_CHECK_THREAD()
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#if CORBA_IS_TAO
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# include <ace/SString.h>
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# include <tao/corba.h>
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# include <tao/PortableServer/PS_ForwardC.h>
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# define CORBA_SERVANT(f) f ## "S.h"
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# define CORBA_EXCEPTION_INFO(x) x._info().c_str()
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# ifndef ACE_THROW_SPEC
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# define ACE_THROW_SPEC(X) throw X
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# endif
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#else
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# include <omniORB4/CORBA.h>
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# include <omniORB4/poa.h>
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# ifndef DOXYGEN
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namespace
CORBA {
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typedef
Any* Any_ptr;
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}
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# endif
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# undef ACE_THROW_SPEC
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# define ACE_THROW_SPEC(x)
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# undef ACE_THROW
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# define ACE_THROW(x)
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# define CORBA_EXCEPTION_INFO(x) x._name()
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// This Xenomai specific work-around is required for omniorb.
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# ifdef OROCOS_TARGET_XENOMAI
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# undef CORBA_CHECK_THREAD
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# define CORBA_CHECK_THREAD() if (rt_task_self() == 0) rt_task_shadow(0,0,0,0)
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# endif
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#endif
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#endif
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