int
ACE_TMAIN (int, ACE_TCHAR *[])
{
ACE_Intrusive_Auto_Ptr<ACE_Service_Gestalt> one (new ACE_Service_Gestalt());
one->process_directive (ace_svc_desc_TAO_CORBANAME_Parser);
one->process_directive (ace_svc_desc_TAO_CORBALOC_Parser);
TAO_Protocol_Factory* p1 = ACE_Dynamic_Service<TAO_Protocol_Factory>::instance (one.get (), "IIOP_Factory");
if (p1 != 0)
ACE_ERROR_RETURN ((LM_DEBUG, ACE_TEXT("Unexpected to find IIOP_Factory\n")), -1);
ACE_Service_Object* p2 = ACE_Dynamic_Service<ACE_Service_Object>::instance (one.get (), "CORBANAME_Parser");
if (p2 == 0)
ACE_ERROR_RETURN ((LM_DEBUG, ACE_TEXT("Expected to find CORBANAME_Parser\n")), -1);
ACE_Service_Object* p3 = ACE_Dynamic_Service<ACE_Service_Object>::instance (one.get (), "CORBALOC_Parser");
if (p3 == 0)
ACE_ERROR_RETURN ((LM_DEBUG, ACE_TEXT("Expected to find CORBALOC_Parser\n")), -1);
return 0;
}
int
testSeparation (int , ACE_TCHAR *[])
{
ACE_TRACE ("testSeparation");
ACE_Intrusive_Auto_Ptr<ACE_Service_Gestalt> one (new ACE_Service_Gestalt_Test (10));
one->process_directive (ace_svc_desc_TAO_CORBANAME_Parser);
ACE_Intrusive_Auto_Ptr<ACE_Service_Gestalt> two (new ACE_Service_Gestalt_Test (10));
two->process_directive (ace_svc_desc_TAO_CORBALOC_Parser);
const ACE_TCHAR *svcname = ACE_TEXT ("IIOP_Factory");
TAO_Protocol_Factory* p10 = ACE_Dynamic_Service<TAO_Protocol_Factory>::instance (one.get (), svcname);
if (p10 != 0)
ACE_ERROR_RETURN ((LM_DEBUG, ACE_TEXT("Not expected %s locally in one\n"), svcname), -1);
TAO_Protocol_Factory* p11 = ACE_Dynamic_Service<TAO_Protocol_Factory>::instance (two.get (), "IIOP_Factory");
if (p11 != 0)
ACE_ERROR_RETURN ((LM_DEBUG, ACE_TEXT("Not expected %s locally in two\n"), svcname), -1);
svcname = ACE_TEXT ("CORBANAME_Parser");
ACE_Service_Object* p20 = ACE_Dynamic_Service<ACE_Service_Object>::instance (one.get (), svcname);
if (p20 == 0)
ACE_ERROR_RETURN ((LM_DEBUG, ACE_TEXT("Expected %s locally, in one\n"), svcname), -1);
ACE_Service_Object* p31 = ACE_Dynamic_Service<ACE_Service_Object>::instance (two.get (), svcname);
if (p31 != 0)
ACE_ERROR_RETURN ((LM_DEBUG, ACE_TEXT("Not expected %s locally, in two\n"), svcname), -1);
svcname = ACE_TEXT ("CORBALOC_Parser");
ACE_Service_Object* p21 = ACE_Dynamic_Service<ACE_Service_Object>::instance (one.get (), svcname);
if (p21 != 0)
ACE_ERROR_RETURN ((LM_DEBUG, ACE_TEXT("Not expected %s locally, in one\n"), svcname), -1);
ACE_Service_Object* p30 = ACE_Dynamic_Service<ACE_Service_Object>::instance (two.get (), svcname);
if (p30 == 0)
ACE_ERROR_RETURN ((LM_DEBUG, ACE_TEXT("Expected %s locally, in two\n"), svcname), -1);
return 0;
}
int
main(int argc, char *argv[])
{
try {
// configure log verbosity globally
// setting global default configuration file
// parse robot (and CORBA) command-line parameters
Miro::Robot::init(argc, argv);
// overwrite DDS global defaults
kn::DdsEntitiesFactorySvcParameters * ddsEntitiesParams =
kn::DdsEntitiesFactorySvcParameters::instance();
// alter default parameters
ddsEntitiesParams->defaultLibrary = "RapidQosLibrary";
// configure DDS global setting
kn::DdsSupport::init(argc, argv);
// Hardcode participant name and participant Qos Profile
ddsEntitiesParams->participants[0].participantName = "ProcessManager";
ddsEntitiesParams->participants[0].profile = "RapidDefaultQos";
// configure DDS global setting
kn::DdsEntitiesFactorySvc ddsFactory;
if (ddsFactory.init(ddsEntitiesParams) != 0)
return -1;
if (parseArgs(argc, argv) != 0)
return -1;
// somehow we miss the static includes otherwise
ACE_Service_Config::open("rctld", 0, false);
{
ACE_Intrusive_Auto_Ptr<ACE_Service_Gestalt> svcs = new ACE_Service_Gestalt(1024, true, false);
string procCmd = "static ProcessManagerSvc \"" + procDirective + "\"";
if (svcs->process_directive(procCmd.c_str()) != 0) {
return 1;
}
if (systemInfo) {
string sysInfoCmd = "static SystemInfoSvc \"" + sysInfoDirective + "\"";
if (svcs->process_directive(sysInfoCmd.c_str()) != 0) {
return 1;
}
}
if (cmdMgr) {
string cmdMgrCmd = "static CommandManagerSvc \"" + commandManagerDirective + "\"";
if (svcs->process_directive(cmdMgrCmd.c_str()) != 0) {
return 1;
}
}
MIRO_LOG(LL_NOTICE, "Entering server loop.");
Miro::ShutdownHandler shutdownHandler;
while(!shutdownHandler.isShutdown()) {
kn::this_thread::sleep_for(kn::microseconds(100000));
}
MIRO_LOG(LL_NOTICE, "End of server loop.");
}
ddsFactory.fini();
MIRO_LOG(LL_NOTICE, "End of main server scope.");
}
catch (Miro::Exception const& e) {
MIRO_LOG_OSTR(LL_CRITICAL, "Miro exception:\n" << e);
}
catch (std::exception const& e) {
MIRO_LOG_OSTR(LL_CRITICAL, "Unexpected std-exception\n" << e.what());
}
catch (...) {
MIRO_LOG_OSTR(LL_CRITICAL, "Unexpected exception\n");
}
MIRO_LOG(LL_NOTICE, "bye");
return 0;
}
int
main(int argc, char *argv[])
{
try {
// configure log verbosity globally
// setting global default configuration file
// parse robot (and CORBA) command-line parameters
// create top-level server instance
// configure ORB parameters globally
Miro::Log::init(argc, argv);
// Miro::Server server(argc, argv);
// overwrite DDS global defaults
kn::DdsEntitiesFactorySvcParameters * ddsEntitiesParams =
kn::DdsEntitiesFactorySvcParameters::instance();
// alter default parameters
ddsEntitiesParams->defaultLibrary = "RapidQosLibrary";
// configure DDS global setting
kn::DdsSupport::init(argc, argv);
// Hardcode participant name and participant Qos Profile
ddsEntitiesParams->participants[0].participantName = "RapidExec";
ddsEntitiesParams->participants[0].profile = "RapidDefaultQos";
// configure DDS global setting
kn::DdsEntitiesFactorySvc ddsFactory;
if (ddsFactory.init(ddsEntitiesParams) != 0)
return -1;
if (parseArgs(argc, argv) != 0)
return -1;
ACE_Service_Config::open("CommandManagerSvc", 0, false);
{
ACE_Intrusive_Auto_Ptr<ACE_Service_Gestalt> svcs = new ACE_Service_Gestalt(1024, true, false);
// sequencer
string sequencerSvc = "static CommandManagerSvc \"" + sequencerDirective + "\"";
// string sequencerSvc = "dynamic CommandManagerSvc Service_Object * rapidCommanding:_make_rapid_CommandManagerSvc() \"" + sequencerDirective + "\"";
if (svcs->process_directive(sequencerSvc.c_str()) != 0) {
return 1;
}
MIRO_LOG(LL_NOTICE, "Entering server loop.");
Miro::ShutdownHandler shutdownHandler;
while(!shutdownHandler.isShutdown()) {
kn::this_thread::sleep_for(kn::microseconds(100000));
}
MIRO_LOG(LL_NOTICE, "End of server loop.");
}
ddsFactory.fini();
MIRO_LOG(LL_NOTICE, "End of main server scope.");
}
catch (std::exception const& e) {
MIRO_LOG_OSTR(LL_CRITICAL, "Unexpected std-exception\n" << e.what());
}
catch (...) {
MIRO_LOG_OSTR(LL_CRITICAL, "Unexpected exception\n");
}
MIRO_LOG(LL_NOTICE, "bye");
return 0;
}
int
testReusingGlobals (int , ACE_TCHAR *[])
{
ACE_TRACE ("testReusingGlobals");
{
ACE_Intrusive_Auto_Ptr<ACE_Service_Gestalt> one (new ACE_Service_Gestalt (10, false));
// The ACE_Service_Gestalt_Test will teardown all!
one->process_directive (ace_svc_desc_TAO_CORBANAME_Parser);
one->process_directive (ace_svc_desc_TAO_CORBALOC_Parser);
const ACE_TCHAR *svcname = ACE_TEXT ("IIOP_Factory");
TAO_Protocol_Factory* p1 = ACE_Dynamic_Service<TAO_Protocol_Factory>::instance (one.get (), svcname);
if (p1 != 0)
{
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Not expected to find %s locally\n"), svcname));
return -1;
}
svcname = ACE_TEXT ("CORBANAME_Parser");
ACE_Service_Object* p2 = ACE_Dynamic_Service<ACE_Service_Object>::instance (one.get (), svcname);
if (p2 == 0)
{
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Expected to find %s localy\n"), svcname));
return -1;
}
svcname = ACE_TEXT ("CORBALOC_Parser");
ACE_Service_Object* p3 = ACE_Dynamic_Service<ACE_Service_Object>::instance (one.get (), svcname);
if (p3 == 0)
{
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Expected to find %s locally\n"), svcname));
return -1;
}
}
ACE_Intrusive_Auto_Ptr<ACE_Service_Gestalt> two (new ACE_Service_Gestalt_Test (10));
// ACE_Service_Gestalt_Test two; // Use the ACE_Service_Repository::instance ()
const ACE_TCHAR *svcname = ACE_TEXT ("IIOP_Factory");
TAO_Protocol_Factory* p1 = ACE_Dynamic_Service<TAO_Protocol_Factory>::instance (two.get (), svcname);
if (p1 != 0)
{
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Not expected to find %s in the global repo\n"), svcname));
return -1;
}
svcname = ACE_TEXT ("CORBANAME_Parser");
ACE_Service_Object* p2 = ACE_Dynamic_Service<ACE_Service_Object>::instance (two.get (), svcname);
if (p2 == 0) // You should be able to find the same stuff here, too
{
ACE_ERROR ((LM_ERROR, ACE_TEXT ("Not expected to find %s in the global repo\n"), svcname));
return -1;
}
return 0;
}