cdeployer.cpp
Go to the documentation of this file.
00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Jul 3 15:30:32 CEST 2008  cdeployer.cpp
00003 
00004                         cdeployer.cpp -  description
00005                            -------------------
00006     begin                : Thu July 03 2008
00007     copyright            : (C) 2008 Peter Soetens
00008     email                : peter.soetens@fmtc.be
00009 
00010  ***************************************************************************
00011  *   This program is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU Lesser General Public            *
00013  *   License as published by the Free Software Foundation; either          *
00014  *   version 2.1 of the License, or (at your option) any later version.    *
00015  *                                                                         *
00016  *   This program is distributed in the hope that it will be useful,       *
00017  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00019  *   Lesser General Public License for more details.                       *
00020  *                                                                         *
00021  *   You should have received a copy of the GNU Lesser General Public      *
00022  *   License along with this program; if not, write to the Free Software   *
00023  *   Foundation, Inc., 59 Temple Place,                                    *
00024  *   Suite 330, Boston, MA  02111-1307  USA                                *
00025  *                                                                         *
00026  ***************************************************************************/
00027 
00028 
00029 #include <rtt/rtt-config.h>
00030 #ifdef OS_RT_MALLOC
00031 // need access to all TLSF functions embedded in RTT
00032 #define ORO_MEMORY_POOL
00033 #include <rtt/os/tlsf/tlsf.h>
00034 #endif
00035 
00036 #include <rtt/os/main.h>
00037 #include <rtt/RTT.hpp>
00038 
00039 #include <deployment/CorbaDeploymentComponent.hpp>
00040 #include <rtt/transports/corba/TaskContextServer.hpp>
00041 #include <iostream>
00042 #include "deployer-funcs.hpp"
00043 
00044 #ifdef  ORO_BUILD_LOGGING
00045 #   ifndef OS_RT_MALLOC
00046 #   warning Logging needs rtalloc!
00047 #   endif
00048 #include <log4cpp/HierarchyMaintainer.hh>
00049 #include "logging/Category.hpp"
00050 #endif
00051 
00052 using namespace std;
00053 using namespace RTT::corba;
00054 using namespace RTT;
00055 using namespace OCL;
00056 namespace po = boost::program_options;
00057 
00058 int main(int argc, char** argv)
00059 {
00060         std::string                 siteFile;      // "" means use default in DeploymentComponent.cpp
00061         std::vector<std::string>    scriptFiles;
00062         std::string                 name("Deployer");
00063     bool                        requireNameService = false;
00064     bool                        deploymentOnlyChecked = false;
00065         int                                                     minNumberCPU = 0;
00066     po::variables_map           vm;
00067         po::options_description     taoOptions("Additional options after a '--' are passed through to TAO");
00068         // we don't actually list any options for TAO ...
00069 
00070         po::options_description     otherOptions;
00071 
00072 #ifdef  ORO_BUILD_RTALLOC
00073     OCL::memorySize         rtallocMemorySize   = ORO_DEFAULT_RTALLOC_SIZE;
00074         po::options_description rtallocOptions      = OCL::deployerRtallocOptions(rtallocMemorySize);
00075         otherOptions.add(rtallocOptions);
00076 #endif
00077 
00078 #if     defined(ORO_BUILD_LOGGING) && defined(OROSEM_LOG4CPP_LOGGING)
00079     // to support RTT's logging to log4cpp
00080     std::string                 rttLog4cppConfigFile;
00081     po::options_description     rttLog4cppOptions = OCL::deployerRttLog4cppOptions(rttLog4cppConfigFile);
00082     otherOptions.add(rttLog4cppOptions);
00083 #endif
00084 
00085     // as last set of options
00086     otherOptions.add(taoOptions);
00087 
00088     // were we given TAO options? ie find "--"
00089     int     taoIndex    = 0;
00090     bool    found       = false;
00091 
00092     while(!found && taoIndex<argc)
00093     {
00094         found = (0 == strcmp("--", argv[taoIndex]));
00095         if(!found) taoIndex++;
00096     }
00097 
00098     if (found) {
00099         argv[taoIndex] = argv[0];
00100     }
00101 
00102     // if TAO options not found then process all command line options,
00103     // otherwise process all options up to but not including "--"
00104         int rc = OCL::deployerParseCmdLine(!found ? argc : taoIndex, argv,
00105                                        siteFile, scriptFiles, name, requireNameService, deploymentOnlyChecked,
00106                                                                            minNumberCPU,
00107                                        vm, &otherOptions);
00108         if (0 != rc)
00109         {
00110                 return rc;
00111         }
00112 
00113         // check system capabilities
00114         rc = OCL::enforceMinNumberCPU(minNumberCPU);
00115         if (0 != rc)
00116         {
00117                 return rc;
00118         }
00119 
00120 #if     defined(ORO_BUILD_LOGGING) && defined(OROSEM_LOG4CPP_LOGGING)
00121     if (!OCL::deployerConfigureRttLog4cppCategory(rttLog4cppConfigFile))
00122     {
00123         return -1;
00124     }
00125 #endif
00126 
00127 #ifdef  ORO_BUILD_RTALLOC
00128     size_t                  memSize     = rtallocMemorySize.size;
00129     void*                   rtMem       = 0;
00130     if (0 < memSize)
00131     {
00132         // don't calloc() as is first thing TLSF does.
00133         rtMem = malloc(memSize);
00134         assert(rtMem);
00135         size_t freeMem = init_memory_pool(memSize, rtMem);
00136         if ((size_t)-1 == freeMem)
00137         {
00138             cerr << "Invalid memory pool size of " << memSize
00139                           << " bytes (TLSF has a several kilobyte overhead)." << endl;
00140             free(rtMem);
00141             return -1;
00142         }
00143         cout << "Real-time memory: " << freeMem << " bytes free of "
00144                   << memSize << " allocated." << endl;
00145     }
00146 #endif  // ORO_BUILD_RTALLOC
00147 
00148 #ifdef  ORO_BUILD_LOGGING
00149     log4cpp::HierarchyMaintainer::set_category_factory(
00150         OCL::logging::Category::createOCLCategory);
00151 #endif
00152 
00153     /******************** WARNING ***********************
00154      *   NO log(...) statements before __os_init() !!!!! 
00155      ***************************************************/
00156 
00157     // start Orocos _AFTER_ setting up log4cpp
00158         if (0 == __os_init(argc - taoIndex, &argv[taoIndex]))
00159     {
00160 #ifdef  ORO_BUILD_LOGGING
00161         log(Info) << "OCL factory set for real-time logging" << endlog();
00162 #endif
00163         // scope to force dc destruction prior to memory free
00164         {
00165             OCL::CorbaDeploymentComponent dc( name, siteFile );
00166             // if TAO options not found then have TAO process just the program name,
00167             // otherwise TAO processes the program name plus all options (potentially
00168             // none) after "--"
00169             TaskContextServer::InitOrb( argc - taoIndex, &argv[taoIndex] );
00170 
00171             if (0 == TaskContextServer::Create( &dc, true, requireNameService ))
00172             {
00173                 return -1;
00174             }
00175 
00176             /* Only start the scripts after the Orb was created. Processing of
00177                scripts stops after the first failed script, and -1 is returned.
00178                Whether a script failed or all scripts succeeded, the CORBA
00179                server will be run.
00180              */
00181             bool result = true;
00182             for (std::vector<std::string>::const_iterator iter=scriptFiles.begin();
00183                  iter!=scriptFiles.end() && result;
00184                  ++iter)
00185             {
00186                 if ( !(*iter).empty() )
00187                 {
00188                     if ( (*iter).rfind(".xml",string::npos) == (*iter).length() - 4 || (*iter).rfind(".cpf",string::npos) == (*iter).length() - 4) {
00189                         if ( deploymentOnlyChecked ) {
00190                             if (!dc.loadComponents( (*iter) )) {
00191                                 result = false;
00192                                 log(Error) << "Failed to load file: '"<< (*iter) <<"'." << endlog();
00193                             } else if (!dc.configureComponents()) {
00194                                 result = false;
00195                                 log(Error) << "Failed to configure file: '"<< (*iter) <<"'." << endlog();
00196                             }
00197                             // else leave result=true and continue
00198                         } else {
00199                             result = dc.kickStart( (*iter) );
00200                         }
00201                         continue;
00202                     }
00203 
00204                     if ( (*iter).rfind(".ops",string::npos) == (*iter).length() - 4 ||
00205                          (*iter).rfind(".osd",string::npos) == (*iter).length() - 4 ||
00206                          (*iter).rfind(".lua",string::npos) == (*iter).length() - 4) {
00207                         result = dc.runScript( (*iter) );
00208                         continue;
00209                     }
00210                     log(Error) << "Unknown extension of file: '"<< (*iter) <<"'. Must be xml, cpf for XML files or, ops, osd or lua for script files."<<endlog();
00211                 }
00212             }
00213             rc = (result ? 0 : -1);
00214 
00215             // Export the DeploymentComponent as CORBA server.
00216             if ( !deploymentOnlyChecked ) {
00217                 TaskContextServer::RunOrb();
00218             }
00219 
00220             TaskContextServer::ShutdownOrb();
00221 
00222             TaskContextServer::DestroyOrb();
00223 
00224         }
00225 
00226         __os_exit();
00227         }
00228         else
00229         {
00230                 std::cerr << "Unable to start Orocos" << std::endl;
00231         return -1;
00232         }
00233 #ifdef  ORO_BUILD_LOGGING
00234     log4cpp::HierarchyMaintainer::getDefaultMaintainer().shutdown();
00235     log4cpp::HierarchyMaintainer::getDefaultMaintainer().deleteAllCategories();
00236 #endif
00237 
00238 #ifdef  ORO_BUILD_RTALLOC
00239     if (!rtMem)
00240     {
00241         destroy_memory_pool(rtMem);
00242         free(rtMem);
00243     }
00244 #endif  // ORO_BUILD_RTALLOC
00245 
00246     return rc;
00247 }


ocl
Author(s): OCL Development Team
autogenerated on Sat Jun 8 2019 18:48:54