RobotHardwareComp.cpp

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// -*- C++ -*-
#include <rtm/Manager.h>
#include <rtm/ModuleManager.h>
#include <iostream>
#include <string>
#include "RobotHardware.h"


void MyModuleInit(RTC::Manager* manager)
{
  RobotHardwareInit(manager);
  RTC::RtcBase* comp;

  // Create a component
  comp = manager->createComponent("RobotHardware");


  // Example
  // The following procedure is examples how handle RT-Components.
  // These should not be in this function.

  // Get the component's object reference
 RTC::RTObject_var rtobj;
 rtobj = RTC::RTObject::_narrow(manager->getPOA()->servant_to_reference(comp));

  // Get the port list of the component
 PortServiceList* portlist;
 portlist = rtobj->get_ports();

  // getting port profiles
 std::cout << "Number of Ports: ";
 std::cout << portlist->length() << std::endl << std::endl; 
 for (CORBA::ULong i(0), n(portlist->length()); i < n; ++i)
 {
   PortService_ptr port;
   port = (*portlist)[i];
   std::cout << "Port" << i << " (name): ";
   std::cout << port->get_port_profile()->name << std::endl;
   
   RTC::PortInterfaceProfileList iflist;
   iflist = port->get_port_profile()->interfaces;
   std::cout << "---interfaces---" << std::endl;
   for (CORBA::ULong i(0), n(iflist.length()); i < n; ++i)
   {
     std::cout << "I/F name: ";
     std::cout << iflist[i].instance_name << std::endl;
     std::cout << "I/F type: ";
     std::cout << iflist[i].type_name << std::endl;
     const char* pol;
     pol = iflist[i].polarity == 0 ? "PROVIDED" : "REQUIRED";
     std::cout << "Polarity: " << pol << std::endl;
   }
   std::cout << "---properties---" << std::endl;
   NVUtil::dump(port->get_port_profile()->properties);
   std::cout << "----------------" << std::endl << std::endl;
 }

  return;
}

int main (int argc, char** argv)
{
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);

  // Initialize manager
  manager->init(argc, argv);

#ifndef __APPLE__
  try{
      manager->load("libhrpEC.so", "hrpECInit");
  }catch(RTC::ModuleManager::NotFound& ex){
      std::cerr << ex.name << std::endl;
  }catch(RTC::ModuleManager::Error& ex){
      std::cerr << ex.reason << std::endl;
      std::cerr << dlerror() << std::endl;
  }catch(...){
      std::cerr << "exception in loading libhrpEC.so" << std::endl;
  }
#endif

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.
  manager->runManager();

  // If you want to run the manager in non-blocking mode, do like this
  // manager->runManager(true);

  return 0;
}