IceManager.cpp
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00001 // -*- C++ -*-
00018 #include <assert.h>
00019 #include <iostream>
00020 #include <coil/stringutil.h>
00021 #include <doil/ice/IceManager.h>
00022 #include <doil/ORBManager.h>
00023 
00024 #define UNUSED_ARG(a) do {} while (&a == 0)
00025 
00026 namespace doil
00027 {
00028 namespace Ice
00029 {
00030   // singleton pointer initializer
00031   IceManager* IceManager::manager = NULL;
00032   coil::Mutex IceManager::mutex;
00033 
00034 
00042   IceManager* IceManager::init(coil::Properties prop)
00043     throw()
00044   {
00045     if (!manager)
00046       {
00047         coil::Guard<coil::Mutex> guard(mutex);
00048         if (!manager)
00049           {
00050             manager = new IceManager();
00051             manager->initIce(prop);
00052           }
00053       }
00054     return manager;
00055   };
00056 
00064   IceManager& IceManager::instance()
00065     throw()
00066   {
00067     coil::Properties prop;
00068     return *IceManager::init(prop);
00069   }
00070 
00078   const char* IceManager::name()
00079     throw()
00080   {
00081     return "ice";
00082   }
00083   void IceManager::run()
00084     throw()
00085   {
00086     // Do nothing
00087     return;
00088   }
00089 
00090 
00091   void IceManager::shutdown()
00092     throw()
00093   {
00094     if (m_ice)
00095       {
00096         try
00097           {
00098             m_ice->destroy();
00099           }
00100         catch (const ::Ice::Exception& e)
00101           {
00102             std::cerr << e << std::endl;
00103           }
00104       }
00105   }
00106 
00107 
00115   ReturnCode_t IceManager::registerFactory(const char* id,
00116                                      doil::ServantNewFunc new_func,
00117                                      doil::ServantDeleteFunc delete_func)
00118      throw()
00119   {
00120     if (id == NULL) return INVALID_ARGS;
00121     if (new_func == NULL) return INVALID_ARGS;
00122     if (delete_func == NULL) return INVALID_ARGS;
00123 
00124     bool ret;
00125     ServantFactory* factory = new ServantFactory(id, new_func, delete_func);
00126     ret = m_factory.registerObject(factory);
00127     if (ret) return OK;
00128     else return ALREADY_EXISTS;
00129   }
00130 
00138   ReturnCode_t IceManager::activateObject(doil::ImplBase* impl)
00139     throw()
00140   {
00141     if (impl == NULL) return INVALID_ARGS;
00142 
00143     const char* id = impl->id();
00144     std::cout << "IceManager::activateObject: id " << id << std::endl;
00145     std::cout << "IceManager::activateObject: name " << impl->name() << std::endl;
00146     ServantFactory* factory = m_factory.find(id);
00147 
00148     // Factory NOT_FOUND
00149     if (factory == NULL) return NOT_FOUND;
00150 
00151     try
00152       {
00153         // INVALID_ARGS
00154         doil::ServantBase* svt = factory->create(impl);
00155         IceServantBase* csvt = dynamic_cast<IceServantBase*>(svt);
00156         if (csvt == NULL) 
00157           {
00158             std::cout << "dynamic_cast<IceServantBase*> failed" << std::endl;
00159             delete svt;
00160             return INVALID_ARGS;
00161           }
00162         return activateObject(impl, csvt);
00163       }
00164     catch (std::bad_alloc& e)
00165       {
00166         UNUSED_ARG(e);
00167         return INVALID_ARGS;
00168       }
00169     catch (...)
00170       {
00171         return UNKNOWN;
00172       }
00173     return UNKNOWN;
00174   }
00175 
00183   ReturnCode_t IceManager::activateObject(doil::ImplBase* impl,
00184                                           doil::ServantBase* servant)
00185     throw()
00186   {
00187     if (impl == NULL) return INVALID_ARGS;
00188     if (servant == NULL) return INVALID_ARGS;
00189 
00190     // check ID
00191     if (strcmp(impl->id(), servant->id()) != 0)
00192       return INVALID_ARGS;
00193 
00194     doil::Ice::IceServantBase* svt;
00195     svt = dynamic_cast<doil::Ice::IceServantBase*>(servant);
00196    
00197     if (svt == NULL) return INVALID_ARGS;
00198 
00199     // activate Ice object
00200     ::Ice::ObjectPrx obj;
00201     obj = m_adapter->add(svt,
00202                    m_ice->stringToIdentity(impl->name()));
00203 
00204     Entry* entry = new Entry(impl, svt, obj);
00205     if (m_map.registerObject(entry)) return OK;
00206     return UNKNOWN;
00207   }
00208   
00216   ReturnCode_t IceManager::deactivateObject(doil::ImplBase* impl)
00217     throw()
00218   {
00219     if (impl == NULL) return INVALID_ARGS;
00220     return deactivateObject(impl->name());
00221   }
00222 
00230   ReturnCode_t IceManager::deactivateObject(const char* name)
00231     throw()
00232   {
00233     if (name == NULL) return INVALID_ARGS;
00234 
00235     Entry* entry = m_map.find(name);
00236     if (entry == NULL) return NOT_FOUND;
00237     // ### objref should be checked if nil reference
00238     //    if (::Ice::is_nil(entry->objref_)) return NOT_FOUND;
00239 
00240     ::Ice::ObjectPtr obj;
00241     obj = m_adapter->remove(m_ice->stringToIdentity(name));
00242     // ### obj should be deleted.
00243 
00244     ServantFactory* factory = m_factory.find(entry->servant_->id());
00245     factory->destroy(entry->servant_);
00246     m_map.unregisterObject(entry->impl_->name());
00247     delete entry;
00248     return OK;
00249   }
00250 
00258   doil::ImplBase* IceManager::getImpl(const char* name)
00259     throw()
00260   {
00261     if (name == NULL) return NULL;
00262 
00263     Entry* entry = m_map.find(name);
00264     if (entry == NULL) return NULL;
00265     return entry->impl_;
00266   }
00267 
00275   doil::ImplBase* IceManager::toImpl(doil::ServantBase* servant)
00276     throw()
00277   {
00278     if (servant == NULL) return NULL;
00279 
00280     std::cout << "toImpl(Servant)" << std::endl;
00281     IceServantBase* csvt = dynamic_cast<IceServantBase*>(servant);
00282 
00283     std::cout << "name: " << csvt->name() << std::endl;
00284     return getImpl(csvt->name());
00285   }
00286 
00294   doil::ServantBase* IceManager::getServant(const char* name)
00295     throw()
00296   {
00297     if (name == NULL) return NULL;
00298 
00299     Entry* entry = m_map.find(name);
00300     if (entry == NULL) return NULL;
00301     return entry->servant_;
00302 
00303   }
00304 
00312   doil::ServantBase* IceManager::toServant(doil::ImplBase* impl)
00313     throw()
00314   {
00315     if (impl == NULL) return NULL;
00316     return getServant(impl->name());
00317   }
00318 
00319   //------------------------------------------------------------
00320   // IceManager interfaces
00321   //------------------------------------------------------------
00329   doil::ImplBase* IceManager::toImpl(::Ice::ObjectPrx obj)
00330     throw()
00331   {
00332     find_by_obj p(obj);
00333     p = m_map.for_each(p);
00334     if (p.result_ == NULL) return NULL;
00335     return p.result_->impl_;
00336   }
00337 
00345   ::Ice::ObjectPrx IceManager::getReference(const char* name)
00346     throw()
00347   {
00348     Entry* entry = m_map.find(name);
00349     return entry->objref_;
00350     ;
00351   }
00352 
00360   ::Ice::ObjectPrx IceManager::toReference(doil::ImplBase* impl)
00361     throw()
00362   {
00363     return getReference(impl->name());
00364   }
00365 
00373   ::Ice::ObjectPrx IceManager::toReference(doil::ServantBase* servant)
00374     throw()
00375   {
00376     return getReference(servant->name());
00377   }
00378 
00388   doil::ServantBase* IceManager::toServant(::Ice::ObjectPrx obj)
00389     throw()
00390   {
00391     return toServant(toImpl(obj));
00392   }
00393 
00394   //------------------------------------------------------------
00395   // Ice functions
00396   //------------------------------------------------------------
00404   ::Ice::CommunicatorPtr IceManager::getORB()
00405     throw()
00406   {
00407     return m_ice;
00408   }
00409 
00417   ::Ice::ObjectAdapterPtr IceManager::getAdapter()
00418     throw()
00419   {
00420     return m_adapter;
00421   }
00422 
00423 
00424   //------------------------------------------------------------
00425   // protected:
00426   //------------------------------------------------------------
00427   void IceManager::initIce(coil::Properties prop)
00428   {
00429     m_config = prop;
00430     std::vector<std::string> args(coil::split(createIceOptions(), " "));
00431     // TAO's ORB_init needs argv[0] as command name.
00432     args.insert(args.begin(), "manager");
00433     char** argv = coil::toArgv(args);
00434     int argc(args.size());
00435 
00436     try
00437       {
00438         m_ice = ::Ice::initialize(argc, argv);
00439         //        assert(!::Ice::is_nil(m_orb));
00440         m_adapter = m_ice->createObjectAdapterWithEndpoints(
00441                                                             "OpenRTM", 
00442                                                             "default -p 10000");
00443         m_adapter->activate();
00444       }
00445     catch (...)
00446       {
00447         return;
00448       }
00449   }
00450 
00451 
00452   std::string IceManager::createIceOptions()
00453   {
00454     std::string opt(m_config["args"]);
00455     return opt;
00456   }
00457 };
00458 };
00459 
00460 extern "C"
00461 {
00462   void DoilIceInit(coil::Properties& prop)
00463   {
00464     doil::ORBManager& mgr(doil::ORBManager::instance());
00465     mgr.addORB((doil::Ice::IceManager::init(prop)));
00466   }
00467 }


openrtm_aist
Author(s): Noriaki Ando
autogenerated on Sun Mar 26 2017 03:37:15