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00069 #include "TaskContextI.h"
00070 #include "TaskContextServer.hpp"
00071 #include "TaskContextProxy.hpp"
00072 #include "ServiceI.h"
00073 #include "ServiceRequesterI.h"
00074 #include "DataFlowI.h"
00075 #include "../../OperationCaller.hpp"
00076 #include "../../rtt-detail-fwd.hpp"
00077
00078
00079 using namespace RTT;
00080 using namespace RTT::detail;
00081 using namespace RTT::corba;
00082
00083
00084 RTT_corba_CTaskContext_i::RTT_corba_CTaskContext_i (RTT::TaskContext* orig, PortableServer::POA_ptr the_poa)
00085 : mpoa( PortableServer::POA::_duplicate(the_poa) )
00086 , mtask( orig ), mRequest_i(0), mService_i(0)
00087 {
00088
00089 mtask->addOperation("shutdown", &RTT_corba_CTaskContext_i::shutdownCORBA, this).doc("Shutdown CORBA ORB. This function makes RunOrb() return.");
00090 }
00091
00092
00093 RTT_corba_CTaskContext_i::~RTT_corba_CTaskContext_i (void)
00094 {
00095
00096 }
00097
00098 void RTT_corba_CTaskContext_i::shutdownCORBA() {
00099 TaskContextServer::ShutdownOrb(false);
00100 }
00101
00102 char * RTT_corba_CTaskContext_i::getName (
00103 void)
00104 {
00105 return CORBA::string_dup( mtask->getName().c_str() );
00106 }
00107
00108 char * RTT_corba_CTaskContext_i::getDescription (
00109 void)
00110 {
00111 return CORBA::string_dup( mtask->provides()->doc().c_str() );
00112 }
00113
00114 ::RTT::corba::CTaskState RTT_corba_CTaskContext_i::getTaskState (
00115 void)
00116 {
00117 return ::RTT::corba::CTaskState(mtask->getTaskState());
00118 }
00119
00120 ::CORBA::Boolean RTT_corba_CTaskContext_i::configure (
00121 void)
00122 {
00123 return mtask->configure();
00124 }
00125
00126 ::CORBA::Boolean RTT_corba_CTaskContext_i::start (
00127 void)
00128 {
00129 return mtask->start();
00130 }
00131
00132 ::CORBA::Boolean RTT_corba_CTaskContext_i::activate (
00133 void)
00134 {
00135 return mtask->activate();
00136 }
00137
00138 ::CORBA::Boolean RTT_corba_CTaskContext_i::stop (
00139 void)
00140 {
00141 return mtask->stop();
00142 }
00143
00144 ::CORBA::Boolean RTT_corba_CTaskContext_i::cleanup (
00145 void)
00146 {
00147 return mtask->cleanup();
00148 }
00149
00150 ::CORBA::Boolean RTT_corba_CTaskContext_i::resetException (
00151 void)
00152 {
00153 if (mtask->getTaskState() == RTT::TaskContext::Exception)
00154 return mtask->recover();
00155 return false;
00156 }
00157
00158 ::CORBA::Boolean RTT_corba_CTaskContext_i::isActive (
00159 void)
00160 {
00161 return mtask->isActive();
00162 }
00163
00164 ::CORBA::Boolean RTT_corba_CTaskContext_i::isRunning (
00165 void)
00166 {
00167 return mtask->isRunning();
00168 }
00169
00170 ::CORBA::Boolean RTT_corba_CTaskContext_i::isConfigured (
00171 void)
00172 {
00173 return mtask->isConfigured();
00174 }
00175
00176 ::CORBA::Boolean RTT_corba_CTaskContext_i::inFatalError (
00177 void)
00178 {
00179 return mtask->inFatalError();
00180 }
00181
00182 ::CORBA::Boolean RTT_corba_CTaskContext_i::inRunTimeError (
00183 void)
00184 {
00185 return mtask->inRunTimeError();
00186 }
00187
00188 ::RTT::corba::CDataFlowInterface_ptr RTT_corba_CTaskContext_i::ports (
00189 void)
00190 {
00191 return getProvider("this");
00192 }
00193
00194 ::RTT::corba::CService_ptr RTT_corba_CTaskContext_i::getProvider (
00195 const char * service_name)
00196 {
00197 if ( mtask->provides()->hasService(service_name) == false)
00198 return CService::_nil();
00199
00200 if ( CORBA::is_nil( mService ) ) {
00201 log(Debug) << "Creating CService for "<< mtask->getName()<<endlog();
00202 RTT_corba_CService_i* mserv;
00203 mService_i = mserv = new RTT_corba_CService_i( mtask->provides(), mpoa );
00204 mService = mserv->activate_this();
00205 CDataFlowInterface_i::registerServant(CDataFlowInterface::_narrow(mService), mserv);
00206 }
00207
00208 std::string svc(service_name);
00209 if ( svc == "this" )
00210 return ::RTT::corba::CService::_duplicate( mService.in() );
00211 return mService->getService( service_name );
00212 }
00213
00214 ::RTT::corba::CServiceRequester_ptr RTT_corba_CTaskContext_i::getRequester (
00215 const char * service_name)
00216 {
00217 std::string svc(service_name);
00218 if ( mtask->requires()->requiresService(service_name) == false && svc != "this")
00219 return CServiceRequester::_nil();
00220
00221 if ( CORBA::is_nil( mRequest ) ) {
00222 log(Debug) << "Creating CServiceRequester for "<< mtask->getName()<<endlog();
00223 RTT_corba_CServiceRequester_i* mserv;
00224 mRequest_i = mserv = new RTT_corba_CServiceRequester_i( mtask->requires(), mpoa );
00225 mRequest = mserv->activate_this();
00226
00227 }
00228
00229 if ( svc == "this" )
00230 return ::RTT::corba::CServiceRequester::_duplicate( mRequest.in() );
00231 return mRequest->getRequest( service_name );
00232 }
00233
00234 ::RTT::corba::CTaskContext::CPeerNames * RTT_corba_CTaskContext_i::getPeerList (
00235 void)
00236 {
00237 TaskContext::PeerList peers = mtask->getPeerList();
00238 ::RTT::corba::CTaskContext::CPeerNames_var result = new ::RTT::corba::CTaskContext::CPeerNames();
00239 result->length( peers.size() );
00240 for (unsigned int i=0; i != peers.size(); ++i )
00241 result[i] = CORBA::string_dup( peers[i].c_str() );
00242
00243 return result._retn();
00244 }
00245
00246 ::RTT::corba::CTaskContext_ptr RTT_corba_CTaskContext_i::getPeer (
00247 const char * name)
00248 {
00249 std::string pname(name);
00250 TaskContext* task = mtask->getPeer( pname );
00251 if ( task ) {
00252
00253
00254 return TaskContextServer::CreateServer( task, false );
00255 }
00256 return RTT::corba::CTaskContext::_nil();
00257 }
00258
00259 ::CORBA::Boolean RTT_corba_CTaskContext_i::hasPeer (
00260 const char * name)
00261 {
00262 std::string mname(name);
00263 return mtask->hasPeer(mname);
00264 }
00265
00266 ::CORBA::Boolean RTT_corba_CTaskContext_i::addPeer (
00267 ::RTT::corba::CTaskContext_ptr p,
00268 const char * alias)
00269 {
00270 std::string malias(alias);
00271 if (mtask->hasPeer(alias) == false )
00272 return mtask->addPeer( TaskContextProxy::Create(p), alias );
00273 return false;
00274 }
00275
00276 ::CORBA::Boolean RTT_corba_CTaskContext_i::removePeer (
00277 const char * name)
00278 {
00279 std::string mname(name);
00280 mtask->removePeer( mname );
00281 return true;
00282 }
00283
00284 ::CORBA::Boolean RTT_corba_CTaskContext_i::connectPeers (
00285 ::RTT::corba::CTaskContext_ptr p)
00286 {
00287 TaskContext* t = TaskContextProxy::Create( p );
00288 return mtask->connectPeers( t );
00289 }
00290
00291 ::CORBA::Boolean RTT_corba_CTaskContext_i::disconnectPeers (
00292 const char * name)
00293 {
00294 std::string pname(name);
00295 mtask->disconnectPeers( pname );
00296 return true;
00297 }
00298
00299 ::CORBA::Boolean RTT_corba_CTaskContext_i::connectPorts (
00300 ::RTT::corba::CTaskContext_ptr p)
00301 {
00302 TaskContext* t = TaskContextProxy::Create( p );
00303 return mtask->connectPorts( t );
00304 }
00305
00306 ::CORBA::Boolean RTT_corba_CTaskContext_i::connectServices (
00307 ::RTT::corba::CTaskContext_ptr p)
00308 {
00309 TaskContext* t = TaskContextProxy::Create( p );
00310 return mtask->connectServices( t );
00311 }
00312
00313