ctaskbrowser.cpp
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1 /***************************************************************************
2  tag: Peter Soetens Thu Jul 3 15:30:32 CEST 2008 ctaskbrowser.cpp
3 
4  ctaskbrowser.cpp - description
5  -------------------
6  begin : Thu July 03 2008
7  copyright : (C) 2008 Peter Soetens
8  email : peter.soetens@fmtc.be
9 
10  ***************************************************************************
11  * This program is free software; you can redistribute it and/or *
12  * modify it under the terms of the GNU Lesser General Public *
13  * License as published by the Free Software Foundation; either *
14  * version 2.1 of the License, or (at your option) any later version. *
15  * *
16  * This program is distributed in the hope that it will be useful, *
17  * but WITHOUT ANY WARRANTY; without even the implied warranty of *
18  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU *
19  * Lesser General Public License for more details. *
20  * *
21  * You should have received a copy of the GNU Lesser General Public *
22  * License along with this program; if not, write to the Free Software *
23  * Foundation, Inc., 59 Temple Place, *
24  * Suite 330, Boston, MA 02111-1307 USA *
25  * *
26  ***************************************************************************/
27 
28 #include <rtt/os/main.h>
33 #include <iostream>
34 #include <string>
35 
36 #include "installpath.hpp"
37 
38 using namespace RTT;
39 using namespace RTT::corba;
40 
41 #define ORO_xstr(s) ORO_str(s)
42 #define ORO_str(s) #s
43 
44 int ORO_main(int argc, char** argv)
45 {
46 
47  if ( argc == 2 && strncmp(argv[1],"--version",9) == 0) {
48  std::cout<< " OROCOS Toolchain version '" ORO_xstr(RTT_VERSION) "'";
49 #ifdef __GNUC__
50  std::cout << " ( GCC " ORO_xstr(__GNUC__) "." ORO_xstr(__GNUC_MINOR__) "." ORO_xstr(__GNUC_PATCHLEVEL__) " )";
51 #endif
52 #ifdef OROPKG_OS_LXRT
53  std::cout<<" -- LXRT/RTAI.";
54 #endif
55 #ifdef OROPKG_OS_GNULINUX
56  std::cout<<" -- GNU/Linux.";
57 #endif
58 #ifdef OROPKG_OS_XENOMAI
59  std::cout<<" -- Xenomai.";
60 #endif
61  std::cout << std::endl;
62  return 0;
63  }
64 
65  if ( argc == 1 || (argc == 2 && strncmp(argv[1],"--help",6) == 0)) {
66  std::cerr << "Please specify the CORBA TaskContext name or IOR to connect to." << std::endl;
67  std::cerr << " " << argv[0] << " [ComponentName | IOR]" << std::endl;
68  return -1;
69  }
70  std::string name = argv[1];
71 
72  RTT::plugin::PluginLoader::Instance()->loadTypekits(ocl_install_path);
73 
74  TaskContextServer::InitOrb( argc, argv);
75 
77 
78  RTT::TaskContext* proxy;
79  if ( name.substr(0, 4) == "IOR:" ) {
80  proxy = RTT::corba::TaskContextProxy::Create( name, true );
81  } else {
82  proxy = RTT::corba::TaskContextProxy::Create( name ); // is_ior = true
83  }
84 
85  if (proxy == 0){
86  std::cerr << "CORBA system error while looking up " << name << std::endl;
87  return -1;
88  }
89 
90  OCL::TaskBrowser tb( proxy );
91  tb.loop();
92 
95 
96  return 0;
97 }
void loop()
Call this method from ORO_main() to process keyboard input and thus startup the TaskBrowser.
This component allows a text client to browse the peers of a peer RTT::TaskContext and execute comman...
Definition: TaskBrowser.hpp:86
int ORO_main(int argc, char **argv)
static RTT_CORBA_API bool InitOrb(int argc, char *argv[], Seconds orb_timeout=0)
#define ORO_xstr(s)
static boost::shared_ptr< PluginLoader > Instance()
static void ShutdownOrb(bool wait_for_completion=true)
static TaskContextProxy * Create(std::string name, bool is_ior=false)


ocl
Author(s): OCL Development Team
autogenerated on Wed Jun 26 2019 19:26:27