SimulationExecutionContext.cpp

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#include <rtm/CorbaNaming.h>
#if (!defined(OPENRTM_VERSION042) && !defined(OPENRTM_VERSION110)) || defined(OPENRTM_VERSION_TRUNK)
#include <rtm/Manager.h>
#endif
#include "SimulationExecutionContext.h"

namespace RTC
{
  ReturnCode_t SimulationExecutionContext::start() throw (CORBA::SystemException)
  {

    ReturnCode_t ret = OpenHRPExecutionContext::start();
    if (ret == RTC_OK){
        OpenRTM::ExtTrigExecutionContextService_var extTrigExecContext =
                                OpenRTM::ExtTrigExecutionContextService::_narrow(this->getObjRef());
        m_cg->subscribe(extTrigExecContext, 1.0/get_rate());
    }
    return ret;
  }


  ReturnCode_t SimulationExecutionContext::stop() throw (CORBA::SystemException)
  {
#if (defined(OPENRTM_VERSION042) || defined(OPENRTM_VERSION110)) && !defined(OPENRTM_VERSION_TRUNK)
    if (!m_running) return RTC::PRECONDITION_NOT_MET;

     OpenRTM::ExtTrigExecutionContextService_var extTrigExecContext =
                                OpenRTM::ExtTrigExecutionContextService::_narrow(this->getObjRef());
    m_cg->unsubscribe(extTrigExecContext);

    // stop thread
    m_running = false;

    // invoke on_shutdown for each comps.
    std::for_each(m_comps.begin(), m_comps.end(), invoke_on_shutdown());

    // change EC thread state
  #ifdef OPENRTM_VERSION_042
    m_state = false;
  #else
    //m_running = false;
    m_svc = false;
  #endif
    return RTC::RTC_OK;
#else
    ReturnCode_t ret = OpenHRPExecutionContext::stop();
    if (ret == RTC_OK){
        OpenRTM::ExtTrigExecutionContextService_var extTrigExecContext =
                                OpenRTM::ExtTrigExecutionContextService::_narrow(this->getObjRef());
        m_cg->unsubscribe(extTrigExecContext);
    }
    return RTC::RTC_OK;
#endif
  }

  OpenHRP::ClockGenerator_var SimulationExecutionContext::m_cg;
};

void SimulationECInit(RTC::Manager* manager)
{
  RTC::Properties &props = manager->getConfig();
  RTC::CorbaNaming cn
    = RTC::CorbaNaming(manager->getORB(), props["corba.nameservers"].c_str());
  try{
    CORBA::Object_ptr obj = cn.resolve("ClockGenerator");
    RTC::SimulationExecutionContext::m_cg = OpenHRP::ClockGenerator::_narrow(obj);
    
#if defined(OPENRTM_VERSION042) || defined(OPENRTM_VERSION110)
    manager->registerECFactory("SimulationEC",
                               RTC::ECCreate<RTC::SimulationExecutionContext>,
                               RTC::ECDelete<RTC::OpenHRPExecutionContext>);
#else
        RTC::ExecutionContextFactory::
            instance().addFactory("SimulationEC",
                            ::coil::Creator< ::RTC::ExecutionContextBase,
                            ::RTC::SimulationExecutionContext>,
                            ::coil::Destructor< ::RTC::ExecutionContextBase,
                            ::RTC::OpenHRPExecutionContext>);
#endif
                       
  }catch(RTC::CorbaNaming::NotFound& ex){
    std::cerr << "SimultationExecutionContext: can not find ClockGenerator"
              << std::endl;
  }
}