main.cpp

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// -*- mode: c++; indent-tabs-mode: t; tab-width: 4; c-basic-offset: 4; -*-
/*
 * Copyright (c) 2008, AIST, the University of Tokyo and General Robotix Inc.
 * All rights reserved. This program is made available under the terms of the
 * Eclipse Public License v1.0 which accompanies this distribution, and is
 * available at http://www.eclipse.org/legal/epl-v10.html
 * Contributors:
 * National Institute of Advanced Industrial Science and Technology (AIST)
 * General Robotix Inc. 
 */
#include <iostream>
#include <rtm/Manager.h>

#include "BridgeConf.h"
#include "Controller_impl.h"
#include "VirtualRobotRTC.h"


#if ( defined ( WIN32 ) || defined ( _WIN32 ) || defined(__WIN32__) ) 
#  if( defined (OPENRTM_VERSION_042) )
#include <ace/OS_main.h> 
#  endif
#endif


using namespace std;

namespace {


        const bool CONTROLLER_BRIDGE_DEBUG = false;

        
        CosNaming::NamingContext_ptr getNamingContext(CORBA::ORB_ptr orb, const char* nameServerIdentifier)
        {
                CosNaming::NamingContext_ptr namingContext = CosNaming::NamingContext::_nil();

                CORBA::Object_var nameServer;

                try {
                        nameServer = orb->string_to_object(nameServerIdentifier);
                }
                catch (const CORBA::ORB::InvalidName&) {
                        cerr << "`NameService' cannot be resolved" << endl;
                }

                if(CORBA::is_nil(nameServer)){
                        cerr << "`NameService' is a nil object reference" << endl;
                } else {
                        try {
                                namingContext = CosNaming::NamingContext::_narrow(nameServer);
                        }
                        catch(...){
                                cerr << "`NameService' is not a NamingContext object reference" << endl;
                        }
                }

                return namingContext;
        }


        bool setup(RTC::Manager* rtcManager, BridgeConf* bridgeConf)
        {
                CosNaming::NamingContext_var namingContext =
                        getNamingContext(rtcManager->getORB(), bridgeConf->getOpenHRPNameServerIdentifier());

                if(CORBA::is_nil(namingContext)){
                        return false;
                }
        Controller_impl* controllerServant = new Controller_impl( rtcManager, bridgeConf );

        CORBA::Object_var controller = controllerServant->_this();

        CosNaming::Name controllerName;
        controllerName.length(1);
        controllerName[0].id = CORBA::string_dup(bridgeConf->getControllerName());
        controllerName[0].kind = CORBA::string_dup("");

        namingContext->rebind(controllerName, controller);

        bridgeConf->setupModules();

                return true;
        }
}


int main(int argc, char* argv[])
{
        int ret = 0;
        RTC::Manager* rtcManager;

    try {
        int i;
        int rtc_argc = 1;
        char** rtc_argv = (char **)malloc(sizeof(char *)*argc);
        rtc_argv[0] = argv[0];
        for (i=1; i<argc; i++){
            if (strncmp(argv[i], "--", 2)!=0 ) {
                rtc_argv[rtc_argc] = argv[i];
                rtc_argc++;
            }else {
                i++;
            } 
        }
        rtcManager = RTC::Manager::init(rtc_argc, rtc_argv);
        rtcManager->activateManager();
        }
        catch(...) {
                cerr << "Cannot initialize OpenRTM" << endl;
                exit(1);
        }

        BridgeConf* bridgeConf;

        try {
                bridgeConf = BridgeConf::initialize(argc, argv);
        } catch (std::exception& ex) {
                cerr << argv[0] << ": " << ex.what() << endl;
                exit(1);
        }


        if(bridgeConf->isReady()){
                if(setup(rtcManager, bridgeConf)){
                        cout << "ready" << endl;
                        rtcManager->runManager();
                } else {
                        ret = 1;
                }
        }
        return ret;
}