rtcsh.cpp

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// -*- C++ -*-
#include <iostream>
#include <boost/regex.hpp>
#include <boost/tokenizer.hpp>
#include <vector>
#include <string>
#include <rtm/RtcNaming.h>
#include <rtm/RtcConfig.h>
#include <rtm/RtcManager.h>

using namespace RTM;
using namespace std;


int main(int argc, char** argv)
{
  RtcConfig config(argc, argv);
  RtcNaming naming;
  CORBA::ORB_var orb;

  char** _argv = config.getOrbInitArgv();
  int    _argc = config.getOrbInitArgc();

  try {
        orb = CORBA::ORB_init(_argc, _argv);
        cout << "ORB init done" << endl;
  }
  catch (...) {
        cout << "error cought" << endl;
  }
  
  naming.initNaming(orb);
  cout << "Naming init done" << endl;

  string mgrname(".*/.*/Manager.*");
  vector<CORBA::Object_ptr> vObj;
  naming.findManager(mgrname, vObj);

  cout << "Number of objects:" << vObj.size() << endl;

  if (vObj.size() == 0) {
        cout << "Manager could not find." << endl;
        return -1;
  }

  CORBA::Object_ptr obj = *(vObj.end()-1);
  if (CORBA::is_nil(obj)) {
        cout << "manager not found" << endl;
        return 0;
  }

  RTM::RTCManager_var mgr = RTM::RTCManager::_narrow(obj);
  if (CORBA::is_nil(mgr)) {
        cout << "manager not found" << endl;
        return 0;
  }
 
  char* retval;

  string cmd;
  while (1) {
        cout << ">> ";
        getline(cin, cmd);

        //      retval = NULL;
        if (cmd.size() > 0 && !CORBA::is_nil(mgr)) {
          bool ret = mgr->command(cmd.c_str(), retval);

          if (ret == true) {
                //              cout << "Success: " <<  endl;
                cout << "Success: " << retval <<  endl;
                //              CORBA::string_free(retval);
          } else {
                cout << "Error" << endl;
          }
        }
  }
  return 0;
}