deployer-corba.cpp
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00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Jul 3 15:30:24 CEST 2008  deployer-corba.cpp
00003 
00004                         deployer-corba.cpp -  description
00005                            -------------------
00006     begin                : Thu July 03 2008
00007     copyright            : (C) 2008 Peter Soetens
00008     email                : peter.soetens@fmtc.be
00009 
00010  ***************************************************************************
00011  *   This program is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU Lesser General Public            *
00013  *   License as published by the Free Software Foundation; either          *
00014  *   version 2.1 of the License, or (at your option) any later version.    *
00015  *                                                                         *
00016  *   This program is distributed in the hope that it will be useful,       *
00017  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00018  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00019  *   Lesser General Public License for more details.                       *
00020  *                                                                         *
00021  *   You should have received a copy of the GNU Lesser General Public      *
00022  *   License along with this program; if not, write to the Free Software   *
00023  *   Foundation, Inc., 59 Temple Place,                                    *
00024  *   Suite 330, Boston, MA  02111-1307  USA                                *
00025  ***************************************************************************/
00026 
00027 
00028 #include <rtt/rtt-config.h>
00029 #ifdef OS_RT_MALLOC
00030 // need access to all TLSF functions embedded in RTT
00031 #define ORO_MEMORY_POOL
00032 #include <rtt/os/tlsf/tlsf.h>
00033 #endif
00034 #include <rtt/os/main.h>
00035 #include <rtt/RTT.hpp>
00036 
00037 #include <taskbrowser/TaskBrowser.hpp>
00038 #include <deployment/CorbaDeploymentComponent.hpp>
00039 #include <rtt/transports/corba/TaskContextServer.hpp>
00040 #include <iostream>
00041 #include "deployer-funcs.hpp"
00042 
00043 #include <rtt/transports/corba/corba.h>
00044 
00045 #ifdef  ORO_BUILD_LOGGING
00046 #   ifndef OS_RT_MALLOC
00047 #   warning "Logging needs rtalloc!"
00048 #   endif
00049 #include <log4cpp/HierarchyMaintainer.hh>
00050 #include "logging/Category.hpp"
00051 #endif
00052 
00053 using namespace std;
00054 using namespace RTT;
00055 using namespace RTT::corba;
00056 namespace po = boost::program_options;
00057 
00058 int main(int argc, char** argv)
00059 {
00060         std::string                 siteFile;      // "" means use default in DeploymentComponent.cpp
00061     std::vector<std::string>    scriptFiles;
00062         std::string                 name("Deployer");
00063     bool                        requireNameService = false;
00064         po::variables_map           vm;
00065         po::options_description     taoOptions("Additional options can also be passed to TAO");
00066         // we don't actually list any options for TAO ...
00067 
00068         po::options_description     otherOptions;
00069 
00070 #ifdef  ORO_BUILD_RTALLOC
00071     OCL::memorySize         rtallocMemorySize   = ORO_DEFAULT_RTALLOC_SIZE;
00072         po::options_description rtallocOptions      = OCL::deployerRtallocOptions(rtallocMemorySize);
00073         otherOptions.add(rtallocOptions);
00074 #endif
00075 
00076 #if     defined(ORO_BUILD_LOGGING) && defined(OROSEM_LOG4CPP_LOGGING)
00077     // to support RTT's logging to log4cpp
00078     std::string                 rttLog4cppConfigFile;
00079     po::options_description     rttLog4cppOptions = OCL::deployerRttLog4cppOptions(rttLog4cppConfigFile);
00080     otherOptions.add(rttLog4cppOptions);
00081 #endif
00082 
00083     // as last set of options
00084     otherOptions.add(taoOptions);
00085 
00086     // were we given TAO options? ie find "--"
00087     int     taoIndex    = 0;
00088     bool    found       = false;
00089 
00090     while(!found && taoIndex<argc)
00091     {
00092         found = (0 == strcmp("--", argv[taoIndex]));
00093         if(!found) taoIndex++;
00094     }
00095 
00096     if (found) {
00097         argv[taoIndex] = argv[0];
00098     }
00099 
00100     // if TAO options not found then process all command line options,
00101     // otherwise process all options up to but not including "--"
00102         int rc = OCL::deployerParseCmdLine(!found ? argc : taoIndex, argv,
00103                                        siteFile, scriptFiles, name, requireNameService,
00104                                        vm, &otherOptions);
00105         if (0 != rc)
00106         {
00107                 return rc;
00108         }
00109 
00110 
00111 #if     defined(ORO_BUILD_LOGGING) && defined(OROSEM_LOG4CPP_LOGGING)
00112     if (!OCL::deployerConfigureRttLog4cppCategory(rttLog4cppConfigFile))
00113     {
00114         return -1;
00115     }
00116 #endif
00117 
00118 #ifdef  ORO_BUILD_RTALLOC
00119     size_t                  memSize     = rtallocMemorySize.size;
00120     void*                   rtMem       = 0;
00121     if (0 < memSize)
00122     {
00123         // don't calloc() as is first thing TLSF does.
00124         rtMem = malloc(memSize);
00125         assert(rtMem);
00126         size_t freeMem = init_memory_pool(memSize, rtMem);
00127         if ((size_t)-1 == freeMem)
00128         {
00129             cerr << "Invalid memory pool size of " << memSize
00130                           << " bytes (TLSF has a several kilobyte overhead)." << endl;
00131             free(rtMem);
00132             return -1;
00133         }
00134         cout << "Real-time memory: " << freeMem << " bytes free of "
00135                   << memSize << " allocated." << endl;
00136     }
00137 #endif  // ORO_BUILD_RTALLOC
00138 
00139 #ifdef  ORO_BUILD_LOGGING
00140     // use our log4cpp-derived categories to do real-time logging
00141     log4cpp::HierarchyMaintainer::set_category_factory(
00142         OCL::logging::Category::createOCLCategory);
00143 #endif
00144 
00145     // start Orocos _AFTER_ setting up log4cpp
00146         if (0 == __os_init(argc - taoIndex, &argv[taoIndex]))
00147     {
00148 #ifdef  ORO_BUILD_LOGGING
00149         log(Info) << "OCL factory set for real-time logging" << endlog();
00150 #endif
00151         rc = -1;     // prove otherwise
00152         try {
00153             // if TAO options not found then have TAO process just the program name,
00154             // otherwise TAO processes the program name plus all options (potentially
00155             // none) after "--"
00156             TaskContextServer::InitOrb( argc - taoIndex, &argv[taoIndex] );
00157 
00158             OCL::CorbaDeploymentComponent dc( name, siteFile );
00159 
00160             if (0 == TaskContextServer::Create( &dc, true, requireNameService ))
00161                 {
00162                     return -1;
00163                 }
00164 
00165             // The orb thread accepts incomming CORBA calls.
00166             TaskContextServer::ThreadOrb();
00167 
00168             // Only start the scripts after the Orb was created.
00169             for (std::vector<std::string>::const_iterator iter=scriptFiles.begin();
00170                  iter!=scriptFiles.end();
00171                  ++iter)
00172             {
00173                 if ( !(*iter).empty() )
00174                 {
00175                     if ( (*iter).rfind(".xml",string::npos) == (*iter).length() - 4 || (*iter).rfind(".cpf",string::npos) == (*iter).length() - 4) {
00176                         dc.kickStart( (*iter) );
00177                         continue;
00178                     } if ( (*iter).rfind(".ops",string::npos) == (*iter).length() - 4 || (*iter).rfind(".osd",string::npos) == (*iter).length() - 4) {
00179                         dc.runScript( (*iter) );
00180                         continue;
00181                     }
00182                     log(Error) << "Unknown extension of file: '"<< (*iter) <<"'. Must be xml, cpf for XML files or, ops or osd for script files."<<endlog();
00183                 }
00184             }
00185 
00186             if ( !vm.count("daemon") ) {
00187                  OCL::TaskBrowser tb( &dc );
00188                  tb.loop();
00189 
00190                  // do it while CORBA is still up in case need to do anything remote.
00191                  dc.shutdownDeployment();
00192             }
00193 
00194             TaskContextServer::ShutdownOrb();
00195 
00196             TaskContextServer::DestroyOrb();
00197 
00198             rc = 0;
00199 
00200         } catch( CORBA::Exception &e ) {
00201             log(Error) << argv[0] <<" ORO_main : CORBA exception raised!" << Logger::nl;
00202             log() << CORBA_EXCEPTION_INFO(e) << endlog();
00203         } catch (...) {
00204             // catch this so that we can destroy the TLSF memory correctly
00205             log(Error) << "Uncaught exception." << endlog();
00206         }
00207 
00208                 // shutdown Orocos
00209                 __os_exit();
00210         }
00211         else
00212         {
00213                 std::cerr << "Unable to start Orocos" << std::endl;
00214         rc = -1;
00215         }
00216 
00217 #ifdef  ORO_BUILD_RTALLOC
00218     if (!rtMem)
00219     {
00220         destroy_memory_pool(rtMem);
00221         free(rtMem);
00222     }
00223 #endif  // ORO_BUILD_RTALLOC
00224 
00225     return rc;
00226 }


ocl
Author(s): OCL Development Team
autogenerated on Thu Jan 2 2014 11:38:08