GrxCorbaUtil.java

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/*
 * 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:
 * General Robotix Inc.
 * National Institute of Advanced Industrial Science and Technology (AIST) 
 */
/*
 *  GrxConfigPane.java
 *
 *  Copyright (C) 2007 GeneralRobotix, Inc.
 *  All Rights Reserved
 *
 *  @author Yuichiro Kawasumi (General Robotix, Inc.)
 *  2004/03/19
 */

package com.generalrobotix.ui.util;

import java.util.HashMap;

import org.omg.CORBA.*;
import org.omg.CORBA.ORBPackage.InvalidName;
import org.omg.CosNaming.*;
import org.omg.PortableServer.POA;

import com.generalrobotix.ui.grxui.Activator;

public class GrxCorbaUtil {

    private static ORB                            orb_               = null;
    private static HashMap<String, NamingContext> namingContextList_ = null;

    public static org.omg.CORBA.ORB getORB(String[] argv) {
        if (orb_ == null) {
            java.util.Properties props = null;
            props = System.getProperties();
            orb_ = ORB.init(argv, props);
        }
        return orb_;
    }

    public static org.omg.CORBA.ORB getORB() {
        return getORB(null);
    }

    public static int nsPort() {
        return GrxServerManager.NAME_SERVER_PORT_;
    }

    public static String nsHost() {
        return GrxServerManager.NAME_SERVER_HOST_;
    }

    public static NamingContext getNamingContext() {
        return getNamingContext(nsHost(), nsPort());
    }

    public static NamingContext getNamingContext(String nsHost, int nsPort) {
        getORB();
        String nameServiceURL = "corbaloc:iiop:" + nsHost + ":" + nsPort + "/NameService";
        NamingContext ncxt = getNamingContextList().get(nameServiceURL);
        try {
            if (ncxt == null) {
                org.omg.CORBA.Object obj = orb_.string_to_object(nameServiceURL);
                ncxt = NamingContextHelper.narrow(obj);
                getNamingContextList().put(nameServiceURL, ncxt);
            }
            ncxt._non_existent();
        } catch (Exception excep) {
            ncxt = null;
            getNamingContextList().remove(nameServiceURL);
        }
        return ncxt;
    }

    private static HashMap<String, NamingContext> getNamingContextList() {
        if (namingContextList_ == null) {
            namingContextList_ = new HashMap<String, NamingContext>();
        }
        return namingContextList_;
    }

    public static org.omg.CORBA.Object getReference(String id) {
        return getReference(id, nsHost(), nsPort());
    }

    public static org.omg.CORBA.Object getReference(String id, String nsHost, int nsPort) {
        return getReference(id, "", nsHost, nsPort);
    }
    
    public static org.omg.CORBA.Object getReference(String id, String kind, String nsHost, int nsPort){
        NamingContext namingContext = getNamingContext(nsHost, nsPort);
        org.omg.CORBA.Object obj = null;
        try {
            NameComponent[] nc = new NameComponent[1];
            nc[0] = new NameComponent(id, kind);
            obj = namingContext.resolve(nc);
        } catch (Exception excep) {
            obj = null;
            GrxDebugUtil.printErr("getReference:NG(" + id + "," + nsHost + "," + nsPort + ")");
        }
        return obj;
    }

    public static org.omg.CORBA.Object getReferenceURL(String id, String nsHost, int nsPort) {
        org.omg.CORBA.Object obj = null;
        try {
            obj = getORB().string_to_object("corbaloc:iiop:" + nsHost + ":" + nsPort + "/" + id);
        } catch (Exception e) {
            obj = null;
            GrxDebugUtil.printErr("getReferenceURL:NG" + id + "," + nsHost + "," + nsPort + ")");
        }
        return obj;
    }

    public static String getIOR(org.omg.CORBA.Object obj) {
        return getORB().object_to_string(obj);
    }

    static String getIOR(String id, String nsHost, int nsPort) {
        return getIOR(getReference(id, nsHost, nsPort));
    }

    public static POA getRootPOA()
            throws InvalidName {
        org.omg.CORBA.Object CORBA_obj = getORB().resolve_initial_references("RootPOA");
        org.omg.PortableServer.POA rootPOA = org.omg.PortableServer.POAHelper.narrow(CORBA_obj);
        return rootPOA;
    }

    public static org.omg.PortableServer.POAManager getRootPOAManager()
            throws InvalidName {
        org.omg.PortableServer.POAManager manager = getRootPOA().the_POAManager();
        return manager;
    }

    public static boolean isConnected(org.omg.CORBA.Object obj) {
        try {
            obj._non_existent();
        } catch (Exception ex) {
            return false;
        }
        return true;
    }

    public static boolean isConnected(String id, String nsHost, int nsPort) {
        org.omg.CORBA.Object obj = GrxCorbaUtil.getReference(id, nsHost, nsPort);
        return isConnected(obj);
    }

    public static String[] getObjectNameList() {
        return _getObjectNameList(getNamingContext());
    }

    public static void removeNameServiceFromList() {
        StringBuffer nsHost = new StringBuffer("");
        StringBuffer nsPort = new StringBuffer("");
        Activator.refNSHostPort(nsHost, nsPort);
        namingContextList_.remove("corbaloc:iiop:" + nsHost + ":" + nsPort + "/NameService");
    }

    public static void clearOrb() {
        orb_ = null;
    }

    public static String[] getObjectNameList(String nsHost, int nsPort) {
        return _getObjectNameList(getNamingContext(nsHost, nsPort));
    }

    public static boolean isAliveNameService() {
        boolean ret = false;
        try{
            ORB orb = getORB();
            String nameServiceURL = "corbaloc:iiop:" + nsHost() + ":" + nsPort() + "/NameService";
            org.omg.CORBA.Object obj = orb.string_to_object(nameServiceURL);
            ret = !obj._non_existent();
        }catch (Exception ex){
            System.out.println("[GrxCorbaUtil] Name server is not alive!");
        }
        return ret;
    }

    
    private static String[] _getObjectNameList(NamingContext cxt) {
        int a = 100;
        BindingListHolder bl = new BindingListHolder();
        BindingIteratorHolder bi = new BindingIteratorHolder();
        String[] ret = null;
        try {
            cxt.list(a, bl, bi);
            ret = new String[bl.value.length];
            for (int i = 0; i < bl.value.length; i++) {
                ret[i] = bl.value[i].binding_name[0].id;
            }
        } catch (Exception ex) {
            ret = null;
            GrxDebugUtil.printErr("getObjectList:NG", ex);
        }

        return ret;
    }
}