SampleControllerComp.cpp

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// -*- C++ -*-
/*
 * 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 <rtm/Manager.h>
#include <iostream>
#include <string>
#include "SampleController.h"


void MyModuleInit(RTC::Manager* manager)
{
  SampleControllerInit(manager);
  RTC::RtcBase* comp;

  // Create a component
  comp = manager->createComponent("SampleController");


  // Example
  // The following procedure is examples how handle RT-Components.
  // These should not be in this function.

  // Get the component's object reference
  RTC::RTObject_var rtobj;
  rtobj = RTC::RTObject::_narrow(manager->getPOA()->servant_to_reference(comp));

  // Get the port list of the component
  PortServiceList* portlist;
  portlist = rtobj->get_ports();

  // getting port profiles
  std::cout << "Number of Ports: ";
  std::cout << portlist->length() << std::endl << std::endl;
  for (CORBA::ULong i(0), n(portlist->length()); i < n; ++i)
  {
    PortService_ptr port;
    port = (*portlist)[i];
    std::cout << "Port" << i << " (name): ";
    std::cout << port->get_port_profile()->name << std::endl;

    RTC::PortInterfaceProfileList iflist;
    iflist = port->get_port_profile()->interfaces;
    std::cout << "---interfaces---" << std::endl;
    for (CORBA::ULong i(0), n(iflist.length()); i < n; ++i)
    {
      std::cout << "I/F name: ";
      std::cout << iflist[i].instance_name << std::endl;
      std::cout << "I/F type: ";
      std::cout << iflist[i].type_name << std::endl;
      const char* pol;
      pol = iflist[i].polarity == 0 ? "PROVIDED" : "REQUIRED";
      std::cout << "Polarity: " << pol << std::endl;
    }
    std::cout << "---properties---" << std::endl;
    NVUtil::dump(port->get_port_profile()->properties);
    std::cout << "----------------" << std::endl << std::endl;
  }

  return;
}

int main (int argc, char** argv)
{
  RTC::Manager* manager;
  manager = RTC::Manager::init(argc, argv);

  // Initialize manager
  manager->init(argc, argv);

  // Set module initialization proceduer
  // This procedure will be invoked in activateManager() function.
  manager->setModuleInitProc(MyModuleInit);

  // Activate manager and register to naming service
  manager->activateManager();

  // run the manager in blocking mode
  // runManager(false) is the default.
  manager->runManager();

  // If you want to run the manager in non-blocking mode, do like this
  // manager->runManager(true);

  return 0;
}