TaskContextServer.hpp

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/***************************************************************************
  tag: Peter Soetens  Wed Jan 18 14:09:48 CET 2006  TaskContextServer.hpp

                        TaskContextServer.hpp -  description
                           -------------------
    begin                : Wed January 18 2006
    copyright            : (C) 2006 Peter Soetens
    email                : peter.soetens@fmtc.be

 ***************************************************************************
 *   This library is free software; you can redistribute it and/or         *
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#ifndef ORO_CORBA_CONTROLTASK_SERVER_HPP
#define ORO_CORBA_CONTROLTASK_SERVER_HPP

#include <map>
#ifndef _REENTRANT
#define _REENTRANT
#endif
#include "corba.h"
#ifdef CORBA_IS_TAO
#include "TaskContextS.h"
#else
#include "TaskContextC.h"
#endif
#include "../../TaskContext.hpp"
#include "ApplicationServer.hpp"
#include "../../base/ActivityInterface.hpp"

class RTT_corba_CTaskContext_i;
namespace RTT
{namespace corba
{
    class RTT_CORBA_API TaskContextServer
        : public ApplicationServer
    {
    protected:
        friend class OrbRunner;
        friend class TaskContextProxy;

        typedef std::map<TaskContext*, TaskContextServer*> ServerMap;
        static ServerMap servers;
        static base::ActivityInterface* orbrunner;
        static bool is_shutdown;

        PortableServer::POA_var mpoa;

        typedef std::map<TaskContext*, std::string> IorMap;
        static IorMap iors;

        TaskContextServer(TaskContext* taskcontext, bool use_naming, bool require_name_service);
        TaskContextServer(TaskContext* taskcontext, const std::string& alias, bool use_naming, bool require_name_service);

        // initialize a new servant
        void initTaskContextServer(bool require_name_service);

        PortableServer::ServantBase_var mtask_i;
        corba::CTaskContext_var mtask;
        TaskContext* mtaskcontext;
        bool muse_naming;
        std::string mregistered_name;

        static void DoShutdownOrb(bool wait_for_completion = true);
    public:

        ~TaskContextServer();

        static void ShutdownOrb(bool wait_for_completion = true);

        static void CleanupServers();

        static void RunOrb();

        static void ThreadOrb();

        static void ThreadOrb(int scheduler, int priority = RTT::os::LowestPriority, unsigned cpu_affinity = 0);

        static void DestroyOrb();

        static TaskContextServer* Create(TaskContext* tc, bool use_naming = true, bool require_name_service = false);

        static TaskContextServer* Create(TaskContext* tc, const std::string& alias, bool use_naming = true, bool require_name_service = false);

        static CTaskContext_ptr CreateServer(TaskContext* tc, bool use_naming = true, bool require_name_service = false);

        static CTaskContext_ptr CreateServer(TaskContext* tc, const std::string& alias, bool use_naming = true, bool require_name_service = false);

        static void CleanupServer( TaskContext* tc );

        CTaskContext_ptr server() const;

        static std::string getIOR(TaskContext* tc);


    };
}}
#endif