corba_mqueue_ipc_server.cpp
Go to the documentation of this file.00001 /*************************************************************************** 00002 tag: The SourceWorks Tue Sep 7 00:54:57 CEST 2010 corba_mqueue_ipc_server.cpp 00003 00004 corba_mqueue_ipc_server.cpp - description 00005 ------------------- 00006 begin : Tue September 07 2010 00007 copyright : (C) 2010 The SourceWorks 00008 email : peter@thesourceworks.com 00009 00010 *************************************************************************** 00011 * * 00012 * This program is free software; you can redistribute it and/or modify * 00013 * it under the terms of the GNU General Public License as published by * 00014 * the Free Software Foundation; either version 2 of the License, or * 00015 * (at your option) any later version. * 00016 * * 00017 ***************************************************************************/ 00018 00019 00020 // need access to all TLSF functions embedded in RTT 00021 // this call must occur before ALL RTT include's!! 00022 #define ORO_MEMORY_POOL 00023 #include <rtt/os/tlsf/tlsf.h> 00024 00025 #include <transports/corba/TaskContextServer.hpp> 00026 #include <transports/corba/TaskContextProxy.hpp> 00027 #include <rtt/Port.hpp> 00028 #include <rtt/plugin/PluginLoader.hpp> 00029 #include <os/main.h> 00030 #include <fstream> 00031 00032 using namespace std; 00033 using namespace RTT; 00034 using namespace RTT::detail; 00035 00036 class TheServer : public TaskContext 00037 { 00038 public: 00039 // Ports 00040 InputPort<double> mi1; 00041 OutputPort<double> mo1; 00042 00043 TheServer(string name) : TaskContext(name), mi1("mr"), mo1("mw") { 00044 ports()->addEventPort( mi1 ); 00045 ports()->addPort( mo1 ); 00046 this->start(); 00047 ts = corba::TaskContextServer::Create( this, false ); //use-naming 00048 } 00049 ~TheServer() { 00050 this->stop(); 00051 } 00052 00053 void updateHook(){ 00054 double d = 123456.789; 00055 mi1.read(d); 00056 mo1.write(d); 00057 } 00058 00059 corba::TaskContextServer* ts; 00060 00061 }; 00062 00063 int ORO_main(int argc, char** argv) 00064 { 00065 #ifdef OR_RT_MALLOC 00066 void* rtMem=0; 00067 size_t freeMem=0; 00068 00070 rtMem = malloc(BUILD_TEST_RT_MEM_POOL_SIZE); // don't calloc() as is first thing TLSF does. 00071 assert(0 != rtMem); 00072 freeMem = init_memory_pool(BUILD_TEST_RT_MEM_POOL_SIZE, rtMem); 00073 assert((size_t)-1 != freeMem); // increase MEMORY_SIZE above most likely, as TLSF has a several kilobyte overhead 00074 #endif 00075 corba::TaskContextProxy::InitOrb(argc,argv); 00076 00077 PluginLoader::Instance()->loadTypekits("../rtt"); 00078 00079 #ifndef WIN32 00080 pid_t pid = getpid(); 00081 std::ofstream pidfile("corba-mqueue-ipc-server.pid"); 00082 pidfile << pid << endl; 00083 pidfile.close(); 00084 #endif 00085 00086 { 00087 TheServer cmt("other"); 00088 corba::TaskContextServer::RunOrb(); 00089 } 00090 corba::TaskContextServer::ShutdownOrb(true); 00091 corba::TaskContextServer::DestroyOrb(); 00092 return 0; 00093 } 00094 00095