OdometryComp.cpp
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00001 // -*- C++ -*-
00017 #include <rtm/Manager.h>
00018 #include <iostream>
00019 #include <string>
00020 #include <stdlib.h>
00021 #include "Odometry.h"
00022 
00023 
00024 void MyModuleInit(RTC::Manager* manager)
00025 {
00026   OdometryInit(manager);
00027   RTC::RtcBase* comp;
00028 
00029   // Create a component
00030   comp = manager->createComponent("Odometry");
00031 
00032   if (comp==NULL)
00033   {
00034     std::cerr << "Component create failed." << std::endl;
00035     abort();
00036   }
00037 
00038   // Example
00039   // The following procedure is examples how handle RT-Components.
00040   // These should not be in this function.
00041 
00042   // Get the component's object reference
00043 //  RTC::RTObject_var rtobj;
00044 //  rtobj = RTC::RTObject::_narrow(manager->getPOA()->servant_to_reference(comp));
00045 
00046   // Get the port list of the component
00047 //  PortServiceList* portlist;
00048 //  portlist = rtobj->get_ports();
00049 
00050   // getting port profiles
00051 //  std::cout << "Number of Ports: ";
00052 //  std::cout << portlist->length() << std::endl << std::endl; 
00053 //  for (CORBA::ULong i(0), n(portlist->length()); i < n; ++i)
00054 //  {
00055 //    PortService_ptr port;
00056 //    port = (*portlist)[i];
00057 //    std::cout << "Port" << i << " (name): ";
00058 //    std::cout << port->get_port_profile()->name << std::endl;
00059 //    
00060 //    RTC::PortInterfaceProfileList iflist;
00061 //    iflist = port->get_port_profile()->interfaces;
00062 //    std::cout << "---interfaces---" << std::endl;
00063 //    for (CORBA::ULong i(0), n(iflist.length()); i < n; ++i)
00064 //    {
00065 //      std::cout << "I/F name: ";
00066 //      std::cout << iflist[i].instance_name << std::endl;
00067 //      std::cout << "I/F type: ";
00068 //      std::cout << iflist[i].type_name << std::endl;
00069 //      const char* pol;
00070 //      pol = iflist[i].polarity == 0 ? "PROVIDED" : "REQUIRED";
00071 //      std::cout << "Polarity: " << pol << std::endl;
00072 //    }
00073 //    std::cout << "---properties---" << std::endl;
00074 //    NVUtil::dump(port->get_port_profile()->properties);
00075 //    std::cout << "----------------" << std::endl << std::endl;
00076 //  }
00077 
00078   return;
00079 }
00080 
00081 int main (int argc, char** argv)
00082 {
00083   RTC::Manager* manager;
00084   manager = RTC::Manager::init(argc, argv);
00085 
00086   // Initialize manager
00087   manager->init(argc, argv);
00088 
00089   // Set module initialization proceduer
00090   // This procedure will be invoked in activateManager() function.
00091   manager->setModuleInitProc(MyModuleInit);
00092 
00093   // Activate manager and register to naming service
00094   manager->activateManager();
00095 
00096   // run the manager in blocking mode
00097   // runManager(false) is the default.
00098   manager->runManager();
00099 
00100   // If you want to run the manager in non-blocking mode, do like this
00101   // manager->runManager(true);
00102 
00103   return 0;
00104 }
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RS003
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autogenerated on Thu Jun 27 2013 14:58:49