RTCompControl.h

説明を見る。

//=================================================================================================
//  ORBvar管理クラス(ベースクラス)　及び　 RT コンポーネントコントロールクラス
//
//  date   : 20080720 first
//  date   : 20080721 update
//
//  Author : Takashi KOJIMA, Chuo University
//
//=================================================================================================
#ifndef INTERFACE_CONTROL_RT_COMPONENT_MODEL_CLASS
#define INTERFACE_CONTROL_RT_COMPONENT_MODEL_CLASS

#include <iostream>
#include <string>
#include <rtm/CorbaNaming.h>
#include <rtm/RTObject.h>
#include <assert.h>


class ORBvarManager
{
        private:
        bool                           m_delete;         
        static long                    s_exist_cnt;      

        public:
        static CORBA::ORB_var          s_orb;            

        ORBvarManager(bool idelete = false);

        virtual ~ORBvarManager();

        void static ORBInit();

        void static ORBdestroy();

};


class RTCompControl : public ORBvarManager
{
        public:
        RTCompControl(std::string OmniNameServerName,long port = -1);


        RTCompControl(const RTCompControl& src);

        virtual ~RTCompControl();

        void SetRTComponent(std::string ComponentName);

        void Activate();

        void Deactivate();

        void Reset();

        void SetNameServer(std::string OmniNameServerName, long OmniPort = -1);

        RTCompControl& operator=(const RTCompControl& right);

        protected:
        RTC::CorbaNaming                     m_nameserver;     
        RTC::CorbaConsumer<RTC::RTObject>    m_con;            
  RTC::ExecutionContextServiceList_var m_eclist;        


        std::string NameAndPort2str(std::string name, long port);

};

#endif

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