CORBA VERSION
=============

This file explains shortly how to setup your application
such that it can use the KTaskBrowser

By default, the KTaskBrowser (= the CORBA enabled GUI) is installed in
your kde bin directory.

IMPORTANT :
  For using the KTaskBrowser KDE application for a TaskContext remotely, you must
configure the Real-Time Toolkit with '--enable-corba' or with cmake: ENABLE_CORBA

To build 'KTaskBrowser', NO Orocos installation is required,
just create the build directory and :
   
      cd ktaskbrowser-1.2
      mkdir build; cd build
       ../configure
      make all 
      make install

Setting up your Application
===========================

The following lines must be in your Orocos application:

#include <rtt/corba/ControlTaskServer.hpp>

int ORO_main(int argc, char** argv)
{
   RTT::Corba::ControlTaskServer::InitOrb(argc, argv);

   // ...

   RTT::Corba::ControlTaskServer( &mytask ); // export TaskContext 'mytask' to CORBA.

   RTT::Corba::ControlTaskServer::RunOrb(); // waits for ktaskbrower connection

   RTT::Corba::ControlTaskServer::DestroyOrb();
}

Starting your Application and the KTaskBrowser
==============================================

Both application and ktaskbrowser must be in the same network !

Both application and KTaskBrowser find each other using the CORBA Naming Service.
If the Naming Service is not found, the application prints the IOR string, and
writes it to a file as well (ComponentName.ior). You can copy/paste the string with your mouse
into the 'New Connection' dialogue of the KTaskBrowser. 

 Naming Service
 --------------

  The first thing you can try is to use the TAO Naming Service -m 1 flag.
  
    $ Naming_Service -m 1

  This will enable broadcast mode and application and ktaskbrowser should find each other
  automatically. If this does not work you need to inform both application and ktaskbrowser
  of the location of the Naming Service:

  Say you want to run this service on the PC with IP address 192.168.246.151 and port 2809.

  Add the folowing script to rc.local or your .bashrc file:

  ################################################################################
  # Start CORBA Naming Service
  echo Starting CORBA Naming Service
  ps aux | grep Naming_Service && Naming_Service -m 0 -ORBListenEndpoints iiop://192.168.246.151:2809 -ORBDaemon
  ################################################################################

  where 192.168.246.151 should of course be replaced by your ip adres
  (avoid using host names).

  All clients (i.e. both your application and the ktaskbrowser)
  wishing to connect to the Naming_Service should use the environment
  variable NameServiceIOR

  $ echo $NameServiceIOR
  corbaloc:iiop:192.168.246.151:2809/NameService

  You can set it f.i. in your .bashrc file or on the command line via

  export NameServiceIOR=corbaloc:iiop:192.168.246.151:2809/NameService

 Application
 -----------

  Just start your application, it will print the IOR or connect to the naming service.

 KTaskBrowser
 ------------

   The 'KTaskBrowser' application can be started independently and/or remotely:

 $ ktaskbrowser

   Use Ctrl-N to input an IOR or type the component name directly on top if the
   Naming Service is up and running.