ControlTaskServer.hpp

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

                        ControlTaskServer.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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 *   version 2 of the License.                                             *
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 *   software library without restriction.  Specifically, if other files   *
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 *   resulting executable to be covered by the GNU General Public          *
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 *   Public License.                                                       *
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#ifndef ORO_CORBA_CONTROLTASK_SERVER_HPP
#define ORO_CORBA_CONTROLTASK_SERVER_HPP

#include <map>
#include "../rtt-config.h"
#ifndef _REENTRANT
#define _REENTRANT
#endif
#include "corba.h"
#ifdef CORBA_IS_TAO
#include <tao/corba.h>
#include "ControlTaskS.h"
#else
#include <omniORB4/CORBA.h>
#include "ControlTaskC.h"
#endif
#include "../TaskContext.hpp"
#include "ApplicationServer.hpp"
#include "../ActivityInterface.hpp"

namespace RTT
{namespace Corba
{
    class OrbRunner;
    class ControlTaskProxy;

    class ControlTaskServer
        : public ApplicationServer
    {
    protected:
        friend class OrbRunner;
        friend class ControlTaskProxy;

        typedef std::map<TaskContext*, ControlTaskServer*> ServerMap;
        static ServerMap servers;
        static ActivityInterface* orbrunner;

        ControlTaskServer(TaskContext* taskcontext, bool use_naming);

        Corba::ControlTask_var mtask;
        TaskContext* mtaskcontext;
        bool muse_naming;

      ~ControlTaskServer();

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

        static bool InitOrb(int argc, char* argv[] );
        
        static bool InitOrb(int argc, char* argv[],double orb_timeout);

        static void ShutdownOrb(bool wait_for_completion = true);

        static void CleanupServers();

        static void RunOrb();

        static void ThreadOrb();

        static void DestroyOrb();

        static ControlTaskServer* Create(TaskContext* tc, bool use_naming = true);

        static ControlTask_ptr CreateServer(TaskContext* tc, bool use_naming = true);

        ControlTask_ptr server() const;
    };
}}
#endif