Update to changes in hpp-corbaserver.

idl/hpp/corbaserver/rbprm/rbprmbuilder.idl

@@ -18,7 +18,7 @@
 #ifndef HPP_RBPRM_CORBA_BUILDER_IDL
 # define HPP_RBPRM_CORBA_BUILDER_IDL
 
-# include <hpp/corbaserver/common.idl>
+# include <hpp/common.idl>
 
 module hpp
 {

src/CMakeLists.txt

@@ -20,10 +20,6 @@ SET(IDL_SOURCES
 	rbprmbuilder
 )
 
-SET(HPP_CORBASERVER_IDL_SOURCES
-  common
-)
-
 OMNIIDL_INCLUDE_DIRECTORIES(
   ${HPP_CORBASERVER_DATAROOTDIR}/idl ${CMAKE_SOURCE_DIR}/idl
   )
@@ -33,46 +29,33 @@ FINDPYTHON(2.7 EXACT REQUIRED)
 
 INCLUDE_DIRECTORIES(${CMAKE_BINARY_DIR}/src)
 FILE(MAKE_DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm)
-FOREACH(IDL ${IDL_SOURCES})
-  GENERATE_IDL_CPP (${IDL}
-    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
-		)
-  GENERATE_IDL_PYTHON (${IDL}
-	    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
-		)
-ENDFOREACH()
 
 FOREACH(IDL ${IDL_SOURCES})
   GENERATE_IDL_CPP (hpp/corbaserver/rbprm/${IDL}
-    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm)
-  GENERATE_IDL_PYTHON (hpp/corbaserver/rbprm/${IDL}
-    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm)
+    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
+    HEADER_SUFFIX -idl.hh)
+  GENERATE_IDL_PYTHON (${IDL}
+    ${CMAKE_SOURCE_DIR}/idl/hpp/corbaserver/rbprm
+    ENABLE_DOCSTRING
+    STUBS hpp_stubs.rbprm
+    ARGUMENTS
+    -Wbmodules=hpp_idl
+    -Wbextern=common:hpp_stubs
+    )
 
   INSTALL(
-    FILES ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/${IDL}.hh
+    FILES ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/${IDL}-idl.hh
     DESTINATION ${CMAKE_INSTALL_INCLUDEDIR}/hpp/corbaserver/rbprm)
-  INSTALL(
-    FILES ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/${IDL}_idl.py
-    DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm)
-ENDFOREACH()
-
-FOREACH(IDL ${HPP_CORBASERVER_IDL_SOURCES})
-  GENERATE_IDL_CPP (${IDL}
-    ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver
-    )
-  GENERATE_IDL_PYTHON (${IDL}
-    ${HPP_CORBASERVER_DATAROOTDIR}/idl/hpp/corbaserver
-    )
-  INSTALL(FILES
-    ${CMAKE_CURRENT_BINARY_DIR}/${IDL}_idl.py
-    DESTINATION ${PYTHON_SITELIB}/hpp/corbaserver/rbprm)
 ENDFOREACH()
+INSTALL(
+  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp_idl/hpp/corbaserver/rbprm
+  DESTINATION ${PYTHON_SITELIB}/hpp_idl/hpp/corbaserver)
+INSTALL(
+  DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp_stubs/rbprm
+  DESTINATION ${PYTHON_SITELIB}/hpp_stubs)
 
 ADD_LIBRARY(${LIBRARY_NAME} SHARED
-  common.hh
-  commonSK.cc
-  ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/rbprmbuilder.hh
-  ${CMAKE_CURRENT_BINARY_DIR}/hpp/corbaserver/rbprm/rbprmbuilderSK.cc
+  ${ALL_IDL_CPP_STUBS}
   rbprmbuilder.impl.cc
   rbprmbuilder.impl.hh
   server.cc

src/hpp/corbaserver/rbprm/__init__.py

-import omniORB
-omniORB.updateModule("hpp.corbaserver.rbprm")
-
-import rbprmbuilder_idl
-
 from client import Client
-

src/hpp/corbaserver/rbprm/client.py

@@ -17,51 +17,29 @@
 # hpp-manipulation-corba.  If not, see
 # <http://www.gnu.org/licenses/>.
 
-from omniORB import CORBA
-import CosNaming
+from hpp.corbaserver.client import Client as _Parent
+from hpp_idl.hpp.corbaserver.rbprm import RbprmBuilder
 
-from hpp.corbaserver.rbprm import RbprmBuilder
-
-class CorbaError(Exception):
-    """
-    Raised when a CORBA error occurs.
-    """
-    def __init__(self, value):
-        self.value = value
-    def __str__(self):
-        return repr(self.value)
-
-class Client:
+class Client (_Parent):
   """
   Connect and create clients for hpp-rbprm library.
   """
-  def __init__(self):
+
+  defaultClients = {
+          'rbprmbuilder'  : RbprmBuilder,
+          }
+
+  def __init__(self, url = None, context = "corbaserver"):
     """
     Initialize CORBA and create default clients.
+    :param url: URL in the IOR, corbaloc, corbalocs, and corbanames formats.
+                For a remote corba server, use
+                url = "corbaloc:iiop:<host>:<port>/NameService"
     """
-    import sys
-    self.orb = CORBA.ORB_init (sys.argv, CORBA.ORB_ID)
-    obj = self.orb.resolve_initial_references("NameService")
-    self.rootContext = obj._narrow(CosNaming.NamingContext)
-    if self.rootContext is None:
-        raise CorbaError ('failed to narrow the root context')
-
-    # client of Rbprm interface
-    name = [CosNaming.NameComponent ("hpp", "corbaserver"),
-            CosNaming.NameComponent ("rbprm", "rbprmbuilder")]
-
-    try:
-        obj = self.rootContext.resolve (name)
-    except CosNaming.NamingContext.NotFound, ex:
-        raise CorbaError ('failed to find rbprm service.')
-    try:
-        client = obj._narrow (RbprmBuilder)
-    except KeyError:
-        raise CorbaError ('invalid service name rbprm')
-
-    if client is None:
-      # This happens when stubs from client and server are not synchronized.
-        raise CorbaError (
-            'failed to narrow client for service rbprm')
-    self.rbprm = client
+    self._initOrb (url)
+    self._makeClients ("rbprm", self.defaultClients, context)
 
+    # self.rbprmbuilder is created by self._makeClients
+    # The old code stored the object as self.rbprm
+    # Make it backward compatible.
+    self.rbprm = self.rbprmbuilder

src/rbprmbuilder.impl.cc

@@ -17,7 +17,7 @@
 
 //#include <hpp/fcl/math/transform.h>
 #include <hpp/util/debug.hh>
-#include <hpp/corbaserver/rbprm/rbprmbuilder.hh>
+#include <hpp/corbaserver/rbprm/rbprmbuilder-idl.hh>
 #include "rbprmbuilder.impl.hh"
 #include "hpp/rbprm/rbprm-device.hh"
 #include "hpp/rbprm/rbprm-validation.hh"

src/rbprmbuilder.impl.hh

@@ -20,7 +20,7 @@
 
 # include <hpp/core/problem-solver.hh>
 # include <hpp/core/path.hh>
-# include "rbprmbuilder.hh"
+# include "hpp/corbaserver/rbprm/rbprmbuilder-idl.hh"
 # include <hpp/rbprm/rbprm-device.hh>
 # include <hpp/rbprm/rbprm-fullbody.hh>
 # include <hpp/rbprm/rbprm-shooter.hh>