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hpp-rbprm-corba
Commits
8109e6b1
Commit
8109e6b1
authored
Mar 11, 2019
by
Joseph Mirabel
Browse files
Update to changes in hpp-corbaserver.
parent
b6743b0e
Changes
6
Hide whitespace changes
Inline
Side-by-side
idl/hpp/corbaserver/rbprm/rbprmbuilder.idl
View file @
8109e6b1
...
...
@@ -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
View file @
8109e6b1
...
...
@@ -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
View file @
8109e6b1
import
omniORB
omniORB
.
updateModule
(
"hpp.corbaserver.rbprm"
)
import
rbprmbuilder_idl
from
client
import
Client
src/hpp/corbaserver/rbprm/client.py
View file @
8109e6b1
...
...
@@ -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
View file @
8109e6b1
...
...
@@ -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
View file @
8109e6b1
...
...
@@ -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>
...
...
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