diff --git a/CMakeLists.txt b/CMakeLists.txt
index ba9cbeea3a736ef0fad2a95cf0a37cbcbe3621c9..3102769e7384311201816c9511262403ca6ff06d 100644
--- a/CMakeLists.txt
+++ b/CMakeLists.txt
@@ -35,11 +35,13 @@ SET(CUSTOM_HEADER_DIR hpp/corbaserver/rbprm)
SETUP_HPP_PROJECT ()
+LIST(APPEND PKG_CONFIG_ADDITIONAL_VARIABLES cmake_plugin)
+
SET(${PROJECT_NAME}_HEADERS
include/hpp/corbaserver/rbprm/server.hh
)
-FINDPYTHON()
+HPP_FINDPYTHON()
ADD_DOC_DEPENDENCY("hpp-core >= 4.3")
ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 4.3")
diff --git a/include/hpp/corbaserver/rbprm/server.hh b/include/hpp/corbaserver/rbprm/server.hh
index 6825a1f9294d6de3facffa8151660f97f4b19042..aa68096a77c7be360b4341cb9b71cf441c2ebcde 100644
--- a/include/hpp/corbaserver/rbprm/server.hh
+++ b/include/hpp/corbaserver/rbprm/server.hh
@@ -21,29 +21,30 @@
# define HPP_RBPRM_CORBA_SERVER_HH
# include <hpp/corba/template/server.hh>
-# include <hpp/corbaserver/rbprm/config.hh>
+
# include <hpp/corbaserver/problem-solver-map.hh>
+# include <hpp/corbaserver/rbprm/config.hh>
+# include <hpp/corbaserver/server-plugin.hh>
namespace hpp {
namespace rbprm {
namespace impl {
class RbprmBuilder;
}
- class HPP_RBPRM_CORBA_DLLAPI Server
+ class HPP_RBPRM_CORBA_DLLAPI Server : public corbaServer::ServerPlugin
{
public:
- Server (int argc, const char *argv[], bool multiThread = false,
- const std::string& poaName = "child");
+ Server (corbaServer::Server* parent);
+
~Server ();
- /// Set planner that will be controlled by server
- void setProblemSolverMap (hpp::corbaServer::ProblemSolverMapPtr_t psMap);
/// Start corba server
-
/// Call hpp::corba::Server <impl::Problem>::startCorbaServer
void startCorbaServer(const std::string& contextId,
- const std::string& contextKind,
- const std::string& objectId);
+ const std::string& contextKind);
+
+ std::string name () const;
+
public:
corba::Server <impl::RbprmBuilder>* rbprmBuilder_;
}; // class Server
diff --git a/script/scenarios/demos/darpa_hyq.py b/script/scenarios/demos/darpa_hyq.py
index aff1edf5c47418e4a1ffcd71fd2f67b6995dd962..a6bb26a4b2b732558ecae71528907fd316741294 100644
--- a/script/scenarios/demos/darpa_hyq.py
+++ b/script/scenarios/demos/darpa_hyq.py
@@ -103,7 +103,7 @@ def genPlan(stepsize=0.06):
start = time.time()
configs = fullBody.interpolate(stepsize, 5, 0., filterStates = True,testReachability = False)
end = time.time()
- print "Contact plan generated in " + str(end-start) + "seconds"
+ print("Contact plan generated in " + str(end-start) + "seconds")
def contactPlan(step = 0.5):
v.client.gui.setVisibility("hyq", "ON")
@@ -115,6 +115,6 @@ def contactPlan(step = 0.5):
time.sleep(step)
-print "Root path generated in " + str(tp.t) + " ms."
+print("Root path generated in " + str(tp.t) + " ms.")
genPlan(0.01);contactPlan(0.01)
diff --git a/script/scenarios/demos/darpa_hyq_path.py b/script/scenarios/demos/darpa_hyq_path.py
index 60f30022f032979e710df35c8d46179246a08869..c98745c52256588021a4090537f7872a1b4d8450 100644
--- a/script/scenarios/demos/darpa_hyq_path.py
+++ b/script/scenarios/demos/darpa_hyq_path.py
@@ -57,7 +57,7 @@ t = ps.solve ()
if isinstance(t, list):
t = t[0]* 3600000 + t[1] * 60000 + t[2] * 1000 + t[3]
-print "computation time for root path ", t
+print("computation time for root path ", t)
# Playing the computed path
from hpp.gepetto import PathPlayer
diff --git a/src/CMakeLists.txt b/src/CMakeLists.txt
index 05caec46481f3d1dbbb0a0b0cf8144ffe7b79503..07500b954c5799effb221134691d11d0ebde307c 100644
--- a/src/CMakeLists.txt
+++ b/src/CMakeLists.txt
@@ -20,6 +20,8 @@ SET(IDL_SOURCES
rbprmbuilder
)
+INCLUDE(${HPP_CORBASERVER_CMAKE_PLUGIN})
+
OMNIIDL_INCLUDE_DIRECTORIES(
${HPP_CORBASERVER_DATAROOTDIR}/idl ${CMAKE_SOURCE_DIR}/idl
)
@@ -51,27 +53,25 @@ INSTALL(
DIRECTORY ${CMAKE_CURRENT_BINARY_DIR}/hpp_stubs/rbprm
DESTINATION ${PYTHON_SITELIB}/hpp_stubs)
-ADD_LIBRARY(${LIBRARY_NAME} SHARED
+HPP_ADD_SERVER_PLUGIN(rbprm-corba
+ SOURCES
${ALL_IDL_CPP_STUBS}
rbprmbuilder.impl.cc
rbprmbuilder.impl.hh
server.cc
-)
+
+ PKG_CONFIG_DEPENDENCIES
+ hpp-rbprm
+ hpp-corbaserver
+ omniORB4
+ hpp-util
+ hpp-rbprm)
ADD_CUSTOM_TARGET(generate_idl_cpp DEPENDS ${ALL_IDL_CPP_STUBS})
ADD_CUSTOM_TARGET(generate_idl_python DEPENDS ${ALL_IDL_PYTHON_STUBS})
-ADD_DEPENDENCIES (${LIBRARY_NAME} generate_idl_cpp)
-ADD_DEPENDENCIES (${LIBRARY_NAME} generate_idl_python)
-TARGET_INCLUDE_DIRECTORIES(${LIBRARY_NAME} PUBLIC ${CDD_INCLUDE_DIRS})
-
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-rbprm)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-corbaserver)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} omniORB4)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-affordance-corba)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-util)
-PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-rbprm)
-
-INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
+ADD_DEPENDENCIES (rbprm-corba generate_idl_cpp)
+ADD_DEPENDENCIES (rbprm-corba generate_idl_python)
+TARGET_INCLUDE_DIRECTORIES(rbprm-corba PUBLIC ${CDD_INCLUDE_DIRS})
INSTALL(
FILES
@@ -102,7 +102,8 @@ INSTALL(
)
# Stand alone corba server
ADD_EXECUTABLE (hpp-rbprm-server hpp-rbprm-corba.cc)
-TARGET_LINK_LIBRARIES (hpp-rbprm-server ${LIBRARY_NAME} hpp-rbprm)
+
+PKG_CONFIG_USE_DEPENDENCY(hpp-rbprm-server hpp-corbaserver)
PKG_CONFIG_USE_DEPENDENCY(hpp-rbprm-server hpp-pinocchio)
INSTALL (TARGETS hpp-rbprm-server DESTINATION ${CMAKE_INSTALL_BINDIR})
diff --git a/src/hpp-rbprm-corba.cc b/src/hpp-rbprm-corba.cc
index 7e0408706618222b2e2417d3a60847ecf5c362bd..5393dd95ea1f3646ce09146eb8c763c177565c8f 100644
--- a/src/hpp-rbprm-corba.cc
+++ b/src/hpp-rbprm-corba.cc
@@ -16,31 +16,18 @@
// <http://www.gnu.org/licenses/>.
#include <hpp/corbaserver/server.hh>
-#include <hpp/corbaserver/affordance/server.hh>
-#include <hpp/corbaserver/rbprm/server.hh>
#include <hpp/core/problem-solver.hh>
-typedef hpp::rbprm::Server RbprmServer;
typedef hpp::corbaServer::Server CorbaServer;
-typedef hpp::affordanceCorba::Server AffordanceServer;
int main (int argc, char* argv [])
{
hpp::core::ProblemSolverPtr_t problemSolver (hpp::core::ProblemSolver::create());
-
CorbaServer corbaServer (problemSolver, argc,
const_cast<const char**> (argv), true);
- AffordanceServer affordanceServer (argc, const_cast<const char**> (argv),
- true);
- affordanceServer.setProblemSolverMap(corbaServer.problemSolverMap());
-
- RbprmServer rbprmServer (argc, const_cast<const char**> (argv),
- true, "rbprmChild");
- rbprmServer.setProblemSolverMap (corbaServer.problemSolverMap());
corbaServer.startCorbaServer ();
- affordanceServer.startCorbaServer ("hpp", "corbaserver",
- "affordanceCorba", "affordance");
- rbprmServer.startCorbaServer ("hpp", "corbaserver", "rbprm");
+ corbaServer.loadPlugin (corbaServer.mainContextId (), "rbprm-corba.so");
+ corbaServer.loadPlugin (corbaServer.mainContextId (), "affordance-corba.so");
corbaServer.processRequest(true);
}
diff --git a/src/rbprmbuilder.impl.cc b/src/rbprmbuilder.impl.cc
index 1eaa00e2693c9a1b89b4a8b4894c0d6bad048c9e..238e9500a83d97351c0868aa6a39a4aaca907f33 100644
--- a/src/rbprmbuilder.impl.cc
+++ b/src/rbprmbuilder.impl.cc
@@ -3319,13 +3319,6 @@ namespace hpp {
}
}
- void RbprmBuilder::SetProblemSolverMap (hpp::corbaServer::ProblemSolverMapPtr_t psMap)
- {
- psMap_ = psMap;
- //bind shooter creator to hide problem as a parameter and respect signature
- //initNewProblemSolver();
- }
-
void RbprmBuilder::initNewProblemSolver()
{
//bind shooter creator to hide problem as a parameter and respect signature
diff --git a/src/rbprmbuilder.impl.hh b/src/rbprmbuilder.impl.hh
index 1d5a837017e5fbfffdfc8b87cf38b211a35c5978..ab8639b2252a3a5a5eca6572a66bb1a8e554a116 100644
--- a/src/rbprmbuilder.impl.hh
+++ b/src/rbprmbuilder.impl.hh
@@ -37,6 +37,7 @@
# include <hpp/core/config-validations.hh>
#include <hpp/rbprm/dynamic/dynamic-path-validation.hh>
# include "hpp/corbaserver/fwd.hh"
+# include "hpp/corbaserver/rbprm/server.hh"
namespace hpp {
namespace rbprm {
@@ -168,6 +169,11 @@ namespace hpp {
public:
RbprmBuilder ();
+ void setServer (Server* server)
+ {
+ server_ = server;
+ }
+
virtual void loadRobotRomModel (const char* robotName,
const char* rootJointType,
const char* packageName,
@@ -377,12 +383,12 @@ namespace hpp {
void initNewProblemSolver ();
private:
- /// \brief Pointer to hppPlanner object of hpp::corbaServer::Server.
- corbaServer::ProblemSolverMapPtr_t psMap_;
core::ProblemSolverPtr_t problemSolver()
{
- return psMap_->selected();
+ return server_->problemSolver();
}
+
+ Server* server_;
FullBodyMap fullBodyMap_;
rbprm::RbPrmFullBodyPtr_t fullBody()
{
diff --git a/src/server.cc b/src/server.cc
index 9f4aa2306958c5ec12096c7ba4270aac70de942b..e431bc2560625093d14fc768e481dcde269626b3 100644
--- a/src/server.cc
+++ b/src/server.cc
@@ -17,37 +17,44 @@
// License along with hpp-manipulation-corba. If not, see
// <http://www.gnu.org/licenses/>.
+#include <hpp/corbaserver/rbprm/server.hh>
+
#include <hpp/util/exception.hh>
#include "rbprmbuilder.impl.hh"
-#include <hpp/corbaserver/rbprm/server.hh>
+#include <hpp/corbaserver/server.hh>
namespace hpp {
namespace rbprm {
- Server::Server (int argc, const char *argv[], bool multiThread,
- const std::string& poaName) :
- rbprmBuilder_ (new corba::Server <impl::RbprmBuilder>
- (argc, argv, multiThread, poaName)) {}
+ Server::Server (corbaServer::Server* server)
+ : corbaServer::ServerPlugin (server),
+ rbprmBuilder_ (NULL)
+ {}
Server::~Server ()
{
- delete rbprmBuilder_;
+ if (rbprmBuilder_) delete rbprmBuilder_;
}
- void Server::setProblemSolverMap (hpp::corbaServer::ProblemSolverMapPtr_t psMap)
+ std::string Server::name () const
{
- rbprmBuilder_->implementation ().SetProblemSolverMap(psMap);
+ return "rbprm";
}
/// Start corba server
void Server::startCorbaServer(const std::string& contextId,
- const std::string& contextKind,
- const std::string& objectId)
+ const std::string& contextKind)
{
+ bool mThd = parent()->multiThread();
+ rbprmBuilder_ = new corba::Server <impl::RbprmBuilder> (0, NULL, mThd, "child");
+ rbprmBuilder_->implementation ().setServer (this);
+
if (rbprmBuilder_->startCorbaServer(contextId, contextKind,
- objectId, "rbprmbuilder") != 0) {
- HPP_THROW_EXCEPTION (hpp::Exception,
- "Failed to start corba rbprm server.");
+ "rbprm", "rbprmbuilder") != 0) {
+ HPP_THROW_EXCEPTION (hpp::Exception,
+ "Failed to start corba rbprm server.");
}
}
} // namespace rbprm
} // namespace hpp
+
+HPP_CORBASERVER_DEFINE_PLUGIN(hpp::rbprm::Server)