Commit 2f459a0f authored by Akseppal's avatar Akseppal
Browse files

Add dependency to hpp-affordance-corba & run affordanceServer within rbprm-server

parent cbcabffe
......@@ -50,6 +50,7 @@ ADD_REQUIRED_DEPENDENCY("hpp-corbaserver >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-rbprm")
ADD_REQUIRED_DEPENDENCY("omniORB4 >= 4.1.4")
ADD_REQUIRED_DEPENDENCY("hpp-model-urdf >= 3")
ADD_REQUIRED_DEPENDENCY("hpp-affordance-corba")
PKG_CONFIG_APPEND_LIBS(${PROJECT_NAME})
ADD_SUBDIRECTORY(src)
......
......@@ -64,6 +64,7 @@ PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-model-urdf)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-corbaserver)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} omniORB4)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-rbprm)
PKG_CONFIG_USE_DEPENDENCY(${LIBRARY_NAME} hpp-affordance-corba)
INSTALL(TARGETS ${LIBRARY_NAME} DESTINATION lib)
......
......@@ -16,21 +16,30 @@
// <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);
RbprmServer rbprmServer (argc, const_cast<const char**> (argv), true, "rbprmChild");
AffordanceServer affordanceServer (argc, const_cast<const char**> (argv),
true);
affordanceServer.setProblemSolver (problemSolver);
RbprmServer rbprmServer (argc, const_cast<const char**> (argv),
true, "rbprmChild");
rbprmServer.setProblemSolver (problemSolver);
corbaServer.startCorbaServer ();
affordanceServer.startCorbaServer ("hpp", "corbaserver",
"affordanceCorba", "affordance");
rbprmServer.startCorbaServer ("hpp", "corbaserver",
"rbprm");
corbaServer.processRequest(true);
......
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