OpenRTM-aist » OpenRTM-aist (Java)

package RTMExamples.SimpleSdoService;

import java.util.UUID;

import jp.go.aist.rtm.RTC.CorbaNaming;

import jp.go.aist.rtm.RTC.port.CorbaConsumer;

import jp.go.aist.rtm.RTC.util.CORBA_SeqUtil;

import jp.go.aist.rtm.RTC.util.NVUtil;

import jp.go.aist.rtm.RTC.util.ORBUtil;

import org.omg.CORBA.ORB;

import org.omg.CosNaming.NamingContextPackage.CannotProceed;

import org.omg.CosNaming.NamingContextPackage.InvalidName;

import org.omg.CosNaming.NamingContextPackage.NotFound;

import org.omg.PortableServer.POA;

import org.omg.PortableServer.POAHelper;

import org.omg.PortableServer.POAManager;

import OpenRTM.ComponentObserverHelper;

import OpenRTM.DataFlowComponent;

import _SDOPackage.NVListHolder;

import _SDOPackage.NameValue;

import _SDOPackage.Configuration;

import _SDOPackage.SDOService;

import _SDOPackage.SDOServiceHelper;

import _SDOPackage.ServiceProfile;

public class ToolComp {

  public static void main(String[] args) {

    ORB orb = ORBUtil.getOrb(args);

    CorbaNaming naming = null;

    try {

      naming = new CorbaNaming(orb, "localhost:2809");

    } catch (Exception e) {

      e.printStackTrace();

    }

    if( naming == null ){

      System.out.println("CorbaNaming is null.");

      return;

    }

    CorbaConsumer<DataFlowComponent> conout =

      new CorbaConsumer<DataFlowComponent>(DataFlowComponent.class);

    if(conout == null){

      System.out.println("Failed to create CorbaConsumer.");

      return;

    }

    // find SdoServiceConsumer component

    try {

      conout.setObject(naming.resolve("SdoServiceConsumer0.rtc"));

    } catch (NotFound e) {

      e.printStackTrace();

    } catch (CannotProceed e) {

      e.printStackTrace();

    } catch (InvalidName e) {

      e.printStackTrace();

    }

    try {

      org.omg.CORBA.Object obj = orb.resolve_initial_references("RootPOA");       

      POA poa = POAHelper.narrow(obj);

      POAManager pman = poa.the_POAManager();

      pman.activate();

      Configuration conf = conout._ptr().get_configuration();

      UUID uuid = UUID.randomUUID();

      TestObserver to = new TestObserver();

      NVListHolder nvholder = new NVListHolder();

      nvholder.value = new NameValue[0];

      CORBA_SeqUtil.push_back(nvholder,

          NVUtil.newNVString("observed_status","ALL"));

      CORBA_SeqUtil.push_back(nvholder,

          NVUtil.newNVString("heartbeat.enable", "YES"));

      CORBA_SeqUtil.push_back(nvholder, 

          NVUtil.newNVString("heartbeat.interval", "5"));

      byte[] id = poa.activate_object(to);

      org.omg.CORBA.Object ref = poa.id_to_reference(id);

      SDOService sdo = SDOServiceHelper.narrow(ref);

      ServiceProfile prof = new ServiceProfile(uuid.toString(),

                                  ComponentObserverHelper.id(),

                                                nvholder.value,

                                                           sdo);

      conf.add_service_profile(prof);

      //

      //

      System.out.println("..");

      try {

        Thread.sleep(100000);

      }catch (InterruptedException e) {

        e.printStackTrace();

      }

      //

      //

      conf.remove_service_profile(uuid.toString()); 

    } catch(Exception e){

      e.printStackTrace();

    }

    orb.destroy();

  }

  private static void usage() {

    System.out.println("");

    System.out.println( "usage: Tool RTCName " );

    System.out.println("");

    System.out.println("");

  }

}