BotArmControlServer.C

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/*!@file Corba/Objects/BotArmControlServer.C control a robot via corba */

//////////////////////////////////////////////////////////////////// //
// The iLab Neuromorphic Vision C++ Toolkit - Copyright (C) 2001 by the //
// University of Southern California (USC) and the iLab at USC.         //
// See http://iLab.usc.edu for information about this project.          //
// //////////////////////////////////////////////////////////////////// //
// Major portions of the iLab Neuromorphic Vision Toolkit are protected //
// under the U.S. patent ``Computation of Intrinsic Perceptual Saliency //
// in Visual Environments, and Applications'' by Christof Koch and      //
// Laurent Itti, California Institute of Technology, 2001 (patent       //
// pending; application number 09/912,225 filed July 23, 2001; see      //
// http://pair.uspto.gov/cgi-bin/final/home.pl for current status).     //
// //////////////////////////////////////////////////////////////////// //
// This file is part of the iLab Neuromorphic Vision C++ Toolkit.       //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is free software; you can   //
// redistribute it and/or modify it under the terms of the GNU General  //
// Public License as published by the Free Software Foundation; either  //
// version 2 of the License, or (at your option) any later version.     //
//                                                                      //
// The iLab Neuromorphic Vision C++ Toolkit is distributed in the hope  //
// that it will be useful, but WITHOUT ANY WARRANTY; without even the   //
// implied warranty of MERCHANTABILITY or FITNESS FOR A PARTICULAR      //
// PURPOSE.  See the GNU General Public License for more details.       //
//                                                                      //
// You should have received a copy of the GNU General Public License    //
// along with the iLab Neuromorphic Vision C++ Toolkit; if not, write   //
// to the Free Software Foundation, Inc., 59 Temple Place, Suite 330,   //
// Boston, MA 02111-1307 USA.                                           //
// //////////////////////////////////////////////////////////////////// //
//
// Primary maintainer for this file: Michael Montalbo <montalbo@usc.edu>
// $HeadURL: svn://isvn.usc.edu/software/invt/trunk/saliency/src/Corba/Objects/BotArmControlServer.C $
// $Id: BotArmControlServer.C 10794 2009-02-08 06:21:09Z itti $
//

#include <stdlib.h>
#include <time.h>
#include <iostream>
#include <unistd.h>
#include <fcntl.h>
#include <sys/types.h>
#include <sys/stat.h>
#include <signal.h>
#include "Util/Assert.H"
#include "Util/Timer.H"
#include "Util/Types.H"
#include "Component/ModelManager.H"
#include "Corba/Objects/BotArmControlSK.hh"
#include "Corba/Objects/BotArmControlServer.H"
#include "Corba/CorbaUtil.H"

CORBA::ORB_var orb;
CosNaming::Name objectName;

bool Debug = false;

//! Signal handler (e.g., for control-C)
void terminate(int s)
{
        LERROR("*** INTERRUPT ***");
        unbindObject(orb, "saliency", "BotControllers", objectName);
        orb->shutdown(0);
}

void BotArmControlServer::shutdown() {
        // Shutdown the ORB
        unbindObject(orb, "saliency", "BotControllers", objectName);
        orb->shutdown(0);
}


BotArmControlServer::BotArmControlServer(OptionManager &mgr, bool debug) :
        Scorbot(mgr)
{
}


BotArmControlServer::~BotArmControlServer()
{

}


short BotArmControlServer::getEncoder(const short motor) {

  return motor+1;
}

void BotArmControlServer::setMotor(const short i, const float val) {
  LINFO("i: %i, val: %f",i,val);
}


//start the class server
int main(int argc, char **argv){

        MYLOGVERB = LOG_INFO;

        // Instantiate a ModelManager:
        ModelManager manager("BotArmControlServer Corba Object");

        nub::ref<BotArmControlServer> botArmControlServer(new BotArmControlServer(manager, false));
        manager.addSubComponent(botArmControlServer);

        if (manager.parseCommandLine((const int)argc, (const char**)argv, "", 0, 0) == false)
                return(1);

//         if (manager.debugMode()){
//                 Debug = true;
//         } else {
//                 LINFO("Running as a daemon. Set --debug to see any errors.");
//                 //Become a daemon
//                 // fork off the parent process
//                 pid_t pid = fork();
//                 if (pid < 0)
//                         LFATAL("Can not fork");

//                 if (pid > 0)
//                         exit(0); //exit the parent process

//                 // Change the file mask
//                 umask(0);

//                 //Create a new system id so that the kernel wont think we are an orphan.
//                 pid_t sid = setsid();
//                 if (sid < 0)
//                         LFATAL("Can not become independent");

//                 fclose(stdin);
//                 fclose(stdout);
//                 fclose(stderr);

//         }
        // catch signals and redirect them to terminate for clean exit:
        signal(SIGHUP, terminate); signal(SIGINT, terminate);
        signal(SIGQUIT, terminate); signal(SIGTERM, terminate);
        signal(SIGALRM, terminate);


        //Create the object and run in
        orb = CORBA::ORB_init(argc, argv);

        CORBA::Object_var obj = orb->resolve_initial_references("RootPOA");
        PortableServer::POA_var poa = PortableServer::POA::_narrow(obj);

        BotArmControlServer* myobj = botArmControlServer.get();


        PortableServer::ObjectId_var objID = poa->activate_object(myobj);

        //get a ref string
//         obj = myobj->_this();
//         CORBA::String_var sior(orb->object_to_string(obj));
//         std::cerr << "'" << (char*)sior << "'" << "\n";

        if( !bindObjectToName(orb, obj, "saliency", "BotControllers", "BotArmControlServer", objectName) )
                return 1;
        myobj->_remove_ref();

        PortableServer::POAManager_var pman = poa->the_POAManager();
        pman->activate();


        try {
                manager.start();
                //run the object untill shutdown or killed
                orb->run();
        } catch (...) {
                LINFO("Error starting server");
        }


        LINFO("Shutting down");
        unbindObject(orb, "saliency", "BotControllers", objectName);

        manager.stop();

        return 0;
}