From 0d6017d21648c2ddc4264c72c691deb0828e4f06 Mon Sep 17 00:00:00 2001
From: Joseph Mirabel <jmirabel@laas.fr>
Date: Mon, 4 Feb 2019 09:37:58 +0100
Subject: [PATCH] Provide API and option to bypass omni name service.
---
include/gepetto/gui/settings.hh | 1 +
include/gepetto/viewer/corba/server.hh | 4 +-
src/gepetto/corbaserver/client.py | 92 ++++++++++++---------
src/gui/mainwindow.cc | 2 +-
src/gui/settings.cc | 10 +++
src/server-private.cc | 15 +++-
src/server-private.hh | 11 ++-
src/server.cc | 108 ++++++++++++++-----------
8 files changed, 151 insertions(+), 92 deletions(-)
diff --git a/include/gepetto/gui/settings.hh b/include/gepetto/gui/settings.hh
index 713d653..d482b61 100644
--- a/include/gepetto/gui/settings.hh
+++ b/include/gepetto/gui/settings.hh
@@ -44,6 +44,7 @@ namespace gepetto {
bool noPlugin;
bool autoWriteSettings;
bool startGepettoCorbaServer;
+ bool useNameService;
int refreshRate;
diff --git a/include/gepetto/viewer/corba/server.hh b/include/gepetto/viewer/corba/server.hh
index c82ca7d..7cec3dd 100644
--- a/include/gepetto/viewer/corba/server.hh
+++ b/include/gepetto/viewer/corba/server.hh
@@ -64,7 +64,7 @@ namespace graphics
/// CORBA request processing if this library is run from an openGL
/// based GUI, since OpenGL does not support multithreading.
Server (WindowsManagerPtr_t windowsManager, int argc,
- const char* argv[], bool multiThread = false);
+ const char* argv[], bool multiThread = false, bool useNameService = false);
/// \brief Shutdown CORBA server
~Server ();
@@ -93,7 +93,7 @@ namespace graphics
/// \param argc, argv parameter to feed ORB initialization.
/// \param multiThread whether the server may process request using
/// multithred policy.
- void initORBandServers (int argc, const char* argv[], bool multiThread);
+ void initORBandServers (int argc, const char* argv[], bool multiThread, bool useNameService);
/// \}
diff --git a/src/gepetto/corbaserver/client.py b/src/gepetto/corbaserver/client.py
index a04b7cf..38e7145 100644
--- a/src/gepetto/corbaserver/client.py
+++ b/src/gepetto/corbaserver/client.py
@@ -23,35 +23,42 @@ class Client:
defaultClients = [('gui', 'GraphicalInterface')]
- def makeClient(self, serviceName):
- """
- Create a client to a new CORBA service and add it to this class.
- """
+ def initWithNameService (self, urlNameService):
+ obj = self.orb.string_to_object (urlNameService)
+ self.rootContext = obj._narrow(CosNaming.NamingContext)
+ if self.rootContext is None:
+ raise CorbaError ('Failed to narrow the root context')
+
name = [CosNaming.NameComponent ("gepetto", "viewer"),
- CosNaming.NameComponent ("corbaserver", serviceName [0])]
+ CosNaming.NameComponent ("corbaserver", "gui")]
try:
obj = self.rootContext.resolve (name)
except CosNaming.NamingContext.NotFound:
- raise CorbaError (
- 'failed to find the service ``{0}\'\''.format (serviceName [0]))
+ raise CorbaError ('Failed to find the service "gui"')
try:
- client = obj._narrow (gepetto.corbaserver.__dict__
- [serviceName [1]])
+ client = obj._narrow (gepetto.corbaserver.GraphicalInterface)
except KeyError:
- raise CorbaError ('invalid service name ``{0}\'\''.format \
- (serviceName [0]))
+ raise CorbaError ('Invalid service name "gui"')
+
+ if client is None:
+ # This happens when stubs from client and server are not synchronized.
+ raise CorbaError ( 'Failed to narrow client for service named "gui"')
+
+ self.gui = client
+
+ def initWithDirectLink (self, url):
+ obj = self.orb.string_to_object (url)
+ client = obj._narrow(gepetto.corbaserver.GraphicalInterface)
if client is None:
# This happens when stubs from client and server are not synchronized.
- raise CorbaError (
- 'failed to narrow client for service named ``{0}\'\''.format
- (serviceName [0]))
- self.__dict__[serviceName [0]] = client
+ raise CorbaError ( 'Failed to narrow client for service named "gui"')
+ self.gui = client
- def __init__(self, clients = defaultClients, url = None, host = None):
+ def __init__(self, clients = defaultClients, url = None, host = None, port = None):
"""
Initialize CORBA and create default clients.
:param url: URL in the IOR, corbaloc, corbalocs, and corbanames formats.
@@ -60,19 +67,28 @@ class Client:
If None, url is initialized with param host, or alternatively with _getIIOPurl
:param host: if not None, url is set to = "corbaloc:iiop:" + str(host) + "/NameService"
"""
- if host is not None:
- url = "corbaloc:iiop:" + str(host) + "/NameService"
- elif url is None:
- url = _getIIOPurl()
import sys
self.orb = CORBA.ORB_init (sys.argv, CORBA.ORB_ID)
- obj = self.orb.string_to_object (url)
- self.rootContext = obj._narrow(CosNaming.NamingContext)
- if self.rootContext is None:
- raise CorbaError ('failed to narrow the root context')
- for client in clients:
- self.makeClient (client)
+ if url is not None:
+ try:
+ self.initWithDirectLink (url)
+ except CorbaError:
+ pass
+ if self.gui is None:
+ self.initWithNameService (url)
+ else:
+ urlNameService = _getIIOPurl(service="NameService", host=host,
+ port = port if port else 2809)
+ urlGepettoGui = _getIIOPurl(service="gepetto-gui", host=host,
+ port = port if port else 12321)
+ try:
+ self.initWithDirectLink (urlGepettoGui)
+ except CorbaError as e:
+ print e
+ pass
+ if self.gui is None:
+ self.initWithNameService (urlNameService)
# In the python interpreter of gepetto-gui, gui.createWindow
# crashes for an obscure reason. This hack makes it work.
@@ -84,7 +100,7 @@ class Client:
# At this point, we are NOT in the python interpreter of gepetto-gui
pass
-def _getIIOPurl ():
+def _getIIOPurl (service="NameService", host=None, port=None):
"""
Returns "corbaloc:iiop:<host>:<port>/NameService"
where host and port are, in this order of priority:
@@ -92,21 +108,23 @@ def _getIIOPurl ():
- /gepetto_viewer/host, /gepetto_viewer/port ROS parameters
- use default values ("localhost", 2809)
"""
- host = "localhost"
- port = 2809
+ _host = "localhost"
+ _port = 2809
import os
try:
import rospy
# Check is ROS master is reachable.
if rospy.client.get_master().target is not None:
- host = rospy.get_param("/gepetto_viewer/host", host)
- port = rospy.get_param("/gepetto_viewer/port", port)
+ _host = rospy.get_param("/gepetto_viewer/host", _host)
+ _port = rospy.get_param("/gepetto_viewer/port", _port)
except:
pass
- host = os.getenv ("GEPETTO_VIEWER_HOST", host)
- port = os.getenv ("GEPETTO_VIEWER_PORT", port)
- if host is None and port is None:
- url = "corbaloc:iiop:/NameService"
+ _host = os.getenv ("GEPETTO_VIEWER_HOST", _host)
+ _port = os.getenv ("GEPETTO_VIEWER_PORT", _port)
+ if host: _host = host
+ if port: _port = port
+ if _host is None and _port is None:
+ url = "corbaloc:iiop:"
else:
- url = "corbaloc:iiop:{}:{}/NameService".format(host, port)
- return url
+ url = "corbaloc:iiop:{}:{}".format(_host, _port)
+ return url + "/" + service
diff --git a/src/gui/mainwindow.cc b/src/gui/mainwindow.cc
index 272bfc2..618a698 100644
--- a/src/gui/mainwindow.cc
+++ b/src/gui/mainwindow.cc
@@ -71,7 +71,7 @@ namespace gepetto {
const char** argv = settings_->makeOmniORBargs (argc);
osgServer_ = new CorbaServer (new ViewerServerProcess (
new graphics::corbaServer::Server (osgViewerManagers_,
- argc, argv, true)));
+ argc, argv, true, settings_->useNameService)));
osgServer_->start();
}
// This scene contains elements required for User Interaction.
diff --git a/src/gui/settings.cc b/src/gui/settings.cc
index 446d182..a9acae8 100644
--- a/src/gui/settings.cc
+++ b/src/gui/settings.cc
@@ -41,6 +41,7 @@ namespace gepetto {
, verbose (false)
, noPlugin (false)
, startGepettoCorbaServer (true)
+ , useNameService (false)
, refreshRate (30)
, captureDirectory ()
, captureFilename ("screenshot")
@@ -104,6 +105,7 @@ namespace gepetto {
au->addCommandLineOption("-P or --no-plugin", "do not load any plugin");
au->addCommandLineOption("-w or --auto-write-settings", "write the settings in the configuration file");
au->addCommandLineOption("--no-viewer-server", "do not start the Gepetto Viewer server");
+ au->addCommandLineOption("--use-nameservice" , "The server will be registered to the Omni NameService");
// 2. Read configuration files
if (arguments.read("-c", configurationFile) || arguments.read("--config-file", configurationFile)) {}
@@ -126,6 +128,7 @@ namespace gepetto {
noPlugin = (arguments.read("-P") || arguments.read("--no-plugin"));
autoWriteSettings = (arguments.read("-w") || arguments.read("--auto-write-settings"));
startGepettoCorbaServer = (!arguments.read("--no-viewer-server"));
+ while (arguments.read ("--use-nameservice", useNameService)) {}
std::string opt;
while (arguments.read ("--add-robot", opt))
@@ -155,6 +158,9 @@ namespace gepetto {
++i;
}
+ if (!omniORBargv_.contains("-ORBendPoint"))
+ addOmniORB ("-ORBendPoint", "::localhost:12321");
+
if (genAndQuit && retVal < 1) retVal = 1;
if (help != osg::ApplicationUsage::NO_HELP) {
@@ -275,6 +281,7 @@ namespace gepetto {
<< nl << tab << "Verbose: " << tab << verbose
<< nl << tab << "No plugin: " << tab << noPlugin
<< nl << tab << "Start Viewer server: " << tab << startGepettoCorbaServer
+ << nl << tab << "Use omni name service: " << tab << useNameService
<< nl << tab << "Refresh rate: " << tab << refreshRate
<< nl << nl << "Screen capture options:"
@@ -373,6 +380,8 @@ namespace gepetto {
int nbMultiSamples = 4;
GET_PARAM(nbMultiSamples, int, toInt);
ds->setNumMultiSamples(nbMultiSamples);
+
+ GET_PARAM(useNameService, bool, toBool);
env.endGroup ();
env.beginGroup("plugins");
@@ -453,6 +462,7 @@ namespace gepetto {
env.beginGroup("viewer");
env.setValue ("refreshRate", refreshRate);
env.setValue ("nbMultiSamples", ds->getNumMultiSamples());
+ env.setValue ("useNameService", useNameService);
env.endGroup ();
env.beginGroup("plugins");
diff --git a/src/server-private.cc b/src/server-private.cc
index 79641db..017cd7c 100644
--- a/src/server-private.cc
+++ b/src/server-private.cc
@@ -38,10 +38,9 @@ namespace graphics
}
void
- Server::createAndActivateServers (corbaServer::Server* inServer)
+ Server::createServant (corbaServer::Server* inServer)
{
graphicalInterfaceServant_ = new GraphicalInterface (inServer);
- graphicalInterfaceServantid_ = poa_->activate_object(graphicalInterfaceServant_);
}
void Server::deactivateAndDestroyServers()
@@ -49,7 +48,6 @@ namespace graphics
poa_->deactivate_object(*graphicalInterfaceServantid_);
}
-
void Server::createContext ()
{
CosNaming::NamingContext_var rootContext;
@@ -97,6 +95,17 @@ namespace graphics
}
}
+ void Server::initRootPOA ()
+ {
+ graphicalInterfaceServantid_ = poa_->activate_object(graphicalInterfaceServant_);
+ }
+
+ void Server::initOmniINSPOA ()
+ {
+ objectId_ = PortableServer::string_to_ObjectId("gepetto-gui");
+ poa_->activate_object_with_id(objectId_, graphicalInterfaceServant_);
+ }
+
void Server::bindObjectToName(Object_ptr objref,
CosNaming::Name objectName)
{
diff --git a/src/server-private.hh b/src/server-private.hh
index f0b549d..501a32a 100644
--- a/src/server-private.hh
+++ b/src/server-private.hh
@@ -25,13 +25,18 @@ namespace graphics
public:
~Server ();
- /// \brief Create and activate the Corba servers.
- void createAndActivateServers (graphics::corbaServer::Server* server);
+ void initRootPOA ();
+
+ void initOmniINSPOA ();
+
+ void createServant (graphics::corbaServer::Server* server);
private:
CORBA::ORB_var orb_;
PortableServer::POA_var poa_;
- GraphicalInterface* graphicalInterfaceServant_;
+ PortableServer::ObjectId_var objectId_;
+ bool useNameService_;
+ GraphicalInterface* graphicalInterfaceServant_;
/// \brief It seems that we need to store this object to
/// deactivate the server.
diff --git a/src/server.cc b/src/server.cc
index aa436ed..a025f3b 100644
--- a/src/server.cc
+++ b/src/server.cc
@@ -42,11 +42,11 @@ namespace graphics
Server::Server(WindowsManagerPtr_t wm, int argc, const char *argv[],
- bool inMultiThread) : windowsManager_ (wm)
+ bool inMultiThread, bool useNameService) : windowsManager_ (wm)
{
private_ = new impl::Server;
- initORBandServers (argc, argv, inMultiThread);
+ initORBandServers (argc, argv, inMultiThread, useNameService);
}
/// \brief Shutdown CORBA server
@@ -60,7 +60,7 @@ namespace graphics
/// CORBA SERVER INITIALIZATION
void Server::initORBandServers(int argc, const char* argv[],
- bool inMultiThread)
+ bool inMultiThread, bool useNameService)
{
Object_var obj;
PortableServer::ThreadPolicy_var threadPolicy;
@@ -73,54 +73,70 @@ namespace graphics
throw std::runtime_error (msg.c_str ());
}
/// ORB init
- obj = private_->orb_->resolve_initial_references("RootPOA");
-
- /// Create thread policy
- //
- // Make the CORBA object single-threaded to avoid GUI krash
- //
- // Create a sigle threaded policy object
- rootPoa = PortableServer::POA::_narrow(obj);
-
- if (inMultiThread) {
- threadPolicy = rootPoa->create_thread_policy
- (PortableServer::ORB_CTRL_MODEL);
+ if (useNameService) {
+ obj = private_->orb_->resolve_initial_references("RootPOA");
+
+ /// Create thread policy
+ //
+ // Make the CORBA object single-threaded to avoid GUI krash
+ //
+ // Create a sigle threaded policy object
+ rootPoa = PortableServer::POA::_narrow(obj);
+
+ if (inMultiThread) {
+ threadPolicy = rootPoa->create_thread_policy
+ (PortableServer::ORB_CTRL_MODEL);
+ }
+ else {
+ threadPolicy = rootPoa->create_thread_policy
+ (PortableServer::MAIN_THREAD_MODEL);
+ }
+ /// Duplicate thread policy
+ PolicyList policyList;
+ policyList.length(1);
+ policyList[0] = PortableServer::ThreadPolicy::_duplicate(threadPolicy);
+
+ try {
+ private_->poa_ = rootPoa->create_POA
+ ("child", PortableServer::POAManager::_nil(), policyList);
+ } catch (PortableServer::POA::AdapterAlreadyExists& /*e*/) {
+ private_->poa_ = rootPoa->find_POA ("child", false);
+ }
+ // Destroy policy object
+ threadPolicy->destroy();
+ } else {
+ // TODO: There is no way to use omniINSPOA with a different policy.
+ // A rather easy workaround can be found here:
+ // http://www.omniorb-support.com/pipermail/omniorb-list/2006-January/027358.html
+ obj = private_->orb_->resolve_initial_references("omniINSPOA");
+ private_->poa_ = PortableServer::POA::_narrow(obj);
}
- else {
- threadPolicy = rootPoa->create_thread_policy
- (PortableServer::MAIN_THREAD_MODEL);
- }
- /// Duplicate thread policy
- PolicyList policyList;
- policyList.length(1);
- policyList[0] = PortableServer::ThreadPolicy::_duplicate(threadPolicy);
-
- try {
- private_->poa_ = rootPoa->create_POA
- ("child", PortableServer::POAManager::_nil(), policyList);
- } catch (PortableServer::POA::AdapterAlreadyExists& /*e*/) {
- private_->poa_ = rootPoa->find_POA ("child", false);
- }
- // Destroy policy object
- threadPolicy->destroy();
- private_->createAndActivateServers(this);
+
+ private_->useNameService_ = useNameService;
+ private_->createServant(this);
+ if (useNameService)
+ private_->initRootPOA();
+ else
+ private_->initOmniINSPOA();
}
void Server::startCorbaServer()
{
- // Obtain a reference to objects, and register them in
- // the naming service.
- Object_var graphicalInterfaceObj = private_->graphicalInterfaceServant_->_this();
-
- private_->createContext ();
- // Bind graphicalInterfaceObj with name graphicalinterface to the Context:
- CosNaming::Name objectName;
- objectName.length(1);
- objectName[0].id = (const char*) "corbaserver"; // string copied
- objectName[0].kind = (const char*) "gui"; // string copied
-
- private_->bindObjectToName(graphicalInterfaceObj, objectName);
- private_->graphicalInterfaceServant_->_remove_ref();
+ if (private_->useNameService_) {
+ // Obtain a reference to objects, and register them in
+ // the naming service.
+ Object_var graphicalInterfaceObj = private_->graphicalInterfaceServant_->_this();
+
+ private_->createContext ();
+ // Bind graphicalInterfaceObj with name graphicalinterface to the Context:
+ CosNaming::Name objectName;
+ objectName.length(1);
+ objectName[0].id = (const char*) "corbaserver"; // string copied
+ objectName[0].kind = (const char*) "gui"; // string copied
+
+ private_->bindObjectToName(graphicalInterfaceObj, objectName);
+ private_->graphicalInterfaceServant_->_remove_ref();
+ }
PortableServer::POAManager_var pman = private_->poa_->the_POAManager();
pman->activate();
--
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