hpp-corbaserver 4.14.0
Corba server for Humanoid Path Planner applications
Loading...
Searching...
No Matches
basic-server.hh
Go to the documentation of this file.
1// Copyright (C) 2019 CNRS-LAAS
2// Author: Joseph Mirabel
3//
4
5// Redistribution and use in source and binary forms, with or without
6// modification, are permitted provided that the following conditions are
7// met:
8//
9// 1. Redistributions of source code must retain the above copyright
10// notice, this list of conditions and the following disclaimer.
11//
12// 2. Redistributions in binary form must reproduce the above copyright
13// notice, this list of conditions and the following disclaimer in the
14// documentation and/or other materials provided with the distribution.
15//
16// THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
17// "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
18// LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR
19// A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT
20// HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL,
21// SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT
22// LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE,
23// DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY
24// THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
25// (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
26// OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH
27// DAMAGE.
28
29#ifndef HPP_CORBASERVER_BASIC_SERVER_HH
30#define HPP_CORBASERVER_BASIC_SERVER_HH
31
33#include <stdexcept>
34
35namespace hpp {
36namespace corbaServer {
38 public:
39 virtual ~ServerPlugin() {}
40
42 virtual void startCorbaServer(const std::string& contextId,
43 const std::string& contextKind) = 0;
44
45 virtual std::string name() const = 0;
46
47 core::ProblemSolverPtr_t problemSolver() const {
48 return problemSolverMap_->selected();
49 }
50
51 ProblemSolverMapPtr_t problemSolverMap() const { return problemSolverMap_; }
52
55 problemSolverMap_ = psMap;
56 }
57
58 protected:
59 ServerPlugin(bool multithread) : multithread_(multithread) {}
60
63}; // class ServerPlugin
64} // namespace corbaServer
65} // namespace hpp
66
67#endif // HPP_CORBASERVER_SERVER_PLUGIN_HH
Definition: basic-server.hh:37
bool multithread_
Definition: basic-server.hh:61
ServerPlugin(bool multithread)
Definition: basic-server.hh:59
ProblemSolverMapPtr_t problemSolverMap_
Definition: basic-server.hh:62
ProblemSolverMapPtr_t problemSolverMap() const
Definition: basic-server.hh:51
virtual ~ServerPlugin()
Definition: basic-server.hh:39
void setProblemSolverMap(ProblemSolverMapPtr_t psMap)
Set planner that will be controlled by server.
Definition: basic-server.hh:54
core::ProblemSolverPtr_t problemSolver() const
Definition: basic-server.hh:47
Definition: server-plugin.hh:50
#define HPP_CORBASERVER_DLLAPI
Definition: config.hh:64
shared_ptr< ProblemSolverMap > ProblemSolverMapPtr_t
Definition: fwd.hh:58
Implement CORBA interface `‘Obstacle’'.
Definition: basic-server.hh:35