Orocos Real-Time Toolkit  2.6.0
corba.h
00001 /***************************************************************************
00002   tag: Peter Soetens  Thu Oct 22 11:59:07 CEST 2009  corba.h
00003 
00004                         corba.h -  description
00005                            -------------------
00006     begin                : Thu October 22 2009
00007     copyright            : (C) 2009 Peter Soetens
00008     email                : peter@thesourcworks.com
00009 
00010  ***************************************************************************
00011  *   This library is free software; you can redistribute it and/or         *
00012  *   modify it under the terms of the GNU General Public                   *
00013  *   License as published by the Free Software Foundation;                 *
00014  *   version 2 of the License.                                             *
00015  *                                                                         *
00016  *   As a special exception, you may use this file as part of a free       *
00017  *   software library without restriction.  Specifically, if other files   *
00018  *   instantiate templates or use macros or inline functions from this     *
00019  *   file, or you compile this file and link it with other files to        *
00020  *   produce an executable, this file does not by itself cause the         *
00021  *   resulting executable to be covered by the GNU General Public          *
00022  *   License.  This exception does not however invalidate any other        *
00023  *   reasons why the executable file might be covered by the GNU General   *
00024  *   Public License.                                                       *
00025  *                                                                         *
00026  *   This library is distributed in the hope that it will be useful,       *
00027  *   but WITHOUT ANY WARRANTY; without even the implied warranty of        *
00028  *   MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the GNU     *
00029  *   Lesser General Public License for more details.                       *
00030  *                                                                         *
00031  *   You should have received a copy of the GNU General Public             *
00032  *   License along with this library; if not, write to the Free Software   *
00033  *   Foundation, Inc., 59 Temple Place,                                    *
00034  *   Suite 330, Boston, MA  02111-1307  USA                                *
00035  *                                                                         *
00036  ***************************************************************************/
00037 
00038 
00039 #ifndef ORO_CORBA_SUPPORT_HH
00040 #define ORO_CORBA_SUPPORT_HH
00041 
00042 #include "rtt-corba-config.h"
00043 
00044 // This macro had to be introduced to make Omniorb compatible with Xenomai.
00045 // Omniorb4 creates its own threads, which are not Xenomai threads.
00046 // This check turns plain posix threads into Xenomai threads on the Xenomai target.
00047 #define CORBA_CHECK_THREAD()
00048 
00049 #if CORBA_IS_TAO
00050 # include <ace/SString.h>
00051 # include <tao/corba.h>
00052 # include <tao/PortableServer/PS_ForwardC.h>
00053 # define CORBA_SERVANT(f) f ## "S.h"
00054 # define CORBA_EXCEPTION_INFO(x) x._info().c_str()
00055 # ifndef ACE_THROW_SPEC
00056 #  define ACE_THROW_SPEC(X) throw X
00057 # endif
00058 #else
00059 # include <omniORB4/CORBA.h>
00060 # include <omniORB4/poa.h>
00061 namespace CORBA {
00062     typedef Any* Any_ptr;
00063 }
00064 # undef ACE_THROW_SPEC
00065 # define ACE_THROW_SPEC(x)
00066 # undef ACE_THROW
00067 # define ACE_THROW(x)
00068 # define CORBA_EXCEPTION_INFO(x) x._name()
00069 // This Xenomai specific work-around is required for omniorb.
00070 # ifdef OROCOS_TARGET_XENOMAI
00071 #  undef CORBA_CHECK_THREAD
00072 #  define CORBA_CHECK_THREAD() if (rt_task_self() == 0) rt_task_shadow(0,0,0,0)
00073 # endif
00074 #endif
00075 
00076 #endif