Re: Crosscompiling ORBit2

[Frank Rehberger <Frank Rehberger web de>]

Guillermo Sanchez wrote:
> Hi Frank,
>
> Thanks a lot for your answer. But I have no trouble in the stubs and
> skels creation through idl compilation - After running the "echo"
> example one hundred times i finally got it.
>
> My troubles appears in the next stage when compiling the server,
> client and skeleton implementation "classname-skelimp.c". I simply
> don't know where the flags are applied or where the compilation is
> done in the Makefile file. I know it has to be here:
>
>        $(ORBIT_IDL) --skeleton-impl $^
>
> But I don't know what is it doing or what's going on and I need to add
> some flags.
>   
Talking in terms of C++ or Java, the skeleton-impl inherits from
skeleton, implementing the (well) "virtual" skeleton-methods.
As the "inheriting"  in pure C this is a bit cumbersome, the IDL
compiler provides a feature to generate the corresponding skeleton-impl
code (method-templates and vtables), so you just have got to add your
code into the method templates.

The skeleton-impl generation stuff is done once only, as long as IDL
does not change. Mind that changing the IDL you might want to repeat
the  skeleton-impl generation, merging in your code again later.

Regards, Frank

> The thread question comes because to use some RTAI funtions I have to
> launch a couple of threads. Threads that aren't going to give a
> response they will just be created, do their stuff in the server side
> and be destroyed every time I need them.
>
> Again thank you very much for the info.
>
> Cheers,
>
> Guillermo
>
> 2009/7/23 Frank Rehberger <Frank Rehberger web de>:
>   
>> Guillermo Sanchez wrote:
>>     
>>> Hello collisters:
>>>
>>> I'm quite new in the ORBit world, so sorry if this is not the correct
>>> way of asking things.
>>>
>>> I wanted to compile an ORBit program (server, client, skelimp...)
>>> using RTAI flags (Real Time Aplication Interface) and includes, since
>>> I'm using this last to communicate ORBit with a real time process. I
>>> thought it would be a matter of makefile edition but when I edited it
>>> I realized how new I'm in this world. Indeed I don't know where ORBit2
>>> compiles at all.
>>>
>>>
>>>       
>> first you need to invoke the IDL compiler which generates the C code for
>> your IDL interfaces, this way you will get the stubs and skeletons.
>>
>> $(IDLOUT): Uneje.idl
>>        $(ORBIT_IDL) Uneje.idl
>>
>>
>> The skeletons are for the server-side, the stubs for the client side.
>>
>> These files are ordinary C files which can be compiled to object files
>> with gcc.
>>
>> On server side you will need also to implement the skeletons, commonly
>> called "classname-skeleton-impl.c", which implement the logic of your
>> server.
>>
>> Hope that helps.
>>
>>     
>>> By the way, is there any difference between using g_thread_create and
>>> pthread_create?
>>>
>>>       
>> little, g_thread_create will be mapped onto pthread_create, but for
>> portability it is better to choose g_thread_create, which might also do
>> some magic in background.
>>
>>     
>>> Also, can I create a thread inside the skeleton implementation code?
>>>
>>>       
>> Off course you can, but if it is about to calculate a return value, you
>> should not.
>>
>> Instead, the requests are managed by the POA, the portable object
>> adapter. This Adapter will be initialized with so called
>> concurrency-policy, which can be "single-threaded",
>> "thread-per-connection" or a "system" specific threaded policy. AFAICS,
>> thread per connection is the best choice for RealTime applications. This
>> way each client (alias connection) would be associated with a specific
>> thread on server side, and requests of high priorized clients would not
>> share thread-resources with requests of low priorized threads. RT-CORBA
>> defines a n umber of thread-pool features, but they are not implemented
>> for ORBit2 yet (AFAIK).
>>
>> Regards, Frank
>>
>>     
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