OpenRTM 0.2.0ǻѤƤCORBAؿ

// Basic func
CORBA::string_dup();
CORBA::is_nil()
CORBA::ULong i(0);
CORBA::release(m_pInPort);
CORBA::string_free(instance_name);

// ORB
CORBA::ORB_init(_argc, _argv);

orb->resolve_initial_references("RootPOA");
orb->run();
orb->work_pending();
orb->perform_work();
orb->shutdown(true);
orb->destroy();

/// Context
rootContext->resolve(name.get());

// POA
poa->activate_object(&m_StatePort);
poa->deactivate_object(id);
poa->servant_to_reference(comp);
poa->servant_to_id(this);
POA->destroy(false, false);

POA->the_POAManager();

// POAManager
POAManager->activate();
POAManager->deactivate(true, true);


