#include <iostream>
#include <stdio.h>


//#include <asm/irq.h>

#include "benchI.h"

#include "orbsvcs/CosNamingC.h"
#include <tao/RTCORBA/RTCORBA.h>

int main(int argc, char* argv[]){
    
	struct sched_param schedparam; 
	schedparam.sched_priority = 99;

	if (sched_setscheduler(0, SCHED_FIFO, &schedparam) != 0) { 
	  fprintf(stderr, "%s: PID %d: sched_setscheduler() failed errno = %d\n", __FUNCTION__, getpid(), errno); 
	}

	try{
		// initialize ORB
		CORBA::ORB_var orb = CORBA::ORB_init(argc, argv, "ServerORB");
		std::cout<<"ORB initialized"<<std::endl;

		// access RT Extensions
		CORBA::Object_var rtorb = orb->resolve_initial_references("RTORB");
		RTCORBA::RTORB_var rtORB = RTCORBA::RTORB::_narrow(rtorb);

		// obtain rootPOA
		CORBA::Object_var poa = orb->resolve_initial_references("RootPOA");
		PortableServer::POA_var rootPOA = PortableServer::POA::_narrow(poa.in());
		
		// activate POA Manager
		PortableServer::POAManager_var poaManager = rootPOA->the_POAManager();
		poaManager->activate();
		std::cout<<"rootPOA OK"<<std::endl;
		
		// create high Priority Policy
		CORBA::PolicyList benchPolicy(2);
		benchPolicy.length(2);
		benchPolicy[0] = rtORB->create_priority_model_policy(RTCORBA::CLIENT_PROPAGATED, RTCORBA::maxPriority);
		benchPolicy[1] = rtORB->create_server_protocol_policy(protocols);

		//// create low Priority Policy
		CORBA::PolicyList benchLowPolicy(2);
		benchLowPolicy.length(2);
		benchLowPolicy[0] = rtORB->create_priority_model_policy(RTCORBA::CLIENT_PROPAGATED, RTCORBA::minPriority);
		benchLowPolicy[1] = rtORB->create_server_protocol_policy(protocols);

		// create ObjectAdapter, assign Policy
		PortableServer::POA_var benchPOA = rootPOA->create_POA("benchPOA", poaManager.in(), benchPolicy);
		std::cout<<"Policy assigned"<<std::endl;

		// create 2nd ObjectAdapter, assign low priority Policy
		PortableServer::POA_var benchLowPOA = rootPOA->create_POA("benchLowPOA", poaManager.in(), benchLowPolicy);

		// create the servant
		benchmark_PutHigh_i bench_i;
		benchmark_PutLow_i lowBench_i;

		// activate servant
		PortableServer::ObjectId_var objectID = benchPOA->activate_object(&bench_i);
		CORBA::Object_var benchObj = benchPOA->id_to_reference(objectID.in());
		CORBA::String_var ior = orb->object_to_string(benchObj.in());

		PortableServer::ObjectId_var objectLowID = benchLowPOA->activate_object(&lowBench_i);
		CORBA::Object_var lowBenchObj = benchLowPOA->id_to_reference(objectLowID.in());
		CORBA::String_var ior2 = orb->object_to_string(lowBenchObj.in());
		std::cout<<"Servant activated"<<std::endl;

		// NameService
		CORBA::Object_var  namingObject = orb->resolve_initial_references("NameService");
		CosNaming::NamingContext_var namingContext = CosNaming::NamingContext::_narrow(namingObject.in());
		CosNaming::Name name(1);
		name.length(1);
		name[0].id = CORBA::string_dup("HighReceiver");
		namingContext->bind(name, benchObj.in());
		std::cout<<"Bound Receiver to NameService"<<std::endl;
		name[0].id = CORBA::string_dup("LowReceiver");
		namingContext->bind(name, lowBenchObj.in());
		std::cout<<"Bound LowReceiver to NameService"<<std::endl;

		// register servants at orbManager
		orbManager->activate

		
		orbManager.run();

		std::cout<<"Server ready"<<std::endl;

	}catch(CORBA::Exception &any){
    		std::cout<<"Exception: "<<any<<std::endl;
	}
	return 0;
}