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# Executors

Once the IDL files are created, the business logic for the components should be implemented. Since components can be complex, we can use the IDL compiler to create empty executor files. This part of the tutorial explains how this can be done.

## Controller

In a command shell windows, navigate to the "src" directory of the component directory of the Controller (Shapes_asm/Shapes_Control_comp/src). After that, invoke the TAO IDL compiler by running the following command:

`tao_idl -I../ports -I../ports/GeneratedCode -I../../ports -I%TAO_ROOT% -I%TAO_ROOT%/tao -I%CIAO_ROOT% -I%CIAO_ROOT%/ccm -I%CIAO_ROOT%/ciao -Gexr Shapes_Control_comp.idl`
This will generate the executor file with " Shapes_Control_comp_exec.cpp" as name. Once generated, the user should implement the business logic for the controller.
The generated code cpp can be found here. The header can be found here
The implemented executor cpp can be found here and the header can be found here

## Sender

Navigate to the Shapes_asm/Shapes_Sender_comp/src and invoke the TAO IDL compiler by running the following command:

`tao_idl -I../ports -I../../Shapes_Control_comp/ports -I../ports/GeneratedCode -I../../ports -I%TAO_ROOT% -I%TAO_ROOT%/tao -I%CIAO_ROOT% -I%CIAO_ROOT%/ccm -I%CIAO_ROOT%/ciao -DCIAO_DDS4CCM_NDDS -Gex Shapes_Sender_comp.idl`
The generated cpp code can be found here. The header can be found here.
The implemented executor cpp can be found here and the header can be found here

## Receiver

Navigate to the Shapes_asm/Shapes_Receiver_comp/src and invoke the TAO IDL compiler by running the following command:

`tao_idl -I../ports -I../../Shapes_Control_comp/ports -I../ports/GeneratedCode -I../../ports -I%TAO_ROOT% -I%TAO_ROOT%/tao -I%CIAO_ROOT% -I%CIAO_ROOT%/ccm -I%CIAO_ROOT%/ciao -DCIAO_DDS4CCM_NDDS -Gex Shapes_Receiver_comp.idl`
The generated code can be found here. The header can be found here.
The implemented executor can be found here and the header can be found here

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