int main(int argc, char **argv)
{
if(argc < 3)
{
std::cout << "Usage: " << argv[0] << " <vicon_server> <calib_files_dir>" << std::endl;
return 1;
}
const std::string vicon_hostname = std::string(argv[1]);
calib_files_dir = std::string(argv[2]);
if(IPC_connect("vicon") != IPC_OK)
{
std::cerr << "Error connecting to IPC" << std::endl;
return 1;
}
ViconDriver vd;
if(vd.init(vicon_hostname))
{
vd.setSubjectPubCallback(subject_publish_callback);
vd.setUnlabeledMarkersPubCallback(unlabeled_markers_publish_callback);
vd.enableUnlabeledMarkerData(true);
running = vd.start();
}
else
{
std::cerr << "Error connecting to vicon server" << std::endl;
}
if(running)
{
struct sigaction sigIntHandler;
sigIntHandler.sa_handler = sigint_handler;
sigemptyset(&sigIntHandler.sa_mask);
sigIntHandler.sa_flags = 0;
sigaction(SIGINT, &sigIntHandler, NULL);
}
while(running)
{
std::cout << "Running: " << running << std::endl;
if(pthread_mutex_trylock(&ipc_mutex) == 0)
{
IPC_handleMessage(0);
pthread_mutex_unlock(&ipc_mutex);
}
sleep(1);
}
std::cout << "Shutting down ViconDriver" << std::endl;
vd.shutdown();
std::cout << "Disconnecting from IPC server" << std::endl;
IPC_disconnect();
return 0;
}
JNIEXPORT jint JNICALL
Java_ipc_java_IPC_IPC_1handleMessage (JNIEnv *env, jclass theClass, jlong timeoutMSecs)
{
return (jint)IPC_handleMessage(timeoutMSecs);
}
