int main (void)
{
IPC_initialize();
checkIt(NULL, NULL);
checkIt("", "");
checkIt(NULL, "");
checkIt(INT_FORMAT, INT_FORMAT);
checkIt(STRING_FORMAT, STRING_FORMAT);
checkIt(SAMPLE_FORMAT, SAMPLE_FORMAT);
checkIt(MATRIX_LIST_FORMAT, MATRIX_LIST_FORMAT);
checkIt(MATRIX_FORMAT, MATRIX_FORMAT);
checkIt(PTR1_FORMAT, PTR1_FORMAT);
checkIt(T1_FORMAT, T1_FORMAT);
checkIt(T2_FORMAT, T2_FORMAT);
fprintf(stderr, "\n");
checkIt(INT_FORMAT, STRING_FORMAT);
checkIt(INT_FORMAT, SAMPLE_FORMAT);
checkIt(SAMPLE_FORMAT, MATRIX_LIST_FORMAT);
checkIt(SAMPLE_FORMAT, MATRIX_FORMAT);
checkIt(PTR1_FORMAT, PTR2_FORMAT);
checkIt(T1_FORMAT, T1A_FORMAT);
checkIt(T1_FORMAT, T1B_FORMAT);
checkIt(T2_FORMAT, T2A_FORMAT);
checkIt(T2_FORMAT, T2B_FORMAT);
return 0;
}
/* TNgo, 5/22/97, added another variable to this function
so that it can be called by IPC_connectModule */
IPC_RETURN_TYPE _IPC_connect (const char *taskName,
const char *serverName,
BOOLEAN willListen)
{
const char *serverHost;
char *colon = NULL;
int i, serverPort;
struct timeval wait;
/* Added by Bob Goode/Tam Ngo, 5/21/97, for WINSOCK option. */
#ifdef OS2
sock_init();
#elif defined(_WINSOCK_)
startWinsock();
#endif /* Winsock DLL loading */
if (ipcVerbosity > IPC_Silent) {
printf("NMP IPC Version %d.%d.%d (%s)\n",
IPC_VERSION_MAJOR, IPC_VERSION_MINOR, IPC_VERSION_MICRO,
IPC_VERSION_DATE);
}
/* Modified by TNgo, 5/22/97 */
serverHost = ((serverName != NULL && strlen(serverName) > 0)
? serverName : x_ipcServerMachine());
for (i=0; i<MAX_RECONNECT_TRIES; i++) {
if (i > 0 && ipcVerbosity > IPC_Silent)
printf(" Trying again %s to connect with the central server on %s\n",
taskName, serverHost);
IPC_initialize();
x_ipcWillListen(willListen);
x_ipcConnectModule(taskName, serverHost);
if (X_IPC_CONNECTED()) {
x_ipcWaitUntilReady();
if (ipcVerbosity > IPC_Silent) {
colon = (serverHost ? (char *)index((char *)serverHost, ':') : NULL);
serverPort = (colon == NULL ? SERVER_PORT : atoi(colon+1));
X_IPC_MOD_WARNING1("... IPC Connected on port %d\n", serverPort);
}
return IPC_OK;
} else {
/* Need to do this, rather than sleep, because of SIGALRM's */
wait.tv_sec = RECONNECT_WAIT; wait.tv_usec = 0;
select(0, 0, 0, 0, &wait);
}
}
/* At this point, we've been unable to connect */
RETURN_ERROR(IPC_Not_Connected);
}
int main (int argc, char **argv)
#endif
{
#ifndef VXWORKS
int numTrials;
char *formatString;
#endif
int i;
FORMATTER_PTR format;
char data[MAX_DATA_SIZE]; /* No error checking if the format is too big */
void *dataPtr;
IPC_VARCONTENT_TYPE vc;
bzero(data, MAX_DATA_SIZE);
#ifndef VXWORKS
if (argc == 1) {
fprintf(stderr, "Usage %s: <format_string> [num_trials]\n", argv[0]);
exit(-1);
}
formatString = argv[1];
numTrials = (argc > 2 ? atoi(argv[2]) : DEFAULT_TRIALS);
#endif
IPC_initialize();
format = IPC_parseFormat(formatString);
if (!format) {
fprintf(stderr, "Illegal format string: %s\n", formatString);
exit(-1);
}
/* Marshall tests */
printf("Marshalling trial with %s\n", formatString);
printf(" Struct Size: %d, Buffer Size: %d (%s size)\n",
x_ipc_dataStructureSize(format),
(formatContainsPointers(format) ? -1 : x_ipc_bufferSize(format, NULL)),
(x_ipc_sameFixedSizeDataBuffer(format) ? "fixed" : "variable"));
TIME_TRIAL({ IPC_marshall(format, &data, &vc);
IPC_freeByteArray(vc.content);})
/**
* Start up IPC. TODO: status messages
*
* @param char *module_name displayed by Central when messages received/sent
* @param char *host_name of valid host running Central to connect to
*
* @return int 0 on successful connect
*/
int init_ipc(char* module_name, char* host_name) {
if(host_name == NULL) {
if( IPC_connect(module_name) != IPC_OK ) {
// print Unable to connect to central.
return(-1);
}
}
else {
if(IPC_connectModule(module_name, host_name) != IPC_OK) {
// print Unable to connect to central.
return(-1);
}
}
//sprintf(buffer,"Connected to IPC as module %s", module_name);
printf("%s IPC connect to %s success\n",module_name,host_name);
IPC_initialize();
define_command_ipc_types();
return(0);
}// end init_ipc
int initIPC(char * moduleName, char * server, GCM_Common_RobotState *curState) {
GCM_Module_IPC_Data mid;
// gethostname(central,255);
if(IPC_connectModule(moduleName,server)!=IPC_OK){
printf("Unable to connect to IPC server on %s! D'oh. Make sure central has been started on the IPC host.\n",server);
return(-1);
}
printf("Connected to IPC server on %s as %s\n", server, moduleName);
IPC_initialize();
GCM_defineCommonIPCTypes();
mid.threadID=getpid();
strcpy(mid.moduleName,moduleName);
IPC_publishData(GCM_COMMON_STARTUP,&mid);
// IPC_subscribeData( GCM_COMMON_ROBOTSTATE, robotStateHandler, curState );
return 0;
}
JNIEXPORT jint JNICALL Java_ipc_java_IPC_IPC_1initialize (JNIEnv *env, jclass theClass)
{
return (jint)IPC_initialize();
}
