bool JointRelayHandler::internalCB(SimpleMessage& msg_in)
{
control_msgs::FollowJointTrajectoryFeedback control_state;
sensor_msgs::JointState sensor_state;
bool rtn = true;
if (create_messages(msg_in, &control_state, &sensor_state))
{
rtn = true;
}
else
rtn = false;
// Reply back to the controller if the sender requested it.
if (CommTypes::SERVICE_REQUEST == msg_in.getMessageType())
{
SimpleMessage reply;
reply.init(msg_in.getMessageType(),
CommTypes::SERVICE_REPLY,
rtn ? ReplyTypes::SUCCESS : ReplyTypes::FAILURE);
this->getConnection()->sendMsg(reply);
}
return rtn;
}
int main(int argc, char **argv) {
/* Remember if we are admin */
check_admin();
/* Elevate */
if (argc > 1) {
/* Valid commands are install or remove */
if (str_equiv(argv[1], "install")) {
if (! is_admin) {
print_message(stderr, NSSM_MESSAGE_NOT_ADMINISTRATOR_CANNOT_INSTALL);
exit(100);
}
exit(pre_install_service(argc - 2, argv + 2));
}
if (str_equiv(argv[1], "remove")) {
if (! is_admin) {
print_message(stderr, NSSM_MESSAGE_NOT_ADMINISTRATOR_CANNOT_REMOVE);
exit(100);
}
exit(pre_remove_service(argc - 2, argv + 2));
}
}
/* Thread local storage for error message buffer */
tls_index = TlsAlloc();
/* Register messages */
if (is_admin) create_messages();
/*
Optimisation for Windows 2000:
When we're run from the command line the StartServiceCtrlDispatcher() call
will time out after a few seconds on Windows 2000. On newer versions the
call returns instantly. Check for stdin first and only try to call the
function if there's no input stream found. Although it's possible that
we're running with input redirected it's much more likely that we're
actually running as a service.
This will save time when running with no arguments from a command prompt.
*/
if (_fileno(stdin) < 0) {
/* Set up function pointers. */
if (get_imports()) exit(111);
/* Start service magic */
SERVICE_TABLE_ENTRY table[] = { { NSSM, service_main }, { 0, 0 } };
if (! StartServiceCtrlDispatcher(table)) {
unsigned long error = GetLastError();
/* User probably ran nssm with no argument */
if (error == ERROR_FAILED_SERVICE_CONTROLLER_CONNECT) exit(usage(1));
log_event(EVENTLOG_ERROR_TYPE, NSSM_EVENT_DISPATCHER_FAILED, error_string(error), 0);
free_imports();
exit(100);
}
}
else exit(usage(1));
/* And nothing more to do */
exit(0);
}
int _tmain(int argc, TCHAR **argv) {
check_console();
#ifdef UNICODE
/*
Ensure we write in UTF-16 mode, so that non-ASCII characters don't get
mangled. If we were compiled in ANSI mode it won't work.
*/
_setmode(_fileno(stdout), _O_U16TEXT);
_setmode(_fileno(stderr), _O_U16TEXT);
#endif
/* Remember if we are admin */
check_admin();
/* Set up function pointers. */
if (get_imports()) exit(111);
/* Remember our path for later. */
GetModuleFileName(0, unquoted_imagepath, _countof(unquoted_imagepath));
GetModuleFileName(0, imagepath, _countof(imagepath));
PathQuoteSpaces(imagepath);
/* Elevate */
if (argc > 1) {
/*
Valid commands are:
start, stop, pause, continue, install, edit, get, set, reset, unset, remove
*/
if (str_equiv(argv[1], _T("start"))) exit(control_service(NSSM_SERVICE_CONTROL_START, argc - 2, argv + 2));
if (str_equiv(argv[1], _T("stop"))) exit(control_service(SERVICE_CONTROL_STOP, argc - 2, argv + 2));
if (str_equiv(argv[1], _T("restart"))) {
int ret = control_service(SERVICE_CONTROL_STOP, argc - 2, argv + 2);
if (ret) exit(ret);
exit(control_service(NSSM_SERVICE_CONTROL_START, argc - 2, argv + 2));
}
if (str_equiv(argv[1], _T("pause"))) exit(control_service(SERVICE_CONTROL_PAUSE, argc - 2, argv + 2));
if (str_equiv(argv[1], _T("continue"))) exit(control_service(SERVICE_CONTROL_CONTINUE, argc - 2, argv + 2));
if (str_equiv(argv[1], _T("status"))) exit(control_service(SERVICE_CONTROL_INTERROGATE, argc - 2, argv + 2));
if (str_equiv(argv[1], _T("rotate"))) exit(control_service(NSSM_SERVICE_CONTROL_ROTATE, argc - 2, argv + 2));
if (str_equiv(argv[1], _T("install"))) {
if (! is_admin) exit(elevate(argc, argv, NSSM_MESSAGE_NOT_ADMINISTRATOR_CANNOT_INSTALL));
create_messages();
exit(pre_install_service(argc - 2, argv + 2));
}
if (str_equiv(argv[1], _T("edit")) || str_equiv(argv[1], _T("get")) || str_equiv(argv[1], _T("set")) || str_equiv(argv[1], _T("reset")) || str_equiv(argv[1], _T("unset"))) {
int ret = pre_edit_service(argc - 1, argv + 1);
if (ret == 3 && ! is_admin && argc == 3) exit(elevate(argc, argv, NSSM_MESSAGE_NOT_ADMINISTRATOR_CANNOT_EDIT));
/* There might be a password here. */
for (int i = 0; i < argc; i++) SecureZeroMemory(argv[i], _tcslen(argv[i]) * sizeof(TCHAR));
exit(ret);
}
if (str_equiv(argv[1], _T("list"))) exit(list_nssm_services());
if (str_equiv(argv[1], _T("remove"))) {
if (! is_admin) exit(elevate(argc, argv, NSSM_MESSAGE_NOT_ADMINISTRATOR_CANNOT_REMOVE));
exit(pre_remove_service(argc - 2, argv + 2));
}
}
/* Thread local storage for error message buffer */
tls_index = TlsAlloc();
/* Register messages */
if (is_admin) create_messages();
/*
Optimisation for Windows 2000:
When we're run from the command line the StartServiceCtrlDispatcher() call
will time out after a few seconds on Windows 2000. On newer versions the
call returns instantly. Check for stdin first and only try to call the
function if there's no input stream found. Although it's possible that
we're running with input redirected it's much more likely that we're
actually running as a service.
This will save time when running with no arguments from a command prompt.
*/
if (! GetStdHandle(STD_INPUT_HANDLE)) {
/* Start service magic */
SERVICE_TABLE_ENTRY table[] = { { NSSM, service_main }, { 0, 0 } };
if (! StartServiceCtrlDispatcher(table)) {
unsigned long error = GetLastError();
/* User probably ran nssm with no argument */
if (error == ERROR_FAILED_SERVICE_CONTROLLER_CONNECT) exit(usage(1));
log_event(EVENTLOG_ERROR_TYPE, NSSM_EVENT_DISPATCHER_FAILED, error_string(error), 0);
free_imports();
exit(100);
}
}
else exit(usage(1));
/* And nothing more to do */
exit(0);
}
static int init_node(struct cma_node *node, struct fi_info *info)
{
struct fi_cq_attr cq_attr;
int ret;
ret = fi_domain(fabric, info, &node->domain, NULL);
if (ret) {
FT_PRINTERR("fi_domain", ret);
goto out;
}
memset(&cq_attr, 0, sizeof cq_attr);
cq_attr.size = hints->tx_attr->size ? hints->tx_attr->size : 1;
cq_attr.format = FI_CQ_FORMAT_CONTEXT;
ret = fi_cq_open(node->domain, &cq_attr, &node->cq[SEND_CQ_INDEX], NULL);
if (ret) {
FT_PRINTERR("fi_cq_open", ret);
goto out;
}
ret = fi_cq_open(node->domain, &cq_attr, &node->cq[RECV_CQ_INDEX], NULL);
if (ret) {
FT_PRINTERR("fi_cq_open", ret);
goto out;
}
ret = fi_endpoint(node->domain, info, &node->ep, node);
if (ret) {
FT_PRINTERR("fi_endpoint", ret);
goto out;
}
ret = fi_ep_bind(node->ep, &node->cq[SEND_CQ_INDEX]->fid, FI_SEND);
if (ret) {
FT_PRINTERR("fi_ep_bind", ret);
goto out;
}
ret = fi_ep_bind(node->ep, &node->cq[RECV_CQ_INDEX]->fid, FI_RECV);
if (ret) {
FT_PRINTERR("fi_ep_bind", ret);
goto out;
}
ret = fi_ep_bind(node->ep, &eq->fid, 0);
if (ret) {
FT_PRINTERR("fi_ep_bind", ret);
goto out;
}
ret = fi_enable(node->ep);
if (ret) {
FT_PRINTERR("fi_enable", ret);
goto out;
}
ret = create_messages(node);
if (ret) {
printf("cmatose: failed to create messages: %d\n", ret);
goto out;
}
out:
return ret;
}