int main(int argc, char *argv[]) {
std::cout << "..::: starting NAOJI" << std::endl;
std::cout << "Copyright (c) 2009, Asura-FIT" << std::endl;
std::cout << "Copyright (c) 2007, Aldebaran-robotics" << std::endl
<< std::endl;
int i = 1;
std::string brokerName = "naoji_main";
std::string brokerIP = "127.0.0.1";
int brokerPort = 0;
// Default parent broker IP
std::string parentBrokerIP = "127.0.0.1";
// Default parent broker port
int parentBrokerPort = kBrokerPort;
// checking options
while (i < argc) {
if (argv[i][0] != '-')
return usage(argv[0]);
else if (std::string(argv[i]) == "-b")
brokerIP = std::string(argv[++i]);
else if (std::string(argv[i]) == "-p")
brokerPort = atoi(argv[++i]);
else if (std::string(argv[i]) == "-pip")
parentBrokerIP = std::string(argv[++i]);
else if (std::string(argv[i]) == "-pport")
parentBrokerPort = atoi(argv[++i]);
else if (std::string(argv[i]) == "-h")
return usage(argv[0]);
i++;
}
std::cout << "Try to connect to parent Broker at ip :" << parentBrokerIP
<< " and port : " << parentBrokerPort << std::endl;
std::cout << "Start the server bind on this ip : " << brokerIP
<< " and port : " << brokerPort << std::endl;
// Starting Broker
ALPtr<ALBroker> pBroker = ALBroker::createBroker(brokerName, brokerIP, brokerPort, parentBrokerIP, parentBrokerPort);
// Starting Broker ALPtr<ALBroker> pBroker = ALBroker::createBroker(brokerName, brokerIP, brokerPort, parentBrokerIP, parentBrokerPort);
pBroker->setBrokerManagerInstance(ALBrokerManager::getInstance());
ALModule::createModule<NaojiModule>(pBroker, "NaojiModule");
struct sigaction new_action;
/* Set up the structure to specify the new action. */
new_action.sa_handler = _terminationHandler;
sigemptyset(&new_action.sa_mask);
new_action.sa_flags = 0;
sigaction(SIGINT, &new_action, NULL);
pBroker.reset(); // because of while( 1 ), broker counted by brokermanager
while (1) {
SleepMs(100);
}
}
int main( int argc, char *argv[] )
{
#ifdef REDIRECT_C_STDERR
// Redirect stderr to stdout
FILE *_syderr = stderr;
stderr = stdout;
#endif
std::cout << "..::: starting MANMODULE revision " << MANMODULE_VERSION_REVISION << " :::.." << std::endl;
std::cout << "Copyright (c) 2007, Aldebaran-robotics" << std::endl << std::endl;
int i = 1;
std::string brokerName = "manmodule";
std::string brokerIP = "0.0.0.0";
int brokerPort = 0 ;
// Default parent broker IP
std::string parentBrokerIP = "127.0.0.1";
// Default parent broker port
int parentBrokerPort = kBrokerPort;
// checking options
while( i < argc ) {
if ( argv[i][0] != '-' ) return usage( argv[0] );
else if ( std::string( argv[i] ) == "-b" ) brokerIP = std::string( argv[++i] );
else if ( std::string( argv[i] ) == "-p" ) brokerPort = atoi( argv[++i] );
else if ( std::string( argv[i] ) == "-pip" ) parentBrokerIP = std::string( argv[++i] );
else if ( std::string( argv[i] ) == "-pport" ) parentBrokerPort = atoi( argv[++i] );
else if ( std::string( argv[i] ) == "-h" ) return usage( argv[0] );
i++;
}
// If server port is not set
if ( !brokerPort )
brokerPort = FindFreePort( brokerIP );
std::cout << "Try to connect to parent Broker at ip :" << parentBrokerIP
<< " and port : " << parentBrokerPort << std::endl;
std::cout << "Start the server bind on this ip : " << brokerIP
<< " and port : " << brokerPort << std::endl;
// Starting Broker
ALPtr<ALBroker> pBroker = ALBroker::createBroker(brokerName, brokerIP, brokerPort, parentBrokerIP, parentBrokerPort);
pBroker->setBrokerManagerInstance(ALBrokerManager::getInstance());
//<OGETINSTANCE> don't remove this comment
//ALPtr<Man> manptr = ALModule::createModule<Man>(pBroker,"Man" );
//</OGETINSTANCE> don't remove this comment
#ifndef _WIN32
struct sigaction new_action;
/* Set up the structure to specify the new action. */
new_action.sa_handler = _terminationHandler;
sigemptyset( &new_action.sa_mask );
new_action.sa_flags = 0;
sigaction( SIGINT, &new_action, NULL );
#endif
//man = boost::shared_ptr<Man>(new Man(pBroker,"Man"));
ALCreateMan(pBroker);
//man->getTrigger()->await_off();
// // Not sure what the purpose of this modulegenerator code is: //EDIT -JS
pBroker.reset(); // because of while( 1 ), broker counted by brokermanager
while( 1)
{
SleepMs( 100 );
}
cout << "Main method finished" <<endl;
#ifdef _WIN32
_terminationHandler( 0 );
#endif
exit( 0 );
}
