int main(int argc, char *argv[]) {
int i,j;
IPC_RETURN_TYPE ret;
if (argc < 3 || carmen_find_param("-help") ||
carmen_find_param("--help") || carmen_find_param("-h")) {
fprintf(stderr,"\n%s is used to connect serveral carmen-simulators\n", argv[0]);
fprintf(stderr,"so that the individual robots can see each other.\n\n");
fprintf(stderr,"Usage: %s [centralhost of 1st simulator] [...] [n-th simulator]\n", argv[0]);
fprintf(stderr,"(e.g. %s localhost localhost:1382 locahost:1383)\n", argv[0]);
exit(0);
}
for (i=1; i<argc; i++) {
for (j=1; j<argc; j++) {
if (i != j) {
ret = IPC_connectModule(argv[0], argv[j]);
if (ret != IPC_OK) {
carmen_die("Error: could not connect to central on: %s\n", argv[j]);
}
carmen_simulator_connect_robots(argv[i]);
}
}
}
fprintf(stderr,"simulators are now successly connected!\n");
return 0;
}
char *
carmen_process_param_directory(char *lvalue, carmen_usage_func usage)
{
struct stat buf;
char *arg;
if (carmen_find_param(lvalue) > 0)
{
if (carmen_find_param_pair(lvalue) == 0)
{
usage("Option '%s' requires argument: should be on/off.\n", lvalue);
// In case the user provided a usage that doesn't exit.
exit(-1);
}
arg = carmen_param_pair(lvalue);
if (stat(arg, &buf) < 0)
{
usage("Option '%s', file %s not available: %s\n", lvalue, arg, strerror(errno));
// In case the user provided a usage that doesn't exit.
exit(-1);
}
if (!S_ISDIR(buf.st_mode))
{
usage("Option '%s' requires directorny name. %s is not a directory.\n", lvalue, arg);
// In case the user provided a usage that doesn't exit.
exit(-1);
}
return arg;
}
return NULL;
}
double
carmen_process_param_double(char *lvalue, carmen_usage_func usage, double *return_value)
{
char *endptr;
char *arg;
if (carmen_find_param(lvalue) > 0)
{
if (carmen_find_param_pair(lvalue) == 0)
{
if(usage != NULL)
usage("Option '%s' requires argument: should be a double.\n",
lvalue);
// In case the user provided a usage that doesn't exit.
exit(-1);
}
arg = carmen_param_pair(lvalue);
*return_value = (double)strtod(arg, &endptr);
if (endptr == arg)
{
if(usage != NULL)
usage("Bad argument to %s: %s, should be a double.\n",
lvalue, arg);
// In case the user provided a usage that doesn't exit.
exit(-1);
}
return 1;
}
return 0;
}
int
carmen_process_param_int(char *lvalue, carmen_usage_func usage, int *return_value)
{
char *endptr;
char *arg;
if(carmen_find_param(lvalue) > 0)
{
if (carmen_find_param_pair(lvalue) == 0)
{
if(usage != NULL)
usage("Option '%s' requires argument: should be an integer.\n",
lvalue);
// In case the user provided a usage that doesn't exit.
exit(-1);
}
arg = carmen_param_pair(lvalue);
*return_value = strtol(arg, &endptr, 0);
if (endptr == arg)
{
if(usage != NULL)
usage("Bad argument to int: %s, should be an integer.\n", arg);
// In case the user provided a usage that doesn't exit.
exit(-1);
}
return 1;
}
return 0;
}
int
carmen_find_param_pair(const char *lvalue)
{
if(carmen_find_param(lvalue) &&
carmen_param_pair(lvalue) != NULL)
return 1;
else
return 0;
}
char *
carmen_process_param_string(char *lvalue, carmen_usage_func usage)
{
char *arg;
if (carmen_find_param(lvalue) > 0)
{
if (carmen_find_param_pair(lvalue) == 0)
{
usage("Option '%s' requires argument: should be a string.\n", lvalue);
// In case the user provided a usage that doesn't exit.
exit(-1);
}
arg = carmen_param_pair(lvalue);
return arg;
}
return NULL;
}
int
carmen_process_param_onoff(char *lvalue, carmen_usage_func usage, int *return_value)
{
char *arg;
if (carmen_find_param(lvalue) > 0)
{
if (carmen_find_param_pair(lvalue) == 0)
{
usage("Option '%s' requires argument: should be on/off.\n", lvalue);
// In case the user provided a usage that doesn't exit.
exit(-1);
}
arg = carmen_param_pair(lvalue);
if (strcmp(arg, "on") == 0)
*return_value = 1;
else if (strcmp(arg, "off") == 0)
*return_value = 0;
else
usage("Bad argument to %s: %s, should be on/off.\n", lvalue, arg);
return 1;
}
return 0;
}