int main( int ac, char** av )
{
try
{
comma::command_line_options options( ac, av, usage );
const std::vector< std::string >& names = options.unnamed( "--no-discard,--verbose,-v,--no-flush,--output-number-of-clients,--clients,--exit-on-no-clients,-e", "-.+" );
if( names.empty() ) { std::cerr << "io-publish: please specify at least one stream; use '-' for stdout" << std::endl; return 1; }
const boost::array< comma::signal_flag::signals, 2 > signals = { { comma::signal_flag::sigint, comma::signal_flag::sigterm } };
comma::signal_flag is_shutdown( signals );
publish p( names
, options.value( "-s,--size", 0 ) * options.value( "-m,--multiplier", 1 )
, !options.exists( "--no-discard" )
, !options.exists( "--no-flush" )
, options.exists( "--output-number-of-clients,--clients" )
, options.exists( "--exit-on-no-clients,-e" ) );
//ProfilerStart( "io-publish.prof" ); {
while( std::cin.good() && !is_shutdown && p.read() );
//ProfilerStop(); }
if( is_shutdown ) { std::cerr << "io-publish: interrupted by signal" << std::endl; }
return 0;
}
catch( std::exception& ex )
{
if( comma::last_error::value() == EINTR || comma::last_error::value() == EBADF ) { return 0; }
std::cerr << "io-publish: " << ex.what() << std::endl;
}
catch( ... )
{
if( comma::last_error::value() == EINTR || comma::last_error::value() == EBADF ) { return 0; }
std::cerr << "io-publish: unknown exception" << std::endl;
}
return 1;
}
int main( int ac, char** av )
{
try
{
const boost::array< comma::signal_flag::signals, 2 > signals = { { comma::signal_flag::sigint, comma::signal_flag::sigterm } };
comma::signal_flag is_shutdown( signals );
comma::command_line_options options( ac, av );
if( options.exists( "--help" ) || options.exists( "-h" ) ) { usage(); }
std::vector< std::string > names = options.unnamed( "--no-discard,--verbose,-v,--no-flush", "-n,--number,-m,--multiplier,-b,--buffer,-s,--size" );
unsigned int n = options.value( "-n,--number", 0 );
unsigned int packet_size = options.value( "-s,--size", 0 ) * options.value( "-m,--multiplier", 1 );
unsigned int buffer_size = options.value( "-b,--buffer", 0 );
bool discard = !options.exists( "--no-discard" );
bool flush = !options.exists( "--no-flush" );
bool binary = packet_size != 0;
if( names.empty() ) { std::cerr << "io-publish: please specify at least one file ('-' for stdout)" << std::endl; usage(); }
if( binary )
{
//ProfilerStart( "io-publish.prof" ); {
comma::io::applications::publish publish( names, n, buffer_size, packet_size, discard );
while( !is_shutdown && publish.read_bytes() );
//ProfilerStop(); }
}
else
{
comma::io::applications::publish publish( names, n, 1, 0, discard, flush );
while( !is_shutdown && std::cin.good() && !std::cin.eof() ) { publish.read_line(); }
}
if( is_shutdown ) { std::cerr << "io-publish: interrupted by signal" << std::endl; }
return 0;
}
catch( std::exception& ex )
{
#ifndef WIN32
if( comma::last_error::value() == EINTR || comma::last_error::value() == EBADF ) { return 0; }
#endif
std::cerr << "io-publish: " << ex.what() << std::endl;
}
catch( ... )
{
#ifndef WIN32
if( comma::last_error::value() == EINTR || comma::last_error::value() == EBADF ) { return 0; }
#endif
std::cerr << "io-publish: unknown exception" << std::endl;
}
return 1;
}
void
GraphListener::remove_node(rclcpp::node_interfaces::NodeGraphInterface * node_graph)
{
if (!node_graph) {
throw std::invalid_argument("node is nullptr");
}
std::lock_guard<std::mutex> shutdown_lock(shutdown_mutex_);
if (is_shutdown()) {
// If shutdown, then the run loop has been joined, so we can remove them directly.
return remove_node_(&node_graph_interfaces_, node_graph);
}
// Otherwise, first interrupt and lock against the run loop to safely remove the node.
// Acquire the nodes mutex using the barrier to prevent the run loop from
// re-locking the nodes mutex after being interrupted.
acquire_nodes_lock_(
&node_graph_interfaces_barrier_mutex_,
&node_graph_interfaces_mutex_,
&interrupt_guard_condition_);
// Store the now acquired node_graph_interfaces_mutex_ in the scoped lock using adopt_lock.
std::lock_guard<std::mutex> nodes_lock(node_graph_interfaces_mutex_, std::adopt_lock);
remove_node_(&node_graph_interfaces_, node_graph);
}
int main( int ac, char** av )
{
try
{
comma::signal_flag is_shutdown(comma::signal_flag::hard);
comma::command_line_options options( ac, av, usage );
if( options.exists( "--bash-completion" )) bash_completion( ac, av );
options.assert_mutually_exclusive( "--by-lower,--by-upper,--nearest,--realtime" );
if( options.exists( "--by-upper" )) { method = how::by_upper; }
if( options.exists( "--nearest" )) { method = how::nearest; }
if( options.exists( "--realtime" )) { method = how::realtime; }
timestamp_only = options.exists( "--timestamp-only,--time-only" );
select_only = options.exists( "--do-not-append,--select" );
if( select_only && timestamp_only ) { std::cerr << "csv-time-join: --timestamp-only specified with --select, ignoring --timestamp-only" << std::endl; }
bool discard_bounding = options.exists( "--discard-bounding" );
boost::optional< unsigned int > buffer_size = options.optional< unsigned int >( "--buffer" );
if( options.exists( "--bound" ) ) { bound = boost::posix_time::microseconds( static_cast<unsigned int>(options.value< double >( "--bound" ) * 1000000 )); }
stdin_csv = comma::csv::options( options, "t" );
std::vector< std::string > unnamed = options.unnamed(
"--by-lower,--by-upper,--nearest,--realtime,--select,--do-not-append,--timestamp-only,--time-only,--discard-bounding",
"--binary,-b,--delimiter,-d,--fields,-f,--bound,--buffer,--verbose,-v" );
std::string properties;
bool stdin_first = true;
switch( unnamed.size() )
{
case 0:
std::cerr << "csv-time-join: please specify bounding source" << std::endl;
return 1;
case 1:
properties = unnamed[0];
break;
case 2:
if( unnamed[0] == "-" ) { properties = unnamed[1]; }
else if( unnamed[1] == "-" ) { properties = unnamed[0]; stdin_first = false; }
else { std::cerr << "csv-time-join: expected either '- <bounding>' or '<bounding> -'; got : " << comma::join( unnamed, ' ' ) << std::endl; return 1; }
break;
default:
std::cerr << "csv-time-join: expected either '- <bounding>' or '<bounding> -'; got : " << comma::join( unnamed, ' ' ) << std::endl;
return 1;
}
comma::name_value::parser parser( "filename" );
bounding_csv = parser.get< comma::csv::options >( properties );
if( bounding_csv.fields.empty() ) { bounding_csv.fields = "t"; }
comma::csv::input_stream< Point > stdin_stream( std::cin, stdin_csv );
#ifdef WIN32
if( stdin_csv.binary() ) { _setmode( _fileno( stdout ), _O_BINARY ); }
#endif // #ifdef WIN32
comma::io::istream bounding_istream( comma::split( properties, ';' )[0]
, bounding_csv.binary() ? comma::io::mode::binary : comma::io::mode::ascii );
comma::csv::input_stream< Point > bounding_stream( *bounding_istream, bounding_csv );
#ifndef WIN32
comma::io::select select;
comma::io::select bounding_stream_select;
select.read().add( 0 );
select.read().add( bounding_istream.fd() );
bounding_stream_select.read().add( bounding_istream.fd() );
#endif // #ifndef WIN32
const Point* p = NULL;
if( method == how::realtime )
{
#ifndef WIN32
bool end_of_input = false;
bool end_of_bounds = false;
boost::optional<timestring_t> joined_line;
while (!is_shutdown && !end_of_input)
{
if ( !bounding_stream.ready() && !stdin_stream.ready() )
{
select.wait(boost::posix_time::milliseconds(1));
}
if ( !is_shutdown && !end_of_input && ( stdin_stream.ready() || ( select.check() && select.read().ready( comma::io::stdin_fd ) ) ) )
{
p = stdin_stream.read();
if( p )
{
timestring_t input_line = std::make_pair( get_time( *p ), stdin_stream.last() );
if( joined_line ) { output( input_line, *joined_line, stdin_first ); }
}
else
{
comma::verbose << "end of input stream" << std::endl;
end_of_input = true;
}
}
if ( !is_shutdown && !end_of_bounds &&
( bounding_stream.ready() || ( select.check() && select.read().ready( bounding_istream.fd() ))))
{
p = bounding_stream.read();
if( p )
{
joined_line = std::make_pair( get_time( *p ), bounding_stream.last() );
}
else
{
comma::verbose << "end of bounding stream" << std::endl;
end_of_bounds = true;
}
}
}
if (is_shutdown) { comma::verbose << "got a signal" << std::endl; return 0; }
#else
COMMA_THROW(comma::exception, "--realtime mode not supported in WIN32");
#endif
}
else
{
std::deque<timestring_t> bounding_queue;
bool next = true;
bool bounding_data_available;
bool upper_bound_added = false;
// add a fake entry for an lower bound to allow stdin before first bound to match
bounding_queue.push_back( std::make_pair( boost::posix_time::neg_infin, "" ));
while( ( stdin_stream.ready() || ( std::cin.good() && !std::cin.eof() ) ) )
{
if( !std::cin.good() ) { select.read().remove( 0 ); }
if( !bounding_istream->good() ) { select.read().remove( bounding_istream.fd() ); }
bounding_data_available = bounding_stream.ready() || ( bounding_istream->good() && !bounding_istream->eof() );
#ifdef WIN32
bool bounding_stream_ready = true;
bool stdin_stream_ready = true;
#else // #ifdef WIN32
//check so we do not block
bool bounding_stream_ready = bounding_stream.ready();
bool stdin_stream_ready = stdin_stream.ready();
if( next )
{
if( !bounding_stream_ready || !stdin_stream_ready )
{
if( !bounding_stream_ready && !stdin_stream_ready )
{
select.wait( boost::posix_time::milliseconds(10) );
}
else
{
select.check();
}
if( select.read().ready( bounding_istream.fd() )) { bounding_stream_ready = true; }
if( select.read().ready(0) ) { stdin_stream_ready=true; }
}
}
else
{
if( !bounding_stream_ready )
{
bounding_stream_select.wait( boost::posix_time::milliseconds(10) );
if( bounding_stream_select.read().ready( bounding_istream.fd() )) { bounding_stream_ready=true; }
}
}
#endif //#ifdef WIN32
//keep storing available bounding data
if( bounding_stream_ready )
{
if( !buffer_size || bounding_queue.size() < *buffer_size || discard_bounding )
{
const Point* q = bounding_stream.read();
if( q )
{
bounding_queue.push_back( std::make_pair( get_time( *q ), bounding_stream.last() ));
}
else
{
bounding_data_available=false;
}
}
if( buffer_size && bounding_queue.size() > *buffer_size && discard_bounding )
{
bounding_queue.pop_front();
}
}
if( !upper_bound_added && bounding_istream->eof() )
{
// add a fake entry for an upper bound to allow stdin data above last bound to match
bounding_queue.push_back( std::make_pair( boost::posix_time::pos_infin, "" ));
upper_bound_added = true;
}
//if we are done with the last bounded point get next
if( next )
{
if(!stdin_stream_ready) { continue; }
p = stdin_stream.read();
if( !p ) { break; }
}
boost::posix_time::ptime t = get_time(*p);
//get bound
while(bounding_queue.size()>=2)
{
if( t < bounding_queue[1].first ) { break; }
bounding_queue.pop_front();
}
if(bounding_queue.size()<2)
{
//bound not found
//do we have more data?
if(!bounding_data_available) { break; }
next=false;
continue;
}
//bound available
if( method == how::by_lower && t < bounding_queue.front().first )
{
next = true;
continue;
}
bool is_first = ( method == how::by_lower )
|| ( method == how::nearest && ( t - bounding_queue[0].first ) < ( bounding_queue[1].first - t ));
const timestring_t& chosen_bound = is_first ? bounding_queue[0] : bounding_queue[1];;
timestring_t input_line = std::make_pair( t, stdin_stream.last() );
output( input_line, chosen_bound, stdin_first );
next=true;
}
}
return 0;
}
catch( std::exception& ex ) { std::cerr << "csv-time-join: " << ex.what() << std::endl; }
catch( ... ) { std::cerr << "csv-time-join: unknown exception" << std::endl; }
}
