int main(int argc, const char** argv)
{
try
{
if (argc < 3)
{
std::cerr << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
return 1;
}
const int self_node_id = std::stoi(argv[1]);
std::vector<std::string> iface_names;
for (int i = 2; i < argc; i++)
{
iface_names.emplace_back(argv[i]);
}
uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_test_node");
std::cout << "Node initialized successfully" << std::endl;
runForever(node);
return 0;
}
catch (const std::exception& ex)
{
std::cerr << "Exception: " << ex.what() << std::endl;
return 1;
}
}
int main(int argc, const char** argv)
{
try
{
auto options = parseOptions(argc, argv);
std::cout << "Self node ID: " << int(options.node_id.get()) << "\n"
"Num ifaces: " << options.ifaces.size() << "\n"
#ifdef NDEBUG
"Build mode: Release"
#else
"Build mode: Debug"
#endif
<< std::endl;
auto node = initNode(options.ifaces, options.node_id, "org.uavcan.linux_test_file_server");
runForever(node);
return 0;
}
catch (const std::exception& ex)
{
std::cerr << "Error: " << ex.what() << std::endl;
return 1;
}
}
int main(int argc, const char** argv)
{
if (argc < 3)
{
std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
return 1;
}
const int self_node_id = std::stoi(argv[1]);
std::vector<std::string> iface_names(argv + 2, argv + argc);
uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.pixhawk.px4esc.uavcan_tool");
runForever(node);
return 0;
}
int main(int argc, const char** argv)
{
try
{
std::srand(std::time(nullptr));
if (isatty(STDOUT_FILENO) != 1)
{
std::cerr << "This application cannot run if stdout is not associated with a terminal" << std::endl;
std::exit(1);
}
auto options = parseOptions(argc, argv);
std::cout << "Self node ID: " << int(options.node_id.get()) << "\n"
"Cluster size: " << int(options.cluster_size) << "\n"
"Storage path: " << options.storage_path << "\n"
"Num ifaces: " << options.ifaces.size() << "\n"
#ifdef NDEBUG
"Build mode: Release"
#else
"Build mode: Debug"
#endif
<< std::endl;
/*
* Preparing the storage directory
*/
options.storage_path += "/node_" + std::to_string(options.node_id.get());
int system_res = std::system(("mkdir -p '" + options.storage_path + "' &>/dev/null").c_str());
(void)system_res;
const auto event_log_file = options.storage_path + "/events.log";
const auto storage_path = options.storage_path + "/storage/";
/*
* Starting the node
*/
auto node = initNode(options.ifaces, options.node_id, "org.uavcan.linux_app.dynamic_node_id_server");
runForever(node, options.cluster_size, event_log_file, storage_path);
return 0;
}
catch (const std::exception& ex)
{
std::cerr << "Error: " << ex.what() << std::endl;
return 1;
}
}
int main(int argc, const char** argv)
{
if (argc < 2)
{
std::cout << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
return 1;
}
std::vector<std::string> iface_names;
for (int i = 1; i < argc; i++)
{
iface_names.emplace_back(argv[i]);
}
uavcan_linux::NodePtr node = initNodeInPassiveMode(iface_names, "org.uavcan.status_monitor");
runForever(node);
return 0;
}
int main(int argc, const char** argv)
{
if (argc < 3)
{
std::cout << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
return 1;
}
const int self_node_id = std::stoi(argv[1]);
std::vector<std::string> iface_names;
for (int i = 2; i < argc; i++)
{
iface_names.emplace_back(argv[i]);
}
uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_test_node_status_monitor");
runForever(node);
return 0;
}
int main(int argc, const char** argv)
{
try
{
if (argc < 3)
{
std::cerr << "Usage:\n\t" << argv[0] << " <node-id> <can-iface-name-1> [can-iface-name-N...]" << std::endl;
return 1;
}
const int self_node_id = std::stoi(argv[1]);
const std::vector<std::string> iface_names(argv + 2, argv + argc);
uavcan_linux::NodePtr node = initNode(iface_names, self_node_id, "org.uavcan.linux_app.nodetool");
runForever(node);
return 0;
}
catch (const std::exception& ex)
{
std::cerr << "Error: " << ex.what() << std::endl;
return 1;
}
}
int main(int argc, const char** argv)
{
try
{
if (argc < 2)
{
std::cerr << "Usage:\n\t" << argv[0] << " <can-iface-name-1> [can-iface-name-N...]" << std::endl;
return 1;
}
std::vector<std::string> iface_names;
for (int i = 1; i < argc; i++)
{
iface_names.emplace_back(argv[i]);
}
uavcan_linux::NodePtr node = initNodeInPassiveMode(iface_names, "org.uavcan.linux_app.node_status_monitor");
runForever(node);
return 0;
}
catch (const std::exception& ex)
{
std::cerr << "Error: " << ex.what() << std::endl;
return 1;
}
}
