static void request_server_thread_code(request_server_thread_args *args)
{
int id;
int connection_id;
ulapi_task_struct *request_connection_thread;
request_connection_thread_args *request_connection_args;
id = args->id;
while (true) {
if (debug) printf("waiting for a trajectory point connection...\n");
connection_id = ulapi_socket_get_connection_id(id);
if (connection_id < 0) {
fprintf(stderr, "can't get a trajectory point connecton\n");
break;
}
if (debug) printf("got a trajectory point connection on id %d\n", connection_id);
// spawn a connection thread
request_connection_thread = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*request_connection_thread)));
request_connection_args = reinterpret_cast<request_connection_thread_args *>(malloc(sizeof(*request_connection_args)));
ulapi_task_init(request_connection_thread);
request_connection_args->id = connection_id;
request_connection_args->thread = request_connection_thread;
ulapi_task_start(request_connection_thread, reinterpret_cast<ulapi_task_code>(request_connection_thread_code), reinterpret_cast<void *>(request_connection_args), ulapi_prio_highest(), 0);
} // while (true)
ulapi_socket_close(id);
if (debug) printf("server on %d done\n", id);
return;
}
static void emove_server_task_code(emove_server_task_args *args)
{
ulapi_task_struct *task;
int id;
int period_nsecs;
ulapi_task_struct *emove_client_write_task;
emove_client_write_task_args *emove_client_write_args;
int emove_connection_id;
task = args->task;
id = args->id;
period_nsecs = args->period_nsecs;
bool done = false;
while (! done) {
if (debug) printf("waiting for an Emove HMI connection on %d...\n", id);
emove_connection_id = ulapi_socket_get_connection_id(id);
if (emove_connection_id < 0) {
fprintf(stderr, "can't get an Emove HMI connection\n");
break;
}
if (debug) printf("got an Emove HMI connection on id %d\n", emove_connection_id);
// spawn connection tasks for reading and writing
emove_client_write_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*emove_client_write_task)));
emove_client_write_args = reinterpret_cast<emove_client_write_task_args *>(malloc(sizeof(*emove_client_write_args)));
ulapi_task_init(emove_client_write_task);
emove_client_write_args->task = emove_client_write_task;
emove_client_write_args->id = emove_connection_id;
emove_client_write_args->period_nsecs = period_nsecs;
ulapi_task_start(emove_client_write_task, reinterpret_cast<ulapi_task_code>(emove_client_write_task_code), reinterpret_cast<void *>(emove_client_write_args), ulapi_prio_highest(), 0);
} // while (true)
ulapi_socket_close(id);
if (debug) printf("server on %d done\n", id);
ulapi_task_delete(task);
return;
}
rtapi_integer rtapi_socket_get_client(rtapi_integer socket_fd)
{
return ulapi_socket_get_connection_id(socket_fd);
}
int main(int argc, char *argv[])
{
int ros_argc;
char **ros_argv;
std::string node_name(NODE_NAME_DEFAULT);
int option;
int ival;
double dval;
int ws_port = WS_PORT_DEFAULT;
int emove_port = EMOVE_PORT_DEFAULT;
double period = 1;
int ws_server_id;
int ws_connection_id;
ulapi_task_struct *ws_client_read_task;
ws_client_read_task_args *ws_client_read_args;
ulapi_task_struct *ws_client_write_task;
ws_client_write_task_args *ws_client_write_args;
int emove_server_id;
ulapi_task_struct emove_server_task;
emove_server_task_args emove_server_args;
enum {INBUF_LEN = 1024};
char inbuf[INBUF_LEN];
opterr = 0;
while (true) {
option = getopt(argc, argv, ":i:n:p:t:Whd");
if (option == -1) break;
switch (option) {
case 'i':
inifile_name = std::string(optarg);
break;
case 'n':
// first check for valid name
if (optarg[0] == '-') {
fprintf(stderr, "invalid node name: %s\n", optarg);
return 1;
}
node_name = std::string(optarg);
break;
case 'w':
ival = atoi(optarg);
ws_port = ival;
break;
case 'e':
ival = atoi(optarg);
emove_port = ival;
break;
case 't':
dval = atof(optarg);
if (dval < FLT_EPSILON) {
fprintf(stderr, "bad value for period: %s\n", optarg);
return 1;
}
period = dval;
break;
// FIXME -- ipad
case 'W':
ws_all = true;
break;
case 'h':
print_help();
break;
case 'd':
debug = true;
break;
case ':':
fprintf(stderr, "missing value for -%c\n", optopt);
return 1;
break;
default:
fprintf (stderr, "unrecognized option -%c\n", optopt);
return 1;
break;
} // switch (option)
} // while (true) for getopt
if (ULAPI_OK != ulapi_init()) {
fprintf(stderr, "can't init ulapi\n");
return 1;
}
if (! inifile_name.empty()) {
if (0 != ini_load(inifile_name, &ws_port, &emove_port)) {
fprintf(stderr, "error reading ini file %s\n", inifile_name.c_str());
return 1;
}
}
ulapi_mutex_init(&ws_stat_mutex, 1);
ulapi_mutex_init(&emove_stat_mutex, 1);
// pass everything after a '--' separator to ROS
ros_argc = argc - optind;
ros_argv = &argv[optind];
ros::init(ros_argc, ros_argv, node_name);
ros::NodeHandle nh;
ros::Subscriber wssub;
ros::Subscriber emovesub;
wssub = nh.subscribe(KITTING_WS_STAT_TOPIC, TOPIC_QUEUE_LEN, ws_stat_callback);
emovesub = nh.subscribe(KITTING_EMOVE_STAT_TOPIC, TOPIC_QUEUE_LEN, emove_stat_callback);
/*
Run two processes, one that serves up the Workstation-level commands
and status, and the other that serves up the Emove status. This main
thread will handle the Workstation level.
*/
ws_server_id = ulapi_socket_get_server_id(ws_port);
if (ws_server_id < 0) {
fprintf(stderr, "can't serve WS port %d\n", ws_port);
return 1;
}
emove_server_id = ulapi_socket_get_server_id(emove_port);
if (emove_server_id < 0) {
fprintf(stderr, "can't serve Emove port %d\n", emove_port);
return 1;
}
ulapi_task_init(&emove_server_task);
emove_server_args.task = &emove_server_task;
emove_server_args.id = emove_server_id;
emove_server_args.period_nsecs = (int) (period * 1.0e9);
ulapi_task_start(&emove_server_task, reinterpret_cast<ulapi_task_code>(emove_server_task_code), reinterpret_cast<void *>(&emove_server_args), ulapi_prio_highest(), 0);
bool done = false;
while (! done) {
if (debug) printf("waiting for a WS HMI connection on %d...\n", ws_server_id);
ws_connection_id = ulapi_socket_get_connection_id(ws_server_id);
if (ws_connection_id < 0) {
fprintf(stderr, "can't get a WS HMI connection\n");
break;
}
if (debug) printf("got a WS HMI connection on id %d\n", ws_connection_id);
// spawn connection tasks for reading and writing
ws_client_read_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*ws_client_read_task)));
ws_client_read_args = reinterpret_cast<ws_client_read_task_args *>(malloc(sizeof(*ws_client_read_args)));
ulapi_task_init(ws_client_read_task);
ws_client_read_args->task = ws_client_read_task;
ws_client_read_args->id = ws_connection_id;
ulapi_task_start(ws_client_read_task, reinterpret_cast<ulapi_task_code>(ws_client_read_task_code), reinterpret_cast<void *>(ws_client_read_args), ulapi_prio_highest(), 0);
ws_client_write_task = reinterpret_cast<ulapi_task_struct *>(malloc(sizeof(*ws_client_write_task)));
ws_client_write_args = reinterpret_cast<ws_client_write_task_args *>(malloc(sizeof(*ws_client_write_args)));
ulapi_task_init(ws_client_write_task);
ws_client_write_args->task = ws_client_write_task;
ws_client_write_args->id = ws_connection_id;
ws_client_write_args->period_nsecs = (int) (period * 1.0e9);
ulapi_task_start(ws_client_write_task, reinterpret_cast<ulapi_task_code>(ws_client_write_task_code), reinterpret_cast<void *>(ws_client_write_args), ulapi_prio_highest(), 0);
} // while (true)
ulapi_socket_close(ws_server_id);
if (debug) printf("server on %d done\n", ws_server_id);
return 0;
}
