int cmd_show_family(VSTRING& param)
{
int ret = TFS_ERROR;
ParamInfo ret_param;
if ((ret = parse_param(param, FAMILY_TYPE, ret_param)) != TFS_ERROR)
{
g_show_info.show_family(ret_param.type_, ret_param.num_, ret_param.family_id_, ret_param.count_, ret_param.interval_, ret_param.filename_);
}
return ret;
}
int cmd_show_machine(VSTRING& param)
{
int ret = TFS_ERROR;
ParamInfo ret_param(MACHINE_TYPE_ALL);
if ((ret = parse_param(param, MACHINE_TYPE, ret_param)) != TFS_ERROR)
{
g_show_info.show_machine(ret_param.type_, ret_param.num_, ret_param.count_, ret_param.interval_, ret_param.filename_);
}
return ret;
}
int cmd_check_block(VSTRING& param)
{
int ret = TFS_ERROR;
int8_t type = CMD_NOP;
ParamInfo ret_param(type);
if ((ret = parse_param(param, CHECK_BLOCK_TYPE, ret_param)) != TFS_ERROR)
{
g_show_info.check_block(ret_param.type_, ret_param.num_, ret_param.filename_);
}
return ret;
}
int cmd_show_rack(VSTRING& param)
{
int ret = TFS_ERROR;
int8_t type = RACK_BLOCK_TYPE_RACK_LIST;//默认只显示rack 及block size
ParamInfo ret_param(type);
ret_param.rack_ip_mask_ = "255.255.255.240";
if ((ret = parse_param(param, RACK_BLOCK_TYPE, ret_param)) != TFS_ERROR)
{
g_show_info.show_rack_block(ret_param.type_, ret_param.rack_ip_mask_, ret_param.server_ip_port_, ret_param.num_, ret_param.count_, ret_param.interval_, ret_param.filename_);
}
return ret;
}
void StateVisualiser::operator()() {
inputGeneralisedCoordinatesQueue_.subscribe();
model_.setUseVisualizer(true);
SimTK::State s(model_.initSystem());
SimTK::Visualizer &viz = model_.updVisualizer().updSimbodyVisualizer();
viz.setShowFrameRate(false);
viz.setShutdownWhenDestructed(true);
viz.setMode(SimTK::Visualizer::Mode::Sampling);
viz.setShutdownWhenDestructed(true);
viz.setDesiredBufferLengthInSec(5);
viz.setDesiredFrameRate(60);
ShowInfo* info = new ShowInfo();
viz.addDecorationGenerator(info);
auto start = std::chrono::system_clock::now();
int frameCounter = 0;
bool localRunCondition(true);
while (localRunCondition) {
rtosim::GeneralisedCoordinatesFrame currentCoordinatesFrame(inputGeneralisedCoordinatesQueue_.pop());
if (rtosim::EndOfData::isEod(currentCoordinatesFrame))
localRunCondition = false;
else {
rtosim::GeneralisedCoordinatesData currentCoordinates(currentCoordinatesFrame.data);
auto q(currentCoordinates.getQ());
for (unsigned i(0); i < currentCoordinates.getNCoordinates(); ++i)
s.updQ()[i] = q[i];
}
viz.report(s);
frameCounter++;
if ((std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::system_clock::now() - start)) > std::chrono::milliseconds(1000)) {
info->setText("IK FPS: " + std::to_string(frameCounter));
start = std::chrono::system_clock::now();
frameCounter = 0;
}
}
}
int cmd_show_server(VSTRING& param)
{
int ret = TFS_ERROR;
ParamInfo ret_param(SERVER_TYPE_SERVER_INFO);
if ((ret = parse_param(param, SERVER_TYPE, ret_param)) != TFS_ERROR)
{
if (!g_need_cmp)
{
g_show_info.show_server(ret_param.type_, ret_param.num_, ret_param.server_ip_port_, ret_param.count_, ret_param.interval_, ret_param.filename_);
}
else
{
g_cmp_info.compare(SERVER_TYPE, ret_param.type_, ret_param.num_);
}
}
return ret;
}
int cmd_show_block(VSTRING& param)
{
int ret = TFS_ERROR;
int8_t type = CMD_NOP;
g_need_cmp ? (type = BLOCK_CMP_ALL_INFO) : (type = BLOCK_TYPE_BLOCK_INFO);
ParamInfo ret_param(type);
if ((ret = parse_param(param, BLOCK_TYPE, ret_param)) != TFS_ERROR)
{
if (!g_need_cmp)
{
g_show_info.show_block(ret_param.type_, ret_param.num_, ret_param.block_id_, ret_param.count_, ret_param.interval_, ret_param.filename_);
}
else
{
g_cmp_info.compare(BLOCK_TYPE, ret_param.type_, ret_param.num_);
}
}
return ret;
}
int cmd_show_block_distribution(VSTRING& param)
{
int ret = TFS_ERROR;
int8_t type = CMD_NOP;
ParamInfo ret_param(type);
ret_param.rack_ip_mask_ = "255.255.255.240";
if ((ret = parse_param(param, BLOCK_DISTRIBUTION_TYPE, ret_param)) != TFS_ERROR)
{
if(CMD_NOP == ret_param.type_)// BLOCK_IP_DISTRIBUTION_TYPE 和 BLOCK_RACK_DISTRIBUTION_TYPE至少有一个参数
{
print_help();
fprintf(stderr, "\nnotice: [-ip] or [-mask ip_mask] must be chosen one ...\n");
}
else
{
g_show_info.show_block_distribution(ret_param.type_, ret_param.rack_ip_mask_, ret_param.num_, ret_param.block_id_, ret_param.count_, ret_param.interval_, ret_param.filename_);
}
}
return ret;
}
static void sign_handler(int32_t sig)
{
switch (sig)
{
case SIGINT:
if (g_show_info.is_loop_)
{
g_show_info.interrupt_ = true;
g_show_info.is_loop_ = false;
break;
}
case SIGTERM:
fprintf(stderr, "showssm tool exit.\n");
g_show_info.clean_last_file();
exit(TFS_ERROR);
break;
default:
break;
}
}
int main(int argc,char** argv)
{
//TODO readline
int32_t i;
string ns_ip_port_1;
string ns_ip_port_2;
bool directly = false;
while ((i = getopt(argc, argv, "s:m:ihv")) != EOF)
{
switch (i)
{
case 's':
ns_ip_port_2 = optarg;
break;
case 'm':
ns_ip_port_1 = optarg;
g_need_cmp = true;
break;
case 'i':
directly = true;
break;
case 'v':
version(argv[0]);
break;
case 'h':
default:
usage(argv[0]);
}
}
if (ns_ip_port_2.empty() || (g_need_cmp && ns_ip_port_1.empty()))
{
fprintf(stderr, "please input nameserver ip and port.\n");
usage(argv[0]);
}
TBSYS_LOGGER.setLogLevel("error");
init();
gstreamer.set_packet_factory(&gfactory);
NewClientManager::get_instance().initialize(&gfactory, &gstreamer);
if (!g_need_cmp)
{
g_show_info.set_ns_ip(ns_ip_port_2);
}
else
{
g_cmp_info.set_ns_ip(ns_ip_port_1, ns_ip_port_2);
}
signal(SIGINT, sign_handler);
signal(SIGTERM, sign_handler);
if (optind >= argc)
{
main_loop();
}
else
{
if (directly) // ssm ... -i "cmd"
{
for (i = optind; i < argc; i++)
{
do_cmd(argv[i]);
}
g_show_info.clean_last_file();
}
else// exec filename
{
VSTRING param;
for (i = optind; i < argc; i++)
{
param.clear();
param.push_back(argv[i]);
cmd_batch(param);
}
}
}
NewClientManager::get_instance().destroy();
}
int cmd_quit(VSTRING&)
{
g_show_info.clean_last_file();
return TFS_CLIENT_QUIT;
}
