void
FrameStoreInit::addXmlFrames(Miro::ConfigDocument& xmlConfig)
{
// get all frames defined in the config file
xmlConfig.setSection("Frames");
typedef Miro::ConfigDocument::StringVector StringVector;
StringVector frames = xmlConfig.getInstances("rapid::FrameRpyParameters");
// add all frames specified in RPY
StringVector::iterator first, last = frames.end();
for (first = frames.begin(); first != last; ++first) {
FrameRpyParameters frame;
xmlConfig.getType("rapid::FrameRpyParameters", *first, frame);
keyFrameSubstitute(frame.parent);
addRpyFrame(keyFrameSubstitute(*first), frame);
}
// add all frames specified in Quaternios
frames = xmlConfig.getInstances("rapid::FrameQParameters");
last = frames.end();
for (first = frames.begin(); first != last; ++first) {
FrameQParameters frame;
xmlConfig.getType("rapid::FrameQParameters", *first, frame);
keyFrameSubstitute(frame.parent);
addQFrame(keyFrameSubstitute(*first), frame);
}
}
int
main(int argc, char *argv[])
{
int rc = 0;
// Parameters to be passed to the services
Base::Parameters parameters;
try {
// Config file processing
Miro::ConfigDocument * config = new Miro::ConfigDocument(argc, argv);
config->setRobotType("B21");
config->getParameters("base", parameters);
delete config;
#ifdef DEBUG
cout << " base parameters:" << endl << parameters << endl;
#endif
DBG(cout << "Initialize mcp connection." << endl);
McpPerformance mcpPerformance(argc, argv, parameters);
int messages = 300;
if (argc >=2)
messages = atoi(argv[1]);
cout << "Stressing Mcp by sending " << messages << " commands:" << endl;
ACE_Time_Value start = ACE_OS::gettimeofday();
cout << "Start time: " << start << endl;
for (int i = messages / 2; i < 0; --i) {
mcpPerformance.b21Motion.setRotateVelocity(M_PI/6);
mcpPerformance.b21Motion.setRotateVelocity(M_PI/12);
}
ACE_Time_Value stop = ACE_OS::gettimeofday();
cout << "Ending performance test." << endl;
cout << "End time: " << stop << endl;
cout << "Elapsed time: " << stop - start << endl;
double msec = (stop-start).msec();
cout << "Processing time per Messages: "
<< (msec / 1000. / messages) << endl;
}
catch (const Miro::CException& e) {
cerr << "Miro exception: " << e << endl;
rc = 1;
}
catch (const Miro::Exception& e) {
cerr << "Miro exception: " << e << endl;
rc = 1;
}
catch (...) {
cerr << "Uncaught exception: " << endl;
rc = 1;
}
return rc;
}
int
main(int argc, char *argv[])
{
Miro::RobotParameters * robotParameters = Miro::RobotParameters::instance();
Laser::Parameters * parameters = Laser::Parameters::instance();
// Config file processing
Miro::ConfigDocument * config = new Miro::ConfigDocument(argc, argv);
config->setSection("Robot");
config->getParameters("Robot", *robotParameters);
config->setSection("Sick");
config->getParameters("Laser", *parameters);
delete config;
log(Miro::INFO, "Initialize server daemon.");
Miro::LaserServer laserServer(argc, argv);
#ifdef DEBUG
cout << " robot parameters:" << endl << *robotParameters << endl;
cout << " parameters:" << endl << *parameters << endl;
#endif
try {
log(Miro::INFO, "Ready for service.");
laserServer.run(8);
log(Miro::INFO, "Service loop ended, exiting.");
}
catch (const Miro::CException& e) {
log(Miro::FATAL_ERROR, "Miro exception: ");
cerr << e << endl;
return 1;
}
catch (const CORBA::Exception & e) {
log(Miro::FATAL_ERROR, "Uncaught CORBA exception: ");
cerr << e << endl;
return 1;
}
catch (const Miro::Exception& e) {
log(Miro::FATAL_ERROR, "Miro exception: ");
cerr << e << endl;
return 1;
}
catch (...) {
log(Miro::FATAL_ERROR, "Uncaught exception.");
return 1;
}
return 0;
}
/**
* parse command line arguments
*/
int parseArgs(int& argc, char* argv[])
{
int rc = 0;
int c;
// initialize parameters with global instance
FileReceiverParameters* params = FileReceiverParameters::instance();
// initialize parameters from config file
Miro::ConfigDocument* config = Miro::Configuration::document();
config->setSection("Rapid");
config->getParameters("kn::FileReceiverParameters", *params);
// initialize parameters from command line
ACE_Get_Opt get_opts(argc, argv, "D:S:v?");
while ((c = get_opts()) != -1) {
switch (c) {
case 'D':
params->dataDestinationDir = get_opts.optarg;
break;
case 'S':
params->dataStagingDir = get_opts.optarg;
break;
case 'v':
verbose = true;
break;
case '?':
default:
cerr << "usage: " << argv[0] << "[-v?]" << endl
<< " -D <path> Destination root directory (default: " << params->dataDestinationDir << ")" << endl
<< " -S <path> Staging directory (default: " << params->dataStagingDir << ")" << endl
<< " -v verbose mode" << endl
<< " -? help: emit this text and stop" << endl;
rc = 1;
}
}
if (verbose) {
cerr << "RAFT FileReceiver parameters:" << endl;
cerr << *params << endl;
}
return rc;
}
int
FrameStoreUpdaterSvc::parseArgs(int& argc, char * argv[])
{
int rc = 0;
int c;
m_verbose = 0;
// initialize parameters from command line
ACE_Get_Opt get_opts (argc, argv, "v?");
while ((c = get_opts()) != -1) {
switch (c) {
case 'v':
++m_verbose;
break;
case '?':
default:
ACE_OS::last_error(EINVAL);
rc = -1;
}
}
// debug output
if (rc != 0) {
cerr << "usage: " << argv[0] << " [-n name] [-v?]\n"
<< " -v verbose mode\n"
<< " -? help: print this text and stop" << endl;
}
// initialize parameters with global instance
m_params = FrameStoreUpdaterSvcParameters::instance();
// initialize parameters from config file
Miro::ConfigDocument * config = Miro::Configuration::document();
config->setSection("FrameStore");
config->getParameters("kn::FrameStoreUpdaterSvcParameters", *m_params);
if (m_verbose) {
cerr << "FrameStoreUpdater Parameters: " << endl
<< *m_params << endl;
}
return rc;
}
int
SystemInfoSvc::parseArgs(int& argc, char* argv[])
{
int rc = 0;
int c;
// initialize parameters with global instance
m_params = SystemInfoSvcParameters::instance();
// reset defaults
SystemInfoSvcParameters default_params;
*m_params = default_params;
// initialize parameters from config file
Miro::ConfigDocument * config = Miro::Configuration::document();
config->setSection("Rapid");
config->getParameters("kn::SystemInfoSvcParameters", *m_params);
// initialize parameters from command line
ACE_Get_Opt get_opts (argc, argv, "r:v?");
while ((c = get_opts()) != -1) {
switch (c) {
case 'r':
m_params->refreshInterval.set(atof(get_opts.optarg));
case 'v':
++m_verbose;
break;
case '?':
default:
cerr << "usage: " << argv[0] << "[-r interval] [-vV?]" << endl
<< " -r [interval] how often to refresh info (default: 1s)" << endl
<< " -v verbose mode" << endl
<< " -? help: emit this text and stop" << endl;
rc = 1;
}
}
if (m_verbose) {
cerr << "SystemInfoSvc parameters:" << endl
<< *m_params << endl;
}
return rc;
}
int
main(int argc, char *argv[])
{
int rc = 0;
try {
Miro::Log::init(argc, argv);
Miro::Configuration::init(argc, argv);
// Init TAO Factories
TAO_Notify_Default_CO_Factory::init_svc();
TAO_Notify_Default_POA_Factory::init_svc();
TAO_Notify_Default_Collection_Factory::init_svc();
TAO_Notify_Default_EMO_Factory::init_svc();
// Parameters to be passed to the services
Miro::RobotParameters * robotParameters = Miro::RobotParameters::instance();
Base::Parameters * baseParameters = Base::Parameters::instance();
Msp::Parameters * mspParameters = Msp::Parameters::instance();
// Config file processing
Miro::ConfigDocument * config = Miro::Configuration::document();
config->setSection("Robot");
config->getParameters("Miro::RobotParameters", *robotParameters);
config->setSection("B21");
config->getParameters("B21::Parameters", *baseParameters);
config->getParameters("Msp::Parameters", *mspParameters);
MIRO_LOG_OSTR(LL_NOTICE , " robot parameters:\n" << robotParameters);
MIRO_LOG_OSTR(LL_NOTICE , " base parameters:\n" << baseParameters);
MIRO_LOG_OSTR(LL_NOTICE , " msp parameters:\n" << mspParameters);
MIRO_LOG(LL_NOTICE,"Initialize server daemon.");
B21Base b21Base(argc, argv);
try {
MIRO_LOG(LL_NOTICE , "Loop forever handling events." );
b21Base.run(8);
MIRO_LOG(LL_NOTICE , "b21Base ended, exiting." );
}
catch (const Miro::EOutOfBounds& e) {
MIRO_LOG(LL_ERROR , "OutOfBounds exception: Wrong parameter for device initialization." );
rc = 1;
}
catch (const Miro::EDevIO& e) {
MIRO_LOG(LL_ERROR , "DevIO exception: Device access failed." );
rc = 1;
}
catch (const CORBA::Exception & e) {
MIRO_LOG_OSTR(LL_ERROR , "Uncaught CORBA exception: " << e );
rc = 1;
}
}
catch (const Miro::Exception& e) {
MIRO_LOG_OSTR(LL_ERROR , "Miro exception: " << e );
rc = 1;
}
return rc;
}
int
main(int argc, char *argv[])
{
int rc = 0;
// command line paramter parsing
// -> increase log level for verbosity (-MLL 7)
Miro::Log::init(argc, argv);
// -> specify the config file (-MCF Config.xml)
Miro::Configuration::init(argc, argv);
// Get global configuration document
Miro::ConfigDocument * config = Miro::Configuration::document();
// Read parameters from document...
try {
// global parameters
// -> those are accessed through singletons
Test::MyParameters * params = Test::MyParameters::instance();
Test::MoreParameters * more_params = Test::MoreParameters::instance();
// individual parameters
// -> those are locally allocated
Test::FriendsParameters tom;
Test::FriendsParameters cherry;
// selecting the paramter section
config->setSection("My_test_section");
// reading global parameters (if present)
// -> no name required
config->getParameters("Test::MyParameters", *params);
config->getParameters("Test::MoreParameters", *more_params);
// reading individual parameter settings (if present)
// -> referred by name
config->getType("Test::FriendsParameters", "Tom", tom);
config->getType("Test::FriendsParameters", "Cherry", cherry);
// debug output
cout << " my paramters:" << endl << *params << endl << endl;
cout << " more paramters:" << endl << *more_params << endl << endl;
cout << " tom's paramters:" << endl << tom << endl << endl;
cout << " cherry's paramters:" << endl << cherry << endl << endl;
}
catch (const Miro::CException& e) {
cerr << "Miro exception: " << e << endl;
rc = 1;
}
catch (const Miro::Exception& e) {
cerr << "Miro exception: " << e << endl;
rc = 1;
}
return rc;
}
int main(int argc, char * argv[])
{
// Parameters to be passed to the services
Sparrow::Parameters * parameters = Sparrow::Parameters::instance();
// Config file processing
Miro::ConfigDocument * config = new Miro::ConfigDocument(argc, argv);
config->setSection("Sparrow99");
config->getParameters("sparrowBoard", *parameters);
delete config;
#ifdef DEBUG
cout << " sparrow paramters:" << endl << *parameters << endl;
#endif
// Initialize server daemon.
Service service;
cout << "initialized" << endl;
Miro::PositionIDL startPos, current;
service.reactorTask.open(NULL);
int ticks = 0;
int niterations = 10;
if (argc > 1)
niterations = ACE_OS::atoi(argv[1]);
cout << "start test" << endl;
try {
ACE_Sample_History history (niterations);
ACE_hrtime_t test_start = ACE_OS::gethrtime ();
for (int i = 0; i < niterations; ++i) {
service.connection.setPower(0, 0);
ACE_OS::sleep(ACE_Time_Value(1, (int)floor(rand1() * 100000.)));
startPos = service.odometryImpl->getPosition();
cout << "start position:" << startPos << endl;
ACE_hrtime_t start = ACE_OS::gethrtime ();
service.connection.setPower(10000, 10000);
do {
current = service.odometryImpl->getWaitPosition();
++ticks;
}
while (startPos.point.x == current.point.x &&
startPos.point.y == current.point.y &&
startPos.heading == current.heading);
ACE_hrtime_t now = ACE_OS::gethrtime ();
history.sample (now - start);
}
service.connection.setPower(0, 0);
ACE_hrtime_t test_end = ACE_OS::gethrtime ();
ACE_DEBUG ((LM_DEBUG, "test finished\n"));
ACE_DEBUG ((LM_DEBUG, "High resolution timer calibration...."));
ACE_UINT32 gsf = ACE_High_Res_Timer::global_scale_factor ();
ACE_DEBUG ((LM_DEBUG, "done\n"));
history.dump_samples ("HISTORY", gsf);
ACE_Basic_Stats stats;
history.collect_basic_stats (stats);
stats.dump_results ("Total", gsf);
ACE_Throughput_Stats::dump_throughput ("Total", gsf,
test_end - test_start,
stats.samples_count ());
// data evaluation
cout << "ticks: " << ticks << endl;
cout << "end position: " << current << endl;
}
catch (const Miro::Exception & e) {
cerr << "Miro exception thrown:" << e << endl;
return 1;
}
service.reactorTask.cancel();
return 0;
}
int main(int argc, char * argv[])
{
// Parameters to be passed to the services
Sparrow::Parameters * parameters = Sparrow::Parameters::instance();
// Config file processing
Miro::ConfigDocument * config = new Miro::ConfigDocument(argc, argv);
config->setSection("Sparrow99");
config->getParameters("sparrowBoard", *parameters);
delete config;
#ifdef DEBUG
cout << " sparrow paramters:" << endl << *parameters << endl;
#endif
// Initialize server daemon.
Service service;
cout << "initialized" << endl;
int time;
service.reactorTask.open(NULL);
ACE_OS::sleep(ACE_Time_Value(2));
if (argc > 1)
time = atoi(argv[1]);
else {
cerr << "usage: kickerTest <kick msec>" << endl;
return 1;
}
try {
int digital = 1;
while (true) {
Miro::Guard guard(service.pSparrowConsumer->digitalMutex);
service.pSparrowConsumer->digitalCond.wait();
cout << "button" << endl;
if ((service.pSparrowConsumer->digital[1] & 0x01) && digital == 0) {
cout << "time (msec): " << time << endl;
service.connection.kick(time);
}
digital = service.pSparrowConsumer->digital[1] & (0x01);
}
}
catch (const Miro::Exception & e) {
cerr << "Miro exception thrown:" << e << endl;
return 1;
}
catch (...) {
cerr << "Uncaught exception: " << endl;
return 1;
}
service.reactorTask.cancel();
return 0;
}
int
main(int argc, char *argv[])
{
int rc = 0;
Miro::RobotParameters * robotParameters = Miro::RobotParameters::instance();
Laser::Parameters * parameters = Laser::Parameters::instance();
try {
Miro::Log::init(argc, argv);
// Config file processing
Miro::ConfigDocument * config = new Miro::ConfigDocument(argc, argv);
config->setSection("Robot");
config->getParameters("Miro::RobotParameters", *robotParameters);
config->setSection("Sick");
config->getParameters("Laser::Parameters", *parameters);
delete config;
calculateLaserDescription(parameters);
MIRO_LOG_OSTR(LL_NOTICE,
"Configuration:\n" <<
" robot parameters:" << std::endl <<
*robotParameters << std::endl <<
" parameters:" << std::endl <<
*parameters);
MIRO_LOG(LL_NOTICE, "Initialize server daemon.\n");
Miro::LaserServer laserServer(argc, argv);
try {
MIRO_LOG(LL_NOTICE, "Loop forever handling events.\n");
laserServer.run(8);
MIRO_LOG(LL_NOTICE, "Server loop ended, exiting.\n");
}
catch (const Miro::EOutOfBounds& e) {
MIRO_LOG_OSTR(LL_CRITICAL,
"OutOfBounds exception: Wrong parameter for device initialization."
<< e);
rc = 1;
}
catch (const Miro::EDevIO& e) {
MIRO_LOG_OSTR(LL_CRITICAL,
"DevIO exception: Device access failed."
<< e);
rc = 1;
}
catch (const CORBA::Exception & e) {
MIRO_LOG_OSTR(LL_CRITICAL, "Uncaught CORBA exception: " << e);
rc = 1;
}
}
catch (const Miro::CException& e) {
MIRO_LOG_OSTR(LL_CRITICAL, "Miro C exception: " << e);
rc = 1;
}
catch (const Miro::Exception& e) {
MIRO_LOG_OSTR(LL_CRITICAL,"Miro exception: " << e);
rc = 1;
}
return rc;
}
int
main(int argc, char *argv[])
{
int rc = 0;
// Init TAO Factories
TAO_Notify_Default_CO_Factory::init_svc();
TAO_Notify_Default_POA_Factory::init_svc();
TAO_Notify_Default_Collection_Factory::init_svc();
TAO_Notify_Default_EMO_Factory::init_svc();
// Parameters to be passed to the services
Miro::RobotParameters * robotParameters = Miro::RobotParameters::instance();
Pioneer::Parameters * pioneerParameters = Pioneer::Parameters::instance();
try {
// Config file processing
Miro::ConfigDocument * config = new Miro::ConfigDocument(argc, argv);
config->setSection("Robot");
config->getParameters("Robot", *robotParameters);
config->setSection("ActiveMedia");
config->getParameters("PioneerBoard", *pioneerParameters);
delete config;
#ifdef DEBUG
cout << " robot parameters:" << endl << *robotParameters << endl;
cout << " pioneer parameters:" << endl << *pioneerParameters << endl;
#endif
DBG(cout << "Initialize server daemon." << endl);
PioneerBase pioneerBase(argc, argv);
try {
DBG(cout << "Loop forever handling events." << endl);
pioneerBase.run(8);
DBG(cout << "pioneerBase ended, exiting." << endl);
}
catch (const Miro::EOutOfBounds& e) {
cerr << "OutOfBounds exception: Wrong parameter for device initialization." << endl;
}
catch (const Miro::EDevIO& e) {
cerr << "DevIO exception: Device access failed." << endl;
}
catch (const CORBA::Exception & e) {
cerr << "Uncaught CORBA exception: " << e << endl;
rc = 1;
}
}
catch (const Miro::CException& e) {
cerr << "Miro exception: " << e << endl;
rc = 1;
}
catch (const Miro::Exception& e) {
cerr << "Miro exception: " << e << endl;
rc = 1;
}
catch (...) {
cerr << "Uncaught exception: " << endl;
rc = 1;
}
return rc;
}
int
main(int argc, char *argv[])
{
int rc = 1;
std::string fileName;
// read syslog options
Miro::Log::init(argc, argv);
// Parameters to be passed to the services
Miro::RobotParameters * robotParameters = Miro::RobotParameters::instance();
Miro::LogNotifyParameters * parameters = Miro::LogNotifyParameters::instance();
// Config file processing
Miro::ConfigDocument * config =
new Miro::ConfigDocument(argc, argv);
config->setSection("Robot");
config->getParameters("Robot", *robotParameters);
config->setSection("Notification");
config->getParameters("Logging", *parameters);
delete config;
MIRO_DBG_OSTR(MIRO , LL_PRATTLE , " robot parameters:\n" << robotParameters);
MIRO_DBG_OSTR(MIRO , LL_PRATTLE , " logging parameters:\n" << parameters);
MIRO_LOG(LL_NOTICE,"Initialize server daemon.");
Miro::Server server(argc, argv);
// override default logfile name with command line parameter
if (argc > 1)
fileName = argv[1];
try {
// The one channel that we create using the factory.
CosNotifyChannelAdmin::EventChannel_var
ec(server.resolveName<CosNotifyChannelAdmin::EventChannel>("EventChannel"));
// The consumer, that gets the events
Miro::LogNotifyConsumer pushConsumer(server,
ec.in(),
server.namingContextName,
fileName,
*parameters,
false);
try {
MIRO_LOG(LL_NOTICE , "Loop forever handling events." );
server.run(1);
MIRO_LOG(LL_NOTICE , "Server loop ended, exiting." );
rc = 0;
}
catch (const Miro::Exception& e) {
MIRO_LOG_OSTR(LL_CRITICAL , "Uncought Miro excepition: " << e);
}
server.detach(1);
MIRO_LOG(LL_NOTICE , "shutting down server.");
pushConsumer.disconnect();
server.shutdown();
server.wait();
}
catch (const CORBA::Exception & e) {
MIRO_LOG_OSTR(LL_CRITICAL , "Uncaught CORBA exception: " << e);
}
return rc;
}
int
main(int argc, char *argv[])
{
int rc = 1;
// Init TAO Factories
TAO_Notify_Default_CO_Factory::init_svc();
TAO_Notify_Default_POA_Factory::init_svc();
TAO_Notify_Default_Collection_Factory::init_svc();
TAO_Notify_Default_EMO_Factory::init_svc();
try {
Miro::Log::init(argc, argv);
Miro::Configuration::init(argc, argv);
// Parameters to be passed to the services
Miro::RobotParameters * robotParameters = Miro::RobotParameters::instance();
Pioneer::Parameters * pioneerParameters = Pioneer::Parameters::instance();
// Config file processing
MIRO_LOG(LL_NOTICE,"Getting config document");
Miro::ConfigDocument * config = Miro::Configuration::document();
config->setSection("Robot");
config->getParameters("Miro::RobotParameters", *robotParameters);
MIRO_LOG(LL_NOTICE,"Got Robot Parameters");
config->setSection("ActiveMedia");
config->getParameters("Pioneer::Parameters", *pioneerParameters);
MIRO_LOG_OSTR(LL_NOTICE,
" robot parameters:" << std::endl <<
*robotParameters << std::endl <<
" pioneer parameters:" << std::endl <<
*pioneerParameters << std::endl
);
MIRO_LOG(LL_NOTICE, "Initialize server daemon.");
PioneerBase pioneerBase(argc, argv);
try {
MIRO_LOG(LL_NOTICE, "Loop forever handling events.");
pioneerBase.run(8);
MIRO_LOG(LL_NOTICE, "pioneerBase ended, exiting.");
rc = 0;
}
catch (const Miro::EOutOfBounds& e) {
MIRO_LOG_OSTR(LL_CRITICAL,
"OutOfBounds exception: Wrong parameter for device initialization." << std::endl <<
e.what);
}
catch (const Miro::EDevIO& e) {
MIRO_LOG_OSTR(LL_CRITICAL,
"DevIO exception: Device access failed." << std::endl <<
e.what);
}
catch (const CORBA::Exception & e) {
MIRO_LOG_OSTR(LL_CRITICAL, "Uncaught CORBA exception: " << e);
}
}
catch (const Miro::Exception& e) {
MIRO_LOG_OSTR(LL_CRITICAL, "Miro exception: " << e);
rc = 1;
}
return rc;
}