int main(int argc, char **argv) {
ros::init(argc, argv, "test_pointer");
ros::NodeHandle n;
ros::Subscriber thePoint = n.subscribe("/thePoint", 1, inPointCallback);
//could separately subscribe to the normal topic, "/the_plane_normal"
if (do_inits()!=0) return 1; //poor-man's constructor
actionlib::SimpleActionClient<davinci_traj_streamer::trajAction> g_action_client("trajActionServer", true);
// attempt to connect to the server:
ROS_INFO("waiting for server: ");
bool server_exists = false;
int max_tries = 0;
while (!server_exists) {
server_exists = g_action_client.waitForServer(ros::Duration(5.0)); // wait for up to 5 seconds
// something odd in above: does not seem to wait for 5 seconds, but returns rapidly if server not running
ros::spinOnce();
ros::Duration(0.1).sleep();
ROS_INFO("retrying...");
max_tries++;
if (max_tries > 100)
break;
}
if (!server_exists) {
ROS_WARN("could not connect to server; quitting");
return 1; // bail out; optionally, could print a warning message and retry
}
ROS_INFO("connected to action server"); // if here, then we connected to the server;
while (ros::ok()) {
ros::spinOnce();
if (g_got_new_pose) {
ROS_INFO("sending new goal");
g_got_new_pose = false;
// stuff a goal message:
g_count++;
g_goal.traj_id = g_count; // this merely sequentially numbers the goals sent
ROS_INFO("sending traj_id %d", g_count);
//g_action_client.sendGoal(g_goal, &doneCb);
g_action_client.sendGoal(g_goal);
bool finished_before_timeout = g_action_client.waitForResult(ros::Duration(5.0));
//bool finished_before_timeout = action_client.waitForResult(); // wait forever...
if (!finished_before_timeout) {
ROS_WARN("giving up waiting on result for goal number %d", g_count);
return 0;
} else {
ROS_INFO("finished before timeout");
}
ros::Duration(0.5).sleep();
}
}
return 0; // should never get here, unless roscore dies
}
int main(int argc, char** argv) {
ros::init(argc, argv, "demo_action_server_node"); // name this node
ros::NodeHandle n;
do_inits(n);
ROS_INFO("instantiating the demo action server: ");
ExampleActionServer as_object; // create an instance of the class "ExampleActionServer"
ROS_INFO("going into spin");
// from here, all the work is done in the action server, with the interesting stuff done within "executeCB()"
// you will see 5 new topics under example_action: cancel, feedback, goal, result, status
//while (!g_count_failure) {
// ros::spinOnce(); //normally, can simply do: ros::spin();
// for debug, induce a halt if we ever get our client/server communications out of sync
//}
ros::spin();
return 0;
}
int
main(int argc, char *argv[])
{
int found = 0;
FILE *fd;
#ifdef WIN3264
int i;
struct stat st;
char icon[BUFSIZE];
char path[BUFSIZE];
char popup_path[BUFSIZE];
/* The nsis uninstaller calls us with a "-nsis" argument. */
if (argc == 2 && stricmp(argv[1], "-nsis") == 0)
interactive = FALSE;
else
#endif
interactive = TRUE;
/* Initialize this program. */
do_inits(argv);
printf("This program will remove the following items:\n");
#ifdef WIN3264
if (popup_gvim_path(popup_path))
{
printf(" - the \"Edit with Vim\" entry in the popup menu\n");
printf(" which uses \"%s\"\n", popup_path);
if (interactive)
printf("\nRemove it (y/n)? ");
if (!interactive || confirm())
{
remove_popup();
/* Assume the "Open With" entry can be removed as well, don't
* bother the user with asking him again. */
remove_openwith();
}
}
else if (openwith_gvim_path(popup_path))
{
printf(" - the Vim \"Open With...\" entry in the popup menu\n");
printf(" which uses \"%s\"\n", popup_path);
printf("\nRemove it (y/n)? ");
if (confirm())
remove_openwith();
}
if (get_shell_folder_path(path, "desktop"))
{
printf("\n");
for (i = 0; i < ICON_COUNT; ++i)
{
sprintf(icon, "%s\\%s", path, icon_link_names[i]);
if (stat(icon, &st) == 0)
{
printf(" - the \"%s\" icon on the desktop\n", icon_names[i]);
++found;
}
}
if (found > 0)
{
if (interactive)
printf("\nRemove %s (y/n)? ", found > 1 ? "them" : "it");
if (!interactive || confirm())
remove_icons();
}
}
if (get_shell_folder_path(path, VIM_STARTMENU)
&& stat(path, &st) == 0)
{
printf("\n - the \"%s\" entry in the Start Menu\n", VIM_STARTMENU);
if (interactive)
printf("\nRemove it (y/n)? ");
if (!interactive || confirm())
remove_start_menu();
}
#endif
printf("\n");
found = remove_batfiles(0);
if (found > 0)
{
if (interactive)
printf("\nRemove %s (y/n)? ", found > 1 ? "them" : "it");
if (!interactive || confirm())
remove_batfiles(1);
}
fd = fopen("gvim.exe", "r");
if (fd != NULL)
{
fclose(fd);
printf("gvim.exe detected. Attempting to unregister gvim with OLE\n");
system("gvim.exe -silent -unregister");
}
delete_uninstall_key();
if (interactive)
{
printf("\nYou may now want to delete the Vim executables and runtime files.\n");
printf("(They are still where you unpacked them.)\n");
}
if (interactive)
{
rewind(stdin);
printf("\nPress Enter to exit...");
(void)getchar();
}
else
sleep(3);
return 0;
}
