int main(int argc, char **argv) { ros::init(argc, argv, "rovio_av_test"); if (argc != 2) { ROS_INFO("usage: rovio_av_test hello.wav"); return 1; } ros::NodeHandle n; ros::ServiceClient client = n.serviceClient<rovio_shared::wav_play>("wav_play"); rovio_shared::wav_play srv; std::string s_argv(argv[1]); srv.request.f = s_argv; ROS_INFO("srv.request.f=%s", argv[1]); if (client.call(srv)) { // ROS_INFO("Sum: %ld", (long int)srv.response.sum); } else { ROS_ERROR("Failed to call service send_a_wav"); return 1; } return 0; }
// TODO: use a vector<string> would make all this a bit more readable void RInside::initialize(const int argc, const char* const argv[], const bool loadRcpp, const bool verbose, const bool interactive) { if (instance_m) { throw std::runtime_error( "can only have one RInside instance" ) ; } else { instance_m = this ; } verbose_m = verbose; // Default is false interactive_m = interactive; // generated from Makevars{.win} #include "RInsideEnvVars.h" #ifdef WIN32 // we need a special case for Windows where users may deploy an RInside binary from CRAN // which will have R_HOME set at compile time to CRAN's value -- so let's try to correct // this here: a) allow user's setting of R_HOME and b) use R's get_R_HOME() function if (getenv("R_HOME") == NULL) { // if on Windows and not set char *rhome = get_R_HOME(); // query it, including registry if (rhome != NULL) { // if something was found setenv("R_HOME", get_R_HOME(), 1); // store what we got as R_HOME } // this will now be used in next blocks } #endif for (int i = 0; R_VARS[i] != NULL; i+= 2) { if (getenv(R_VARS[i]) == NULL) { // if env variable is not yet set if (setenv(R_VARS[i],R_VARS[i+1],1) != 0){ throw std::runtime_error(std::string("Could not set R environment variable ") + std::string(R_VARS[i]) + std::string(" to ") + std::string(R_VARS[i+1])); } } } #ifndef WIN32 R_SignalHandlers = 0; // Don't let R set up its own signal handlers #endif init_tempdir(); const char *R_argv[] = {(char*)programName, "--gui=none", "--no-save", "--no-readline", "--silent", "--vanilla", "--slave"}; int R_argc = sizeof(R_argv) / sizeof(R_argv[0]); Rf_initEmbeddedR(R_argc, (char**)R_argv); #ifndef WIN32 R_CStackLimit = -1; // Don't do any stack checking, see R Exts, '8.1.5 Threading issues' #endif R_ReplDLLinit(); // this is to populate the repl console buffers structRstart Rst; R_DefParams(&Rst); Rst.R_Interactive = (Rboolean) interactive_m; // sets interactive() to eval to false #ifdef WIN32 Rst.rhome = getenv("R_HOME"); // which is set above as part of R_VARS Rst.home = getRUser(); Rst.CharacterMode = LinkDLL; Rst.ReadConsole = myReadConsole; Rst.WriteConsole = myWriteConsole; Rst.CallBack = myCallBack; Rst.ShowMessage = myAskOk; Rst.YesNoCancel = myAskYesNoCancel; Rst.Busy = myBusy; #endif R_SetParams(&Rst); if (true || loadRcpp) { // we always need Rcpp, so load it anyway // Rf_install is used best by first assigning like this so that symbols get into the symbol table // where they cannot be garbage collected; doing it on the fly does expose a minuscule risk of garbage // collection -- with thanks to Doug Bates for the explanation and Luke Tierney for the heads-up SEXP suppressMessagesSymbol = Rf_install("suppressMessages"); SEXP requireSymbol = Rf_install("require"); Rf_eval(Rf_lang2(suppressMessagesSymbol, Rf_lang2(requireSymbol, Rf_mkString("Rcpp"))), R_GlobalEnv); } global_env_m = new Rcpp::Environment(); // member variable for access to R's global environment autoloads(); // loads all default packages, using code autogenerate from Makevars{,.win} if ((argc - optind) > 1){ // for argv vector in Global Env */ Rcpp::CharacterVector s_argv( argv+(1+optind), argv+argc ); assign(s_argv, "argv"); } else { assign(R_NilValue, "argv") ; } init_rand(); // for tempfile() to work correctly */ }
// TODO: use a vector<string> would make all this a bit more readable void RInside::initialize(const int argc, const char* const argv[], const bool loadRcpp) { logTxt("RInside::ctor BEGIN", verbose); if (instance_) { throw std::runtime_error( "can only have one RInside instance" ) ; } else { instance_ = this ; } verbose_m = false; // Default is false // generated as littler.h via from svn/littler/littler.R #include <RInsideEnvVars.h> for (int i = 0; R_VARS[i] != NULL; i+= 2) { if (getenv(R_VARS[i]) == NULL) { // if env variable is not yet set if (setenv(R_VARS[i],R_VARS[i+1],1) != 0){ //perror("ERROR: couldn't set/replace an R environment variable"); //exit(1); throw std::runtime_error(std::string("Could not set R environment variable ") + std::string(R_VARS[i]) + std::string(" to ") + std::string(R_VARS[i+1])); } } } #ifndef WIN32 R_SignalHandlers = 0; // Don't let R set up its own signal handlers #endif #ifdef CSTACK_DEFNS R_CStackLimit = (uintptr_t)-1; // Don't do any stack checking, see R Exts, '8.1.5 Threading issues' #endif init_tempdir(); const char *R_argv[] = {(char*)programName, "--gui=none", "--no-save", "--no-readline", "--silent", "", ""}; const char *R_argv_opt[] = {"--vanilla", "--slave"}; int R_argc = (sizeof(R_argv) - sizeof(R_argv_opt) ) / sizeof(R_argv[0]); Rf_initEmbeddedR(R_argc, (char**)R_argv); R_ReplDLLinit(); // this is to populate the repl console buffers structRstart Rst; R_DefParams(&Rst); Rst.R_Interactive = (Rboolean) FALSE; // sets interactive() to eval to false #ifdef WIN32 Rst.rhome = getenv("R_HOME"); // which is set above as part of R_VARS Rst.home = getRUser(); Rst.CharacterMode = LinkDLL; Rst.ReadConsole = myReadConsole; Rst.WriteConsole = myWriteConsole; Rst.CallBack = myCallBack; Rst.ShowMessage = myAskOk; Rst.YesNoCancel = myAskYesNoCancel; Rst.Busy = myBusy; #endif R_SetParams(&Rst); global_env = R_GlobalEnv ; if (loadRcpp) { // if asked for, load Rcpp (before the autoloads) // Rf_install is used best by first assigning like this so that symbols get into the symbol table // where they cannot be garbage collected; doing it on the fly does expose a minuscule risk of garbage // collection -- with thanks to Doug Bates for the explanation and Luke Tierney for the heads-up SEXP suppressMessagesSymbol = Rf_install("suppressMessages"); SEXP requireSymbol = Rf_install("require"); Rf_eval(Rf_lang2(suppressMessagesSymbol, Rf_lang2(requireSymbol, Rf_mkString("Rcpp"))), R_GlobalEnv); } autoloads(); // loads all default packages if ((argc - optind) > 1){ // for argv vector in Global Env */ Rcpp::CharacterVector s_argv( argv+(1+optind), argv+argc ); assign(s_argv, "argv"); } else { assign(R_NilValue, "argv") ; } init_rand(); // for tempfile() to work correctly */ logTxt("RInside::ctor END", verbose); }