int ::mycomp::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
int status=EXIT_SUCCESS;
ControllerPrx controller_proxy;
DifferentialRobotPrx differentialrobot_proxy;
LaserPrx laser_proxy;
string proxy, tmp;
initialize();
try
{
if (not GenericMonitor::configGetString(communicator(), prefix, "ControllerProxy", proxy, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy ControllerProxy\n";
}
controller_proxy = ControllerPrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("ControllerProxy initialized Ok!");
mprx["ControllerProxy"] = (::IceProxy::Ice::Object*)(&controller_proxy);//Remote server proxy creation example
try
{
if (not GenericMonitor::configGetString(communicator(), prefix, "DifferentialRobotProxy", proxy, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy DifferentialRobotProxy\n";
}
differentialrobot_proxy = DifferentialRobotPrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("DifferentialRobotProxy initialized Ok!");
mprx["DifferentialRobotProxy"] = (::IceProxy::Ice::Object*)(&differentialrobot_proxy);//Remote server proxy creation example
try
{
if (not GenericMonitor::configGetString(communicator(), prefix, "LaserProxy", proxy, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy LaserProxy\n";
}
laser_proxy = LaserPrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("LaserProxy initialized Ok!");
mprx["LaserProxy"] = (::IceProxy::Ice::Object*)(&laser_proxy);//Remote server proxy creation example
IceStorm::TopicManagerPrx topicManager = IceStorm::TopicManagerPrx::checkedCast(communicator()->propertyToProxy("TopicManager.Proxy"));
SpecificWorker *worker = new SpecificWorker(mprx);
//Monitor thread
SpecificMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor, SIGNAL(kill()), &a, SLOT(quit()));
QObject::connect(worker, SIGNAL(kill()), &a, SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
while (!monitor->ready)
{
usleep(10000);
}
try
{
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "CommonBehavior.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy CommonBehavior\n";
}
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapterWithEndpoints("commonbehavior", tmp);
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "AprilTagsTopic.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy AprilTagsProxy";
}
Ice::ObjectAdapterPtr AprilTags_adapter = communicator()->createObjectAdapterWithEndpoints("apriltags", tmp);
AprilTagsPtr apriltagsI_ = new AprilTagsI(worker);
Ice::ObjectPrx apriltags = AprilTags_adapter->addWithUUID(apriltagsI_)->ice_oneway();
IceStorm::TopicPrx apriltags_topic;
if(!apriltags_topic) {
try {
apriltags_topic = topicManager->create("AprilTags");
}
catch (const IceStorm::TopicExists&) {
//Another client created the topic
try {
apriltags_topic = topicManager->retrieve("AprilTags");
}
catch(const IceStorm::NoSuchTopic&)
{
//Error. Topic does not exist
}
}
IceStorm::QoS qos;
apriltags_topic->subscribeAndGetPublisher(qos, apriltags);
}
AprilTags_adapter->activate();
// Server adapter creation and publication
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int ::controller::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
int status=EXIT_SUCCESS;
DifferentialRobotPrx differentialrobot_proxy;
LaserPrx laser_proxy;
string proxy, tmp;
initialize();
try
{
if (not GenericMonitor::configGetString(communicator(), prefix, "DifferentialRobotProxy", proxy, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy DifferentialRobotProxy\n";
}
differentialrobot_proxy = DifferentialRobotPrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("DifferentialRobotProxy initialized Ok!");
mprx["DifferentialRobotProxy"] = (::IceProxy::Ice::Object*)(&differentialrobot_proxy);//Remote server proxy creation example
try
{
if (not GenericMonitor::configGetString(communicator(), prefix, "LaserProxy", proxy, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy LaserProxy\n";
}
laser_proxy = LaserPrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("LaserProxy initialized Ok!");
mprx["LaserProxy"] = (::IceProxy::Ice::Object*)(&laser_proxy);//Remote server proxy creation example
SpecificWorker *worker = new SpecificWorker(mprx);
//Monitor thread
SpecificMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor, SIGNAL(kill()), &a, SLOT(quit()));
QObject::connect(worker, SIGNAL(kill()), &a, SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
while (!monitor->ready)
{
usleep(10000);
}
try
{
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "CommonBehavior.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy CommonBehavior\n";
}
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapterWithEndpoints("commonbehavior", tmp);
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int ::speech::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
int status=EXIT_SUCCESS;
SpeechInformPrx speechinform_proxy;
string proxy, tmp;
initialize();
IceStorm::TopicManagerPrx topicManager = IceStorm::TopicManagerPrx::checkedCast(communicator()->propertyToProxy("TopicManager.Proxy"));
IceStorm::TopicPrx speechinform_topic;
while (!speechinform_topic)
{
try
{
speechinform_topic = topicManager->retrieve("SpeechInform");
}
catch (const IceStorm::NoSuchTopic&)
{
try
{
speechinform_topic = topicManager->create("SpeechInform");
}
catch (const IceStorm::TopicExists&) {
// Another client created the topic.
}
}
}
Ice::ObjectPrx speechinform_pub = speechinform_topic->getPublisher()->ice_oneway();
SpeechInformPrx speechinform = SpeechInformPrx::uncheckedCast(speechinform_pub);
mprx["SpeechInformPub"] = (::IceProxy::Ice::Object*)(&speechinform);
SpecificWorker *worker = new SpecificWorker(mprx);
//Monitor thread
SpecificMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor, SIGNAL(kill()), &a, SLOT(quit()));
QObject::connect(worker, SIGNAL(kill()), &a, SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
while (!monitor->ready)
{
usleep(10000);
}
try
{
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "CommonBehavior.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy CommonBehavior\n";
}
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapterWithEndpoints("commonbehavior", tmp);
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "SpeechSIMDTopic.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy SpeechSIMDProxy";
}
Ice::ObjectAdapterPtr SpeechSIMD_adapter = communicator()->createObjectAdapterWithEndpoints("speechsimd", tmp);
SpeechSIMDPtr speechsimdI_ = new SpeechSIMDI(worker);
Ice::ObjectPrx speechsimd = SpeechSIMD_adapter->addWithUUID(speechsimdI_)->ice_oneway();
IceStorm::TopicPrx speechsimd_topic;
if(!speechsimd_topic) {
try {
speechsimd_topic = topicManager->create("SpeechSIMD");
}
catch (const IceStorm::TopicExists&) {
//Another client created the topic
try {
speechsimd_topic = topicManager->retrieve("SpeechSIMD");
}
catch(const IceStorm::NoSuchTopic&)
{
//Error. Topic does not exist
}
}
IceStorm::QoS qos;
speechsimd_topic->subscribeAndGetPublisher(qos, speechsimd);
}
SpeechSIMD_adapter->activate();
// Server adapter creation and publication
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int ::dialogagent::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
sigset_t sigs;
sigemptyset(&sigs);
sigaddset(&sigs, SIGHUP);
sigaddset(&sigs, SIGINT);
sigaddset(&sigs, SIGTERM);
sigprocmask(SIG_UNBLOCK, &sigs, 0);
int status=EXIT_SUCCESS;
SpeechPrx speech_proxy;
AGMExecutivePrx agmexecutive_proxy;
string proxy, tmp;
initialize();
try
{
if (not GenericMonitor::configGetString(communicator(), prefix, "SpeechProxy", proxy, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy SpeechProxy\n";
}
speech_proxy = SpeechPrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("SpeechProxy initialized Ok!");
mprx["SpeechProxy"] = (::IceProxy::Ice::Object*)(&speech_proxy);//Remote server proxy creation example
try
{
if (not GenericMonitor::configGetString(communicator(), prefix, "AGMExecutiveProxy", proxy, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy AGMExecutiveProxy\n";
}
agmexecutive_proxy = AGMExecutivePrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("AGMExecutiveProxy initialized Ok!");
mprx["AGMExecutiveProxy"] = (::IceProxy::Ice::Object*)(&agmexecutive_proxy);//Remote server proxy creation example
IceStorm::TopicManagerPrx topicManager = IceStorm::TopicManagerPrx::checkedCast(communicator()->propertyToProxy("TopicManager.Proxy"));
SpecificWorker *worker = new SpecificWorker(mprx);
//Monitor thread
SpecificMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor, SIGNAL(kill()), &a, SLOT(quit()));
QObject::connect(worker, SIGNAL(kill()), &a, SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
while (!monitor->ready)
{
usleep(10000);
}
try
{
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "CommonBehavior.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy CommonBehavior\n";
}
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapterWithEndpoints("commonbehavior", tmp);
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "AGMCommonBehavior.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy AGMCommonBehavior";
}
Ice::ObjectAdapterPtr adapterAGMCommonBehavior = communicator()->createObjectAdapterWithEndpoints("AGMCommonBehavior", tmp);
AGMCommonBehaviorI *agmcommonbehavior = new AGMCommonBehaviorI(worker);
adapterAGMCommonBehavior->add(agmcommonbehavior, communicator()->stringToIdentity("agmcommonbehavior"));
adapterAGMCommonBehavior->activate();
cout << "[" << PROGRAM_NAME << "]: AGMCommonBehavior adapter created in port " << tmp << endl;
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "AGMExecutiveTopicTopic.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy AGMExecutiveTopicProxy";
}
Ice::ObjectAdapterPtr AGMExecutiveTopic_adapter = communicator()->createObjectAdapterWithEndpoints("agmexecutivetopic", tmp);
AGMExecutiveTopicPtr agmexecutivetopicI_ = new AGMExecutiveTopicI(worker);
Ice::ObjectPrx agmexecutivetopic = AGMExecutiveTopic_adapter->addWithUUID(agmexecutivetopicI_)->ice_oneway();
IceStorm::TopicPrx agmexecutivetopic_topic;
if(!agmexecutivetopic_topic){
try {
agmexecutivetopic_topic = topicManager->create("AGMExecutiveTopic");
}
catch (const IceStorm::TopicExists&) {
//Another client created the topic
try{
agmexecutivetopic_topic = topicManager->retrieve("AGMExecutiveTopic");
}
catch(const IceStorm::NoSuchTopic&)
{
//Error. Topic does not exist
}
}
IceStorm::QoS qos;
agmexecutivetopic_topic->subscribeAndGetPublisher(qos, agmexecutivetopic);
}
AGMExecutiveTopic_adapter->activate();
// Server adapter creation and publication
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int ::AprilTagsComp::run(int argc, char* argv[])
{
QCoreApplication a(argc, argv); // NON-GUI application
sigset_t sigs;
sigemptyset(&sigs);
sigaddset(&sigs, SIGHUP);
sigaddset(&sigs, SIGINT);
sigaddset(&sigs, SIGTERM);
sigprocmask(SIG_UNBLOCK, &sigs, 0);
int status=EXIT_SUCCESS;
RGBDPrx rgbd_proxy;
RGBDBusPrx rgbdbus_proxy;
AprilTagsPrx apriltags_proxy;
CameraPrx camera_proxy;
string proxy, tmp;
initialize();
try
{
if (not GenericMonitor::configGetString(communicator(), prefix, "RGBDProxy", proxy, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy RGBDProxy\n";
}
rgbd_proxy = RGBDPrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("RGBDProxy initialized Ok!");
mprx["RGBDProxy"] = (::IceProxy::Ice::Object*)(&rgbd_proxy);//Remote server proxy creation example
try
{
if (not GenericMonitor::configGetString(communicator(), prefix, "RGBDBusProxy", proxy, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy RGBDBusProxy\n";
}
rgbdbus_proxy = RGBDBusPrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("RGBDBusProxy initialized Ok!");
mprx["RGBDBusProxy"] = (::IceProxy::Ice::Object*)(&rgbdbus_proxy);//Remote server proxy creation example
try
{
if (not GenericMonitor::configGetString(communicator(), prefix, "CameraProxy", proxy, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy CameraProxy\n";
}
camera_proxy = CameraPrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("CameraProxy initialized Ok!");
mprx["CameraProxy"] = (::IceProxy::Ice::Object*)(&camera_proxy);//Remote server proxy creation example
IceStorm::TopicManagerPrx topicManager = IceStorm::TopicManagerPrx::checkedCast(communicator()->propertyToProxy("TopicManager.Proxy"));
IceStorm::TopicPrx apriltags_topic;
while (!apriltags_topic)
{
try
{
apriltags_topic = topicManager->retrieve("AprilTags");
}
catch (const IceStorm::NoSuchTopic&)
{
try
{
apriltags_topic = topicManager->create("AprilTags");
}
catch (const IceStorm::TopicExists&){
// Another client created the topic.
}
}
}
Ice::ObjectPrx apriltags_pub = apriltags_topic->getPublisher()->ice_oneway();
AprilTagsPrx apriltags = AprilTagsPrx::uncheckedCast(apriltags_pub);
mprx["AprilTagsPub"] = (::IceProxy::Ice::Object*)(&apriltags);
SpecificWorker *worker = new SpecificWorker(mprx);
//Monitor thread
SpecificMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor, SIGNAL(kill()), &a, SLOT(quit()));
QObject::connect(worker, SIGNAL(kill()), &a, SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
while (!monitor->ready)
{
usleep(10000);
}
try
{
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "CommonBehavior.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy CommonBehavior\n";
}
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapterWithEndpoints("commonbehavior", tmp);
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "GetAprilTags.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy GetAprilTags";
}
Ice::ObjectAdapterPtr adapterGetAprilTags = communicator()->createObjectAdapterWithEndpoints("GetAprilTags", tmp);
GetAprilTagsI *getapriltags = new GetAprilTagsI(worker);
adapterGetAprilTags->add(getapriltags, communicator()->stringToIdentity("getapriltags"));
adapterGetAprilTags->activate();
cout << "[" << PROGRAM_NAME << "]: GetAprilTags adapter created in port " << tmp << endl;
// Server adapter creation and publication
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int ::muecasservos::run(int argc, char* argv[])
{
QCoreApplication a(argc, argv); // NON-GUI application
int status=EXIT_SUCCESS;
string proxy, tmp;
initialize();
SpecificWorker *worker = new SpecificWorker(mprx);
//Monitor thread
SpecificMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor, SIGNAL(kill()), &a, SLOT(quit()));
QObject::connect(worker, SIGNAL(kill()), &a, SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
while (!monitor->ready)
{
usleep(10000);
}
try
{
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "CommonBehavior.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy CommonBehavior\n";
}
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapterWithEndpoints("commonbehavior", tmp);
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "JointMotor.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy JointMotor";
}
Ice::ObjectAdapterPtr adapterJointMotor = communicator()->createObjectAdapterWithEndpoints("JointMotor", tmp);
JointMotorI *jointmotor = new JointMotorI(worker);
adapterJointMotor->add(jointmotor, communicator()->stringToIdentity("jointmotor"));
adapterJointMotor->activate();
// Server adapter creation and publication
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
