zpt::rest::client zpt::RESTClientPtr::launch(int argc, char* argv[]) {
zpt::json _options = zpt::conf::init(argc, argv)->obj()->begin()->second;
if (!_options["rest"]->ok() || !_options["zmq"]->ok()) {
std::cout << "unable to start client: unsufficient configurations" << endl << flush;
exit(-10);
}
zpt::conf::setup(_options);
zpt::rest::client _client(_options);
return _client;
}
int main(int argc, char ** argv)
{
ros::init(argc, argv, "markerclient");
Client _client("marker", true);
ROS_INFO("marker_client started - waiting for server to start.");
_client.waitForServer();
ROS_INFO("markerserver started.");
ip_msgs::markerGoal _goal;
_goal.order = DETECT_MARKER;
_client.sendGoal(_goal,&done_cb,
&activeCb ,
&feedback_cb);
bool _actionStatus = _client.waitForResult(ros::Duration(300.0));
if(_actionStatus == true)
{
actionlib::SimpleClientGoalState _state = _client.getState();
ROS_INFO("marker_client : Action finished: %s",_state.toString().c_str());
}
else
{
ROS_INFO("marker_client : Action did not finish within specified time.");
_client.cancelGoal();
}
_goal.order = ALIGN_MARKER;
_client.sendGoal(_goal);
_actionStatus = _client.waitForResult(ros::Duration(300.0));
if(_actionStatus == true)
{
actionlib::SimpleClientGoalState _state = _client.getState();
ROS_INFO("marker_client : Action finished: %s",_state.toString().c_str());
}
else
{
ROS_INFO("marker_client : Action did not finish within specified time.");
_client.cancelGoal();
}
return 0;
}
int main(int argc, char ** argv)
{
ros::init(argc, argv, "markerclient");
Client _client("marker", true);
ROS_INFO("The Client has started and waiting for server to start ....");
_client.waitForServer();
ROS_INFO("The server has started ...");
actionmsg::markerGoal _goal;
_goal.order = ALLIGN_MARKER;
_client.sendGoal(_goal);
bool _actionStatus = _client.waitForResult(ros::Duration(15.0));
if(_actionStatus == true)
{
actionlib::SimpleClientGoalState _state = _client.getState();
ROS_INFO("Action finished: %s",_state.toString().c_str());
}
else
{
ROS_INFO("The action did not finish within the specified time");
_client.cancelGoal();
}
_goal.order = DETECT_MARKER;
_client.sendGoal(_goal);
_actionStatus = _client.waitForResult(ros::Duration(15.0));
if(_actionStatus == true)
{
actionlib::SimpleClientGoalState _state = _client.getState();
ROS_INFO("Action finished: %s",_state.toString().c_str());
}
else
{
ROS_INFO("The action did not finish within the specified time");
_client.cancelGoal();
}
return 0;
}
int main(void)
{
close(STDOUT_FILENO);
drizzle_st drizzle;
drizzle_con_st listen_con;
drizzle_con_st client;
drizzle_con_st server;
drizzle_return_t ret;
bool server_accepted = false;
server_state_st server_state;
client_state_st client_state;
drizzle_test("drizzle_create");
if (drizzle_create(&drizzle) == NULL)
{
drizzle_test_error("returned NULL");
}
drizzle_test("drizzle_con_add_tcp_listen");
if (drizzle_con_add_tcp_listen(&drizzle, &listen_con, DRIZZLE_TEST_HOST,
DRIZZLE_TEST_PORT, 1,
DRIZZLE_CON_NONE) == NULL)
{
drizzle_test_error("returned NULL");
}
drizzle_test("drizzle_con_listen");
ret= drizzle_con_listen(&listen_con);
if (ret != DRIZZLE_RETURN_OK)
{
drizzle_test_error("returned %s (%d)", drizzle_error(&drizzle), ret);
}
drizzle_test("drizzle_con_add_tcp");
if (drizzle_con_add_tcp(&drizzle, &client, DRIZZLE_TEST_HOST,
DRIZZLE_TEST_PORT, NULL, NULL, NULL,
DRIZZLE_CON_NONE) == NULL)
{
drizzle_test_error("returned NULL");
}
drizzle_test("drizzle_add_options");
drizzle_add_options(&drizzle, DRIZZLE_NON_BLOCKING);
server_state.state= SERVER_STATE_START;
client_state.state= CLIENT_STATE_START;
while (true)
{
if (server_accepted == false)
{
drizzle_test("drizzle_con_accept");
(void)drizzle_con_accept(&drizzle, &server, &ret);
if (ret == DRIZZLE_RETURN_OK)
{
server_accepted = true;
}
else if (ret == DRIZZLE_RETURN_COULD_NOT_CONNECT || ret == DRIZZLE_RETURN_NO_ACTIVE_CONNECTIONS)
{
break;
}
else if (ret != DRIZZLE_RETURN_IO_WAIT)
{
drizzle_test_error("returned %s (%s)", drizzle_error(&drizzle), drizzle_strerror(ret));
}
}
if (server_accepted)
{
_server(&server, &server_state);
}
_client(&client, &client_state);
if (server_state.state == SERVER_STATE_DONE &&
client_state.state == CLIENT_STATE_DONE)
{
break;
}
drizzle_test("drizzle_con_wait");
ret= drizzle_con_wait(&drizzle);
if (ret == DRIZZLE_RETURN_COULD_NOT_CONNECT || ret == DRIZZLE_RETURN_NO_ACTIVE_CONNECTIONS)
{
break;
}
else if (ret != DRIZZLE_RETURN_OK)
{
drizzle_test_error("returned %s (%d)", drizzle_error(&drizzle), ret);
}
}
if (server_accepted)
{
drizzle_test("drizzle_con_free");
drizzle_con_free(&server);
}
drizzle_test("drizzle_con_free");
drizzle_con_free(&client);
drizzle_test("drizzle_con_free");
drizzle_con_free(&listen_con);
drizzle_test("drizzle_free");
drizzle_free(&drizzle);
return 0;
}
