int main(int argc,char** argv)
{
ros::init(argc,argv,"Control_Server");
ros::NodeHandle n;
if(argc>2)
{
std::cerr<<atoi(argv[1])<<std::endl;
float freq = atof(argv[1]) ;
kraken_controller::ControlServer _server(freq);
std::vector<std::string> _files;
for(int i=2;i<argc;i++)
{
_files.push_back(argv[i]);
}
_server.loadParams(_files);
actionlib::SimpleActionServer<kraken_msgs::advancedControllerAction> _ser1(n,topics::CONTROL_ADVANCEDCONTROLLER_ACTION/*ros::this_node::getName()*/,boost::bind(&kraken_controller::ControlServer::executePoseChange, &_server, _1),false);
actionlib::SimpleActionServer<kraken_msgs::controllerAction> _ser2(n,topics::CONTROL_SETPOINT_ACTION/*ros::this_node::getName()*/,boost::bind(&kraken_controller::ControlServer::executeOrientationChange, &_server, _1),false);
ros::ServiceServer service1 = n.advertiseService(topics::CONTROL_MOVEALONG_SERV,&kraken_controller::ControlServer::moveAlongLine,&_server);
ros::ServiceServer service2 = n.advertiseService(topics::CONTROL_SWITCH_CONTROL,&kraken_controller::ControlServer::changeController,&_server);
_server.setServers(&_ser1,&_ser2);
ros::spin();
}
else
{
std::cerr<<"server 'freq' 'file1' 'file2' .... " <<std::endl;
}
return 0;
}
zpt::rest::server zpt::RESTServerPtr::setup(zpt::json _options, std::string _name) {
if (_name.length() == 0){
_name = _options->obj()->begin()->first;
}
zpt::conf::setup(_options);
zpt::rest::server _server(_name, _options);
return _server;
}
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;
}
