int main(int argc, char **argv)
{
int i, j, result = 0;
// process flags for -v verbose, -t terminate, -h help
for (i = 1; i < argc; i++) {
if (argv[i] && argv[i][0] == '-') {
int len = strlen(argv[i]);
for (j = 1; j < len; j++) {
switch (argv[i][j]) {
case 'h':
printf("testmonitor.c: possible arguments "
"-q quiet (suppress output), "
"-t terminate automatically, "
"-h help\n");
return 1;
break;
case 'q':
verbose = 0;
break;
case 't':
terminate = 1;
break;
default:
break;
}
}
}
}
signal(SIGINT, ctrlc);
if (setup_monitor()) {
printf("Error initializing monitor.\n");
result = 1;
goto done;
}
mapper_db_add_device_callback(db, on_device, 0);
mapper_db_add_signal_callback(db, on_signal, 0);
mapper_db_add_connection_callback(db, on_connection, 0);
mapper_db_add_link_callback(db, on_link, 0);
loop();
done:
mapper_db_remove_device_callback(db, on_device, 0);
mapper_db_remove_signal_callback(db, on_signal, 0);
mapper_db_remove_connection_callback(db, on_connection, 0);
mapper_db_remove_link_callback(db, on_link, 0);
cleanup_monitor();
return result;
}
struct _agentInfo *agentInit()
{
obs[0] = obs[1] = 0;
id = 0;
struct _agentInfo *info = &agentInfo;
memset(info, 0, sizeof(struct _agentInfo));
info->influence_device_name = strdup("/influence.1");
info->xagora_device_name = strdup("/XAgora_receiver.1");
info->admin = mapper_admin_new(0, 0, 0);
// add device
info->dev = mdev_new("agent", 9000 + id, info->admin);
while (!mdev_ready(info->dev)) {
mdev_poll(info->dev, 100);
}
printf("ordinal: %d\n", mdev_ordinal(info->dev));
fflush(stdout);
// add monitor and monitor callbacks
info->mon = mapper_monitor_new(info->admin, 0);
info->db = mapper_monitor_get_db(info->mon);
mapper_db_add_device_callback(info->db, dev_db_callback, info);
mapper_db_add_link_callback(info->db, link_db_callback, info);
// add signals
float mn=-1, mx=1;
mdev_add_input(info->dev, "observation", 2, 'f', "norm", &mn, &mx,
signal_handler, 0);
int imn=0, imx=WIDTH;
info->sig_pos = mdev_add_output(info->dev, "position", 2, 'i', 0, &imn, &imx);
info->sig_gain = mdev_add_output(info->dev, "gain", 1, 'f',
"normalized", &mn, &mx);
mx = 0.9;
info->sig_fade = mdev_add_output(info->dev, "fade", 1, 'f', "normalized", &mn, &mx);
mn = -1.5;
mx = 1.5;
info->sig_spin = mdev_add_output(info->dev, "spin", 1, 'f', "radians", &mn, &mx);
mn = -3.1415926;
mx = 3.1315926;
info->sig_dir = mdev_add_output(info->dev, "direction", 1, 'f', "radians", &mn, &mx);
mn = -1;
info->sig_flow = mdev_add_output(info->dev, "flow", 1, 'f', "noramlized", &mn, &mx);
return info;
}
