int main(int argc, char **argv)
{
GLFWwindow *window;
t_properties *properties;
properties = get_properties();
properties->map = (argc > 1 ? argv[1] : NULL);
window = setup_program(properties);
properties->ires = glGetUniformLocation(properties->program, "iResolution");
properties->itime = glGetUniformLocation(properties->program,
"iGlobalTime");
glfwSetCursorPosCallback(window, cursor_position_callback);
glfwSetWindowSizeCallback(window, window_size_callback);
main_loop(window, properties);
ft_putnbr(glGetError());
ft_putendl(" 2");
glDeleteShader(properties->shaders[0]);
glDeleteShader(properties->shaders[1]);
glDeleteProgram(properties->program);
glDeleteVertexArrays(1, &(properties->model));
glDeleteBuffers(1, &(properties->verts));
glDeleteBuffers(1, &(properties->indices));
glfwTerminate();
return (0);
}
bool ExecutionManager::get_program()
{
std::string get_program_srv = get_private_param("program_acquisition_service");
ros::ServiceClient program_acquisition_client = node_handle.serviceClient<tangible_msgs::GetProgram>(get_program_srv);
tangible_msgs::GetProgram program_srv;
bool success = program_acquisition_client.call(program_srv);
if(success)
{
ROS_INFO("program received");
if(program_srv.response.program.operations.empty())
{
success = false;
ROS_ERROR("Empty program received and discarded.");
}
else
{
setup_program(program_srv.response.program);
current_operation_index = 0;
}
}
else
{
ROS_ERROR("Failed to call service %s to obtain the compiled program.", get_program_srv.c_str());
}
return success;
}
int main(int argc, char *argv[])
{
int ch, run_as_daemon = 1;
const char *iface_ip = "127.0.0.1:5150";
while ((ch = getopt(argc, argv, "sDl:h")) != -1)
switch (ch) {
case 's':
fprintf(stderr,
"Warning: GRPC endpoint is already the default. "
"Specifying this flag will soon be an error. (-s)\n");
break;
case 'D':
run_as_daemon = 0;
break;
case 'l':
iface_ip = optarg;
break;
case 'h':
default:
fprintf(stderr, "Usage: %s [-D] [-l interface_ip:port]\n", argv[0]);
exit(EXIT_FAILURE);
}
if (run_as_daemon)
if (daemon(1, 1) < 0) {
perror("daemon");
exit(EXIT_FAILURE);
}
setup_program();
signal(SIGPIPE, SIG_IGN);
char *ipport = strdup(iface_ip);
char *ip = strtok(ipport, ":");
char *port = strtok(NULL, ":");
start_grpc_server(ip, atoi(port));
free(ipport);
return 0;
}
static int setup_so (SceneData* sceneData, SceneObject* so) {
SoData* soData = malloc(sizeof(SoData));
soData->attributes = list_alloc();
soData->textures = list_alloc();
GLuint programHandle;
if ( -1 == setup_program( sceneData, so, soData, &programHandle ) ) return -1;
if ( -1 == setup_attributes( sceneData, so, soData, programHandle ) ) return -1;
if ( -1 == setup_textures ( sceneData, so, soData, programHandle ) ) return -1;
if ( -1 == setup_index_buffer ( sceneData, so, soData ) ) return -1;
char soKey[KEYSIZE];
snprintf ( soKey, KEYSIZE, "%p", so );
hashmap_insert ( soKey, soData, sceneData->mapSo2SoData );
return 0;
}
