int stage::run() {
//Initialize GLFW
if(!glfwInit())
throw std::runtime_error("glfwInit failed");
//Create Window
window = glfwCreateWindow(screen_width, screen_height, "Renderer", NULL, NULL);
if (!window) {
glfwTerminate();
exit(EXIT_FAILURE);
}
glfwMakeContextCurrent(window);
//Enable V-Sync
glfwSwapInterval(1);
//Initialize GLEW
glewExperimental = GL_TRUE;
GLenum glew_status = glewInit();
if (glew_status != GLEW_OK) {
fprintf(stderr, "Error: %s\n", glewGetErrorString(glew_status));
return 1;
}
if (!GLEW_VERSION_2_0) {
fprintf(stderr, "Error: your graphic card does not support OpenGL 2.0\n");
return 1;
}
//Begin Process
if(initResources()) {
linkUniforms();
init_glSettings();
update_loop();
}
freeResources();
glfwDestroyWindow(window);
glfwTerminate();
return 0;
}
int main_update()
{
int current_version = -1, server_version = -1;
struct manifest *current_manifest = NULL, *server_manifest = NULL;
struct list *updates = NULL;
int ret;
int lock_fd;
int retries = 0;
int timeout = 10;
srand(time(NULL));
ret = swupd_init(&lock_fd);
if (ret != 0) {
/* being here means we already close log by a previously caught error */
printf("Updater failed to initialize, exiting now.\n");
return ret;
}
if (!check_network()) {
printf("Error: Network issue, unable to proceed with update\n");
ret = EXIT_FAILURE;
goto clean_curl;
}
printf("Update started.\n");
read_subscriptions_alt();
if (!signature_initialize(UPDATE_CA_CERTS_PATH "/" SIGNATURE_CA_CERT)) {
goto clean_curl;
}
/* Step 1: get versions */
ret = check_versions(¤t_version, &server_version, path_prefix);
if (ret < 0) {
goto clean_curl;
}
if (server_version <= current_version) {
printf("Version on server (%i) is not newer than system version (%i)\n", server_version, current_version);
ret = EXIT_SUCCESS;
goto clean_curl;
}
printf("Preparing to update from %i to %i\n", current_version, server_version);
/* Step 2: housekeeping */
if (rm_staging_dir_contents("download")) {
goto clean_curl;
}
load_current_manifests:
/* Step 3: setup manifests */
/* get the from/to MoM manifests */
printf("Querying current manifest.\n");
ret = load_manifests(current_version, current_version, "MoM", NULL, ¤t_manifest);
if (ret) {
/* TODO: possibly remove this as not getting a "from" manifest is not fatal
* - we just don't apply deltas */
if (retries < MAX_TRIES) {
increment_retries(&retries, &timeout);
printf("Retry #%d downloading from/to MoM Manifests\n", retries);
goto load_current_manifests;
}
printf("Failure retrieving manifest from server\n");
goto clean_exit;
}
/* Reset the retries and timeout for subsequent download calls */
retries = 0;
timeout = 10;
load_server_manifests:
printf("Querying server manifest.\n");
ret = load_manifests(current_version, server_version, "MoM", NULL, &server_manifest);
if (ret) {
if (retries < MAX_TRIES) {
increment_retries(&retries, &timeout);
printf("Retry #%d downloading server Manifests\n", retries);
goto load_server_manifests;
}
printf("Failure retrieving manifest from server\n");
goto clean_exit;
}
if (current_manifest == NULL || server_manifest == NULL) {
printf("Unable to load manifest after retrying (config or network problem?)\n");
goto clean_exit;
}
retries = 0;
timeout = 10;
ret = add_included_manifests(server_manifest);
if (ret) {
goto clean_exit;
}
subscription_versions_from_MoM(current_manifest, 1);
subscription_versions_from_MoM(server_manifest, 0);
link_submanifests(current_manifest, server_manifest);
/* updating subscribed manifests is done as part of recurse_manifest */
/* read the current collective of manifests that we are subscribed to */
current_manifest->submanifests = recurse_manifest(current_manifest, NULL);
if (!current_manifest->submanifests) {
printf("Cannot load current MoM sub-manifests, (%s), exiting\n", strerror(errno));
goto clean_exit;
}
/* consolidate the current collective manifests down into one in memory */
current_manifest->files = files_from_bundles(current_manifest->submanifests);
current_manifest->files = consolidate_files(current_manifest->files);
/* read the new collective of manifests that we are subscribed to */
server_manifest->submanifests = recurse_manifest(server_manifest, NULL);
if (!server_manifest->submanifests) {
printf("Error: Cannot load server MoM sub-manifests, (%s), exiting\n", strerror(errno));
goto clean_exit;
}
/* consolidate the new collective manifests down into one in memory */
server_manifest->files = files_from_bundles(server_manifest->submanifests);
server_manifest->files = consolidate_files(server_manifest->files);
/* prepare for an update process based on comparing two in memory manifests */
link_manifests(current_manifest, server_manifest);
#if 0
debug_write_manifest(current_manifest, "debug_manifest_current.txt");
debug_write_manifest(server_manifest, "debug_manifest_server.txt");
#endif
/* Step 4: check disk state before attempting update */
run_preupdate_scripts(server_manifest);
download_packs:
/* Step 5: get the packs and untar */
ret = download_subscribed_packs(false);
if (ret) {
// packs don't always exist, tolerate that but not ENONET
if (retries < MAX_TRIES) {
increment_retries(&retries, &timeout);
printf("Retry #%d downloading packs\n", retries);
goto download_packs;
}
printf("No network, or server unavailable for pack downloads\n");
goto clean_exit;
}
/* Step 6: some more housekeeping */
/* TODO: consider trying to do less sorting of manifests */
updates = create_update_list(current_manifest, server_manifest);
link_renames(updates, current_manifest); /* TODO: Have special lists for candidate and renames */
print_statistics(current_version, server_version);
/* Step 7: apply the update */
ret = update_loop(updates, server_manifest);
if (ret == 0) {
ret = update_device_latest_version(server_version);
printf("Update was applied.\n");
}
delete_motd();
/* Run any scripts that are needed to complete update */
run_scripts();
clean_exit:
list_free_list(updates);
free_manifest(current_manifest);
free_manifest(server_manifest);
clean_curl:
signature_terminate();
swupd_curl_cleanup();
free_subscriptions();
free_globals();
v_lockfile(lock_fd);
dump_file_descriptor_leaks();
if ((current_version < server_version) && (ret == 0)) {
printf("Update successful. System updated from version %d to version %d\n",
current_version, server_version);
} else if (ret == 0) {
printf("Update complete. System already up-to-date at version %d\n", current_version);
}
return ret;
}
int main(int argc, char** argv) {
ros::init(argc, argv, "bag_to_cmd_node");
ros::NodeHandle nh("bag_to_cmd_node");
std::string controller_manager_ns = "";
nh.getParam("controller_manager_ns", controller_manager_ns);
ros::NodeHandle controller_manager_nh(controller_manager_ns + "/controller_manager");
nh.getParam("update_frequency", frequency);
std::string bag_path = "";
if (!nh.getParam("bag_path", bag_path)) {
ROS_ERROR_STREAM("Coudln't find key bag_path in namespace " << nh.getNamespace());
return 0;
}
bag_to_cmd_ptr.reset(new bag_tools::BagToCmd());
std::string joint_state_topic;
if(nh.getParam("joint_state_topic", joint_state_topic)) {
bag_to_cmd_ptr->setJointStateTopic(joint_state_topic);
}
if (!bag_to_cmd_ptr->init(bag_path, controller_manager_nh)) {
ROS_ERROR_STREAM("Initialisation of bag_to_cmd failed.");
return 0;
}
set_terminal_buffer(false);
ROS_INFO_STREAM("[s] Start | [r] Reset | [SPACE] Pause/Resume | [z] Send zero | [e] Exit");
std::thread update_loop(update);
int c;
while (ros::ok() && !exiting) {
c = std::getchar();
switch (c) {
case ' ':
mtx.lock();
bag_to_cmd_ptr->togglePause();
mtx.unlock();
break;
case 's':
mtx.lock();
bag_to_cmd_ptr->start();
mtx.unlock();
break;
case 'r':
mtx.lock();
bag_to_cmd_ptr->stop();
mtx.unlock();
break;
case 'z':
mtx.lock();
bag_to_cmd_ptr->sendZero();
mtx.unlock();
break;
case 'e':
exiting = true;
}
}
update_loop.join();
bag_to_cmd_ptr->stop();
bag_to_cmd_ptr->deinit();
set_terminal_buffer(true);
ROS_INFO("bag_to_cmd_node finished.");
return 0;
}
