void carmen_multicentral_reconnect_centrals(carmen_centrallist_p centrallist,
void (*register_func)(void),
void (*subscribe_func)(void))
{
int i, err;
/* try to reconnect to broken centrals */
for(i = 0; i < centrallist->num_centrals; i++)
if(!centrallist->central[i].connected &&
centrallist->central[i].ready_for_reconnect) {
fprintf(stderr, "MULTICENTRAL: central %s reconnected.\n",
centrallist->central[i].host);
err = carmen_multicentral_ipc_connect(module_name,
centrallist->central[i].host);
/* if successful, get IPC context */
if(err >= 0) {
centrallist->central[i].connected = 1;
centrallist->central[i].ready_for_reconnect = 0;
centrallist->central[i].context = IPC_getContext();
x_ipcRegisterExitProc(carmen_multicentral_ipc_exit_handler);
if(register_func != NULL)
register_func();
if(subscribe_func != NULL)
subscribe_func();
}
}
}
int main(int argc, char *argv[])
{
num_contexts = argc-1;
context = (IPC_CONTEXT_PTR *)calloc(num_contexts, sizeof(IPC_CONTEXT_PTR));
/* check_alloc checked */
IPC_setVerbosity(IPC_Print_Warnings);
for (cur_context = 0; cur_context < num_contexts; cur_context++) {
IPC_connectModule(argv[0], argv[cur_context+1]);
context[cur_context] = IPC_getContext();
#if (defined(__x86_64__))
IPC_subscribe(CARMEN_TEST_IPC_NAME, msgHandler, (void *)(long)cur_context);
#else
IPC_subscribe(CARMEN_TEST_IPC_NAME, msgHandler, (void *)cur_context);
#endif
IPC_setMsgQueueLength(CARMEN_TEST_IPC_NAME, 1);
}
x_ipcRegisterExitProc(handle_exit);
while (1) {
for (cur_context = 0; cur_context < num_contexts; cur_context++) {
fprintf(stderr, "chunk %d\n", cur_context);
if (context[cur_context] != NULL) {
IPC_setContext(context[cur_context]);
IPC_listenClear(0);
sleep(1);
}
}
}
return 0;
}
void carmen_multicentral_ipc_exit_handler(void)
{
IPC_CONTEXT_PTR current_context;
int i;
current_context = IPC_getContext();
for(i = 0; i < centrallist_copy->num_centrals; i++)
if(centrallist_copy->central[i].connected &&
current_context == centrallist_copy->central[i].context) {
fprintf(stderr, "MULTICENTRAL: central %s disconnected.\n",
centrallist_copy->central[i].host);
centrallist_copy->central[i].connected = 0;
centrallist_copy->central[i].ready_for_reconnect = 0;
}
if(client_exit_handler != NULL)
client_exit_handler();
}
static int
get_context_id(void)
{
int index = 0;
IPC_CONTEXT_PTR current_context = IPC_getContext();
if (context_array == NULL)
return -1;
while (context_array[index] != NULL)
{
if (context_array[index] == current_context)
return index;
index++;
}
return -1;
}
static int
add_context(void)
{
int index;
if (context_array == NULL)
{
context_array = (IPC_CONTEXT_PTR *)calloc(10, sizeof(IPC_CONTEXT_PTR));
carmen_test_alloc(context_array);
frontlaser_msg = (carmen_robot_laser_message **)
calloc(10, sizeof(carmen_robot_laser_message *));
carmen_test_alloc(frontlaser_msg);
rearlaser_msg = (carmen_robot_laser_message **)
calloc(10, sizeof(carmen_robot_laser_message *));
carmen_test_alloc(rearlaser_msg);
sonar_msg = (carmen_robot_sonar_message **)
calloc(10, sizeof(carmen_robot_sonar_message *));
carmen_test_alloc(sonar_msg);
vector_status_msg = (carmen_robot_vector_status_message **)
calloc(10, sizeof(carmen_robot_vector_status_message *));
carmen_test_alloc(vector_status_msg);
base_data_msg = (carmen_base_binary_data_message **)
calloc(10, sizeof(carmen_base_binary_data_message *));
carmen_test_alloc(base_data_msg);
frontlaser_msg_handler = (carmen_handler_t *)
calloc(10, sizeof(carmen_handler_t));
carmen_test_alloc(frontlaser_msg_handler);
rearlaser_msg_handler = (carmen_handler_t *)
calloc(10, sizeof(carmen_handler_t));
carmen_test_alloc(rearlaser_msg_handler);
sonar_msg_handler = (carmen_handler_t *)
calloc(10, sizeof(carmen_handler_t));
carmen_test_alloc(sonar_msg_handler);
vector_status_msg_handler = (carmen_handler_t *)
calloc(10, sizeof(carmen_handler_t));
carmen_test_alloc(vector_status_msg_handler);
base_data_msg_handler = (carmen_handler_t *)
calloc(10, sizeof(carmen_handler_t));
carmen_test_alloc(base_data_msg_handler);
context_array_size = 10;
context_array[0] = IPC_getContext();
return 0;
}
index = 0;
while (index < context_array_size && context_array[index] != NULL)
index++;
if (index == context_array_size)
{
context_array_size += 10;
context_array = (IPC_CONTEXT_PTR *)realloc
(context_array, context_array_size*sizeof(IPC_CONTEXT_PTR));
carmen_test_alloc(context_array);
memset(context_array+index, 0, 10*sizeof(IPC_CONTEXT_PTR));
}
context_array[index] = IPC_getContext();
return index;
}
JNIEXPORT jlong JNICALL Java_ipc_java_IPC_IPC_1getContext (JNIEnv *env,
jclass theClass)
{
return (jlong)(size_t)IPC_getContext();
}
carmen_centrallist_p carmen_multicentral_initialize(int argc, char **argv,
void (*exit_handler)(void))
{
FILE *fp = NULL;
carmen_centrallist_p centrallist;
int err2, valid, i, one_central;
char filename[256], *centralhost, *err, line[256];
centrallist = (carmen_centrallist_p)calloc(1, sizeof(carmen_centrallist_t));
carmen_test_alloc(centrallist);
centrallist_copy = centrallist;
valid = 0;
if(argc >= 3)
for(i = 1; i < argc - 1; i++)
if(strcmp(argv[i], "-central") == 0) {
strcpy(filename, argv[i + 1]);
valid = 1;
break;
}
if(valid)
fp = fopen(filename, "r");
if(valid && fp != NULL) {
/* read from the file */
centrallist->num_centrals = 0;
centrallist->central = NULL;
do {
err = fgets(line, 256, fp);
if(err != NULL) {
valid = 0;
for(i = 0; i < (int)strlen(line); i++)
if(isalpha(line[i]))
valid = 1;
if(valid) {
(centrallist->num_centrals)++;
centrallist->central =
(carmen_central_p)realloc(centrallist->central,
centrallist->num_centrals *
sizeof(carmen_central_t));
carmen_test_alloc(centrallist->central);
sscanf(line, "%s",
centrallist->central[centrallist->num_centrals - 1].host);
centrallist->central[centrallist->num_centrals - 1].connected = 0;
centrallist->central[centrallist->num_centrals - 1].ready_for_reconnect = 0;
}
}
} while(err != NULL);
fclose(fp);
}
else {
/* if we can't open the list of centrals, default to connecting to
localhost */
if(valid)
carmen_warn("Error: could not open central list %s for reading.\n",
filename);
centrallist->num_centrals = 1;
centrallist->central = (carmen_central_p)
calloc(1, sizeof(carmen_central_t));
carmen_test_alloc(centrallist->central);
centralhost = getenv("CENTRALHOST");
if(centralhost == NULL)
strcpy(centrallist->central[0].host, "localhost");
else
strcpy(centrallist->central[0].host, centralhost);
centrallist->central[0].connected = 0;
centrallist->central[0].ready_for_reconnect = 0;
}
fprintf(stderr, "CENTRAL List:\n");
fprintf(stderr, "-------------\n");
for(i = 0; i < centrallist->num_centrals; i++)
fprintf(stderr, "%d : %s\n", i, centrallist->central[i].host);
fprintf(stderr, "\n");
/* set verbosity level */
IPC_setVerbosity(IPC_Silent);
/* construct unique IPC module name */
snprintf(module_name, 200, "%s-%d",
carmen_extract_filename(argv[0]), getpid());
/* attempt to connect to each central */
one_central = 0;
for(i = 0; i < centrallist->num_centrals; i++) {
err2 = carmen_multicentral_ipc_connect(module_name,
centrallist->central[i].host);
/* if successful, get IPC context */
if(err2 >= 0) {
fprintf(stderr, "MULTICENTRAL: central %s connected.\n",
centrallist->central[i].host);
centrallist->central[i].connected = 1;
centrallist->central[i].context = IPC_getContext();
x_ipcRegisterExitProc(carmen_multicentral_ipc_exit_handler);
one_central = 1;
}
else
centrallist->central[i].context = NULL;
}
if(!one_central && carmen_allow_no_centrals)
carmen_warn("Error: could not connect to any central.\n");
else if(!one_central)
carmen_die("Error: could not connect to any central.\n");
client_exit_handler = exit_handler;
return centrallist;
}
