int main(){
signal(SIGUSR1, _signal);
int token = 123413;
int shmid;
shmid = allocateSharedMemory(sizeof(int), token);
printf("shmid is %d\n", shmid);
PID = (int *) mapSharedMemory(shmid);
*(PID) = 0;
_p2();
_p6();
while(1){
sleep(7);
printf("[p1->hey]\n");
fflush(stdout);
// sleep(10);
}
}
void drive_operation()
{
// Uint64 tests
CQLValue a1(Uint64(10));
CQLValue a2(Uint64(15));
CQLValue a3(Uint64(25));
CQLValue a4(Uint64(30));
CQLValue a5(Uint64(150));
PEGASUS_TEST_ASSERT(a1 != a2);
PEGASUS_TEST_ASSERT(a5 == a5);
PEGASUS_TEST_ASSERT(a1 < a2);
PEGASUS_TEST_ASSERT(a2 >= a1);
PEGASUS_TEST_ASSERT(a1 <= a2);
PEGASUS_TEST_ASSERT(a2 > a1);
// Sint64 tests
CQLValue b1(Sint64(10));
CQLValue b2(Sint64(15));
CQLValue b3(Sint64(25));
CQLValue b4(Sint64(30));
CQLValue b5(Sint64(150));
PEGASUS_TEST_ASSERT(b1 != b2);
PEGASUS_TEST_ASSERT(b5 == b5);
PEGASUS_TEST_ASSERT(b1 < b2);
PEGASUS_TEST_ASSERT(b2 >= b1);
PEGASUS_TEST_ASSERT(b1 <= b2);
PEGASUS_TEST_ASSERT(b2 > b1);
// Real64 tests
CQLValue c1(Real64(10.00));
CQLValue c2(Real64(15.00));
CQLValue c3(Real64(25.00));
CQLValue c4(Real64(30.00));
CQLValue c5(Real64(150.00));
PEGASUS_TEST_ASSERT(c1 != c2);
PEGASUS_TEST_ASSERT(c5 == c5);
PEGASUS_TEST_ASSERT(c1 < c2);
PEGASUS_TEST_ASSERT(c2 >= c1);
PEGASUS_TEST_ASSERT(c1 <= c2);
PEGASUS_TEST_ASSERT(c2 > c1);
// Misc
PEGASUS_TEST_ASSERT(a1 == b1);
PEGASUS_TEST_ASSERT(a1 == c1);
PEGASUS_TEST_ASSERT(b1 == a1);
PEGASUS_TEST_ASSERT(b1 == c1);
PEGASUS_TEST_ASSERT(c1 == a1);
PEGASUS_TEST_ASSERT(c1 == b1);
PEGASUS_TEST_ASSERT(a2 != b1);
PEGASUS_TEST_ASSERT(a2 != c1);
PEGASUS_TEST_ASSERT(b2 != a1);
PEGASUS_TEST_ASSERT(b2 != c1);
PEGASUS_TEST_ASSERT(c2 != a1);
PEGASUS_TEST_ASSERT(c2 != b1);
PEGASUS_TEST_ASSERT(a2 >= b1);
PEGASUS_TEST_ASSERT(a2 >= c1);
PEGASUS_TEST_ASSERT(b2 >= a1);
PEGASUS_TEST_ASSERT(b2 >= c1);
PEGASUS_TEST_ASSERT(c2 >= a1);
PEGASUS_TEST_ASSERT(c2 >= b1);
PEGASUS_TEST_ASSERT(a2 <= b3);
PEGASUS_TEST_ASSERT(a2 <= c3);
PEGASUS_TEST_ASSERT(b2 <= a3);
PEGASUS_TEST_ASSERT(b2 <= c3);
PEGASUS_TEST_ASSERT(c2 <= a3);
PEGASUS_TEST_ASSERT(c2 <= b3);
PEGASUS_TEST_ASSERT(a2 > b1);
PEGASUS_TEST_ASSERT(a2 > c1);
PEGASUS_TEST_ASSERT(b2 > a1);
PEGASUS_TEST_ASSERT(b2 > c1);
PEGASUS_TEST_ASSERT(c2 > a1);
PEGASUS_TEST_ASSERT(c2 > b1);
PEGASUS_TEST_ASSERT(a2 < b3);
PEGASUS_TEST_ASSERT(a2 < c3);
PEGASUS_TEST_ASSERT(b2 < a3);
PEGASUS_TEST_ASSERT(b2 < c3);
PEGASUS_TEST_ASSERT(c2 < a3);
PEGASUS_TEST_ASSERT(c2 < b3);
//Overflow testing
CQLValue real1(Real64(0.00000001));
CQLValue sint1(Sint64(-1));
CQLValue uint1(Sint64(1));
CQLValue uint2(Uint64(0));
PEGASUS_TEST_ASSERT(uint1 > sint1);
PEGASUS_TEST_ASSERT(real1 > sint1);
PEGASUS_TEST_ASSERT(uint2 > sint1);
PEGASUS_TEST_ASSERT(real1 > uint2);
CQLValue real2(Real64(25.00000000000001));
CQLValue real3(Real64(24.99999999999999));
CQLValue sint2(Sint64(25));
CQLValue uint3(Uint64(25));
PEGASUS_TEST_ASSERT(real2 > real3);
PEGASUS_TEST_ASSERT(real2 > sint2);
PEGASUS_TEST_ASSERT(real2 > uint3);
PEGASUS_TEST_ASSERT(real3 < sint2);
PEGASUS_TEST_ASSERT(real3 < uint3);
// String tests
CQLValue d1(String("HELLO"));
CQLValue d2(String("HEL"));
CQLValue d3(String("LO"));
CQLValue d4(String("AHELLO"));
CQLValue d5(String("ZHELLO"));
PEGASUS_TEST_ASSERT(d1 == d2 + d3);
PEGASUS_TEST_ASSERT(d1 != d2 + d4);
PEGASUS_TEST_ASSERT(d1 <= d5);
PEGASUS_TEST_ASSERT(d1 < d5);
PEGASUS_TEST_ASSERT(d1 >= d4);
PEGASUS_TEST_ASSERT(d1 > d4);
String str1("0x10");
String str2("10");
String str3("10B");
String str4("10.10");
CQLValue e1( str1, CQLValue::Hex);
CQLValue e2( str2, CQLValue::Decimal);
CQLValue e3( str3, CQLValue::Binary);
CQLValue e4( str4, CQLValue::Real);
CQLValue e5(Uint64(16));
CQLValue e6(Uint64(10));
CQLValue e7(Uint64(2));
CQLValue e8(Real64(10.10));
PEGASUS_TEST_ASSERT(e1 == e5);
PEGASUS_TEST_ASSERT(e2 == e6);
PEGASUS_TEST_ASSERT(e3 == e7);
PEGASUS_TEST_ASSERT(e4 == e8);
Array<Uint64> array1;
array1.append(1);
array1.append(2);
array1.append(3);
array1.append(4);
array1.append(5);
array1.append(6);
array1.append(7);
array1.append(8);
array1.append(9);
array1.append(10);
Array<Sint64> array2;
array2.append(1);
array2.append(2);
array2.append(3);
array2.append(4);
array2.append(5);
array2.append(6);
array2.append(7);
array2.append(8);
array2.append(9);
array2.append(10);
array2.append(3);
Array<Real64> array3;
array3.append(1.00);
array3.append(2.00);
array3.append(3.00);
array3.append(9.00);
array3.append(10.00);
array3.append(3.00);
array3.append(4.00);
array3.append(5.00);
array3.append(6.00);
array3.append(7.00);
array3.append(8.00);
Array<Uint64> array4;
array4.append(1);
array4.append(23);
array4.append(3);
array4.append(4);
array4.append(5);
array4.append(6);
array4.append(7);
array4.append(88);
array4.append(9);
array4.append(10);
Array<Sint64> array5;
array5.append(-1);
array5.append(2);
array5.append(3);
array5.append(4);
array5.append(5);
array5.append(-6);
array5.append(7);
array5.append(8);
array5.append(9);
array5.append(10);
array5.append(-3);
Array<Real64> array6;
array6.append(1.23);
array6.append(2.00);
array6.append(3.00);
array6.append(9.00);
array6.append(10.00);
array6.append(3.00);
array6.append(4.14);
array6.append(5.00);
array6.append(6.00);
array6.append(7.00);
array6.append(8.00);
CIMValue cv1(array1);
CIMValue cv2(array2);
CIMValue cv3(array3);
CIMValue cv4(array4);
CIMValue cv5(array5);
CIMValue cv6(array6);
CQLValue vr1(cv1);
CQLValue vr2(cv1);
CQLValue vr3(cv2);
CQLValue vr4(cv3);
CQLValue vr5(cv4);
CQLValue vr6(cv5);
CQLValue vr7(cv6);
PEGASUS_TEST_ASSERT(vr1 == vr2);
PEGASUS_TEST_ASSERT(vr1 == vr3);
PEGASUS_TEST_ASSERT(vr1 == vr4);
PEGASUS_TEST_ASSERT(vr4 == vr3);
PEGASUS_TEST_ASSERT(vr1 != vr5);
PEGASUS_TEST_ASSERT(vr3 != vr6);
PEGASUS_TEST_ASSERT(vr4 != vr7);
const CIMName _cimName(String("CIM_OperatingSystem"));
CIMInstance _i1(_cimName);
CIMProperty _p1(CIMName("Description"),CIMValue(String("Dave Rules")));
CIMProperty _p2(CIMName("EnabledState"),CIMValue(Uint16(2)));
CIMProperty _p3(CIMName("CurrentTimeZone"),CIMValue(Sint16(-600)));
CIMProperty _p4(CIMName("TimeOfLastStateChange"),
CIMValue(CIMDateTime(String("20040811105625.000000-360"))));
_i1.addProperty(_p1);
_i1.addProperty(_p2);
_i1.addProperty(_p3);
_i1.addProperty(_p4);
CIMInstance _i2(_cimName);
CIMProperty _p5(CIMName("Description"),
CIMValue(String("Dave Rules Everything")));
CIMProperty _p6(CIMName("EnabledState"),CIMValue(Uint16(2)));
CIMProperty _p7(CIMName("CurrentTimeZone"),CIMValue(Sint16(-600)));
CIMProperty _p8(CIMName("TimeOfLastStateChange"),
CIMValue(CIMDateTime(String("20040811105625.000000-360"))));
_i2.addProperty(_p5);
_i2.addProperty(_p6);
_i2.addProperty(_p7);
_i2.addProperty(_p8);
CQLValue cql1(_i1);
CQLValue cql2(_i1);
CQLValue cql3(_i2);
CQLValue cql4(_i2);
//PEGASUS_TEST_ASSERT(cql1 == cql1);
return;
}
void drive_resolve_specialChars()
{
const char* env = getenv("PEGASUS_HOME");
String repositoryDir(env);
repositoryDir.append("/repository");
//String repositoryDir("c:/pegasus-cvs/pegasus/repository");
CIMNamespaceName _ns("root/cimv2");
CIMRepository *_rep = new CIMRepository(repositoryDir);
RepositoryQueryContext _query(_ns, _rep);
RepositoryQueryContext _query1(_ns, _rep);
try {
const CQLIdentifier _Id1(String("CIM_OperatingSystem"));
_query.insertClassPath(_Id1);
const CIMName _cimName(String("CIM_OperatingSystem"));
CIMInstance _i1(_cimName);
CIMProperty _p1(CIMName("OSType"),CIMValue(Uint16(11)));
CIMProperty _p2(CIMName("Status"),CIMValue(String("Degraded")));
Array<Uint16> array16;
array16.append(Uint16(0));
array16.append(Uint16(1));
array16.append(Uint16(2));
array16.append(Uint16(3));
CIMProperty _p3(CIMName("OperationalStatus"),CIMValue(array16));
_i1.addProperty(_p1);
_i1.addProperty(_p2);
_i1.addProperty(_p3);
CQLChainedIdentifier ci1(String("CIM_OperatingSystem.OSType#OS400"));
CQLChainedIdentifier ci2(String("CIM_OperatingSystem.OSType#LINUX"));
CQLChainedIdentifier ci3(String("CIM_OperatingSystem.Status#Degraded"));
CQLChainedIdentifier ci5(String("CIM_OperatingSystem.Status#BOGUS"));
CQLChainedIdentifier ci6(
String("CIM_OperatingSystem.CIM_OperatingSystem::"
"OperationalStatus[2]"));
CQLValue a1(ci1);
CQLValue a2(ci2);
CQLValue a3(ci3);
CQLValue a5(ci5);
CQLValue a6(ci6);
a1.resolve(_i1, _query);
a2.resolve(_i1, _query);
a6.resolve(_i1, _query);
try
{
a3.resolve(_i1, _query);
PEGASUS_TEST_ASSERT(0);
}
catch(...)
{
PEGASUS_TEST_ASSERT(1);
}
try
{
a5.resolve(_i1, _query);
PEGASUS_TEST_ASSERT(0);
}
catch(...)
{
PEGASUS_TEST_ASSERT(1);
}
PEGASUS_TEST_ASSERT(a1 == CQLValue(Uint64(11)));
PEGASUS_TEST_ASSERT(a2 == CQLValue(Uint64(36)));
PEGASUS_TEST_ASSERT(a6 == CQLValue(Uint64(2)));
}
catch(Exception & e)
{
cout << e.getMessage() << endl;
PEGASUS_TEST_ASSERT(0);
}
delete _rep;
return;
}
void drive_resolve_primitive()
{
const char* env = getenv("PEGASUS_HOME");
String repositoryDir(env);
repositoryDir.append("/repository");
//String repositoryDir("c:/pegasus-cvs/pegasus/repository");
CIMNamespaceName _ns("root/cimv2");
CIMRepository *_rep = new CIMRepository(repositoryDir);
RepositoryQueryContext _query(_ns, _rep);
RepositoryQueryContext _query1(_ns, _rep);
try {
const CQLIdentifier _Id1(String("CIM_OperatingSystem"));
_query.insertClassPath(_Id1);
const CIMName _cimName(String("CIM_OperatingSystem"));
CIMInstance _i1(_cimName);
CIMProperty _p1(CIMName("Description"),CIMValue(String("Dave Rules")));
CIMProperty _p2(CIMName("EnabledState"),CIMValue(Uint16(2)));
CIMProperty _p3(CIMName("CurrentTimeZone"),CIMValue(Sint16(-600)));
CIMProperty _p4(CIMName("TimeOfLastStateChange"),
CIMValue(CIMDateTime(String("20040811105625.000000-360"))));
_i1.addProperty(_p1);
_i1.addProperty(_p2);
_i1.addProperty(_p3);
_i1.addProperty(_p4);
CQLChainedIdentifier ci1(
String("CIM_OperatingSystem.CIM_OperatingSystem::Description"));
CQLChainedIdentifier
ci2(String("CIM_OperatingSystem.CIM_OperatingSystem::EnabledState"));
CQLChainedIdentifier ci3(
String("CIM_OperatingSystem.CIM_OperatingSystem::CurrentTimeZone"));
CQLChainedIdentifier ci4(
String("CIM_OperatingSystem.CIM_OperatingSystem::TimeOfLastStateChange"));
CQLChainedIdentifier
ci5(String(
"CIM_OperatingSystem.CIM_EnabledLogicalElement::TimeOfLastStateChange"));
CQLChainedIdentifier
ci7(String("CIM_OperatingSystem"));
CQLChainedIdentifier
ci9(String(
"CIM_EnabledLogicalElement.CIM_OperatingSystem::CSCreationClassName"));
CQLChainedIdentifier
ci10(String("CIM_OperatingSystem.CIM_OperatingSystem::Bubba"));
CQLValue a1(ci1);
CQLValue a2(ci2);
CQLValue a3(ci3);
CQLValue a4(ci4);
CQLValue a5(ci5);
CQLValue a7(ci7);
CQLValue a9(ci9);
CQLValue a10(ci10);
CQLValue a11(_query.getClass(CIMName("CIM_OperatingSystem")));
a1.resolve(_i1, _query);
a2.resolve(_i1, _query);
a3.resolve(_i1, _query);
a4.resolve(_i1, _query);
a5.resolve(_i1, _query);
a7.resolve(_i1, _query);
a10.resolve(_i1, _query1);
a9.resolve(_i1, _query);
PEGASUS_TEST_ASSERT(a1 == CQLValue(String("Dave Rules")));
PEGASUS_TEST_ASSERT(a2 == CQLValue(Uint64(2)));
PEGASUS_TEST_ASSERT(a3 == CQLValue(Sint64(-600)));
PEGASUS_TEST_ASSERT(a4 == CQLValue(
CIMDateTime(String("20040811105625.000000-360"))));
PEGASUS_TEST_ASSERT(a5 == CQLValue(
CIMDateTime(String("20040811105625.000000-360"))));
//PEGASUS_TEST_ASSERT(a7 == CQLValue(_i1));
PEGASUS_TEST_ASSERT(a9.isNull());
PEGASUS_TEST_ASSERT(a10.isNull());
}
catch(Exception & e)
{
cout << e.getMessage() << endl;
PEGASUS_TEST_ASSERT(0);
}
delete _rep;
return;
}
bool urdf_traverser::helpers::getCommonParentPath(const std::string& p1, const std::string& p2, std::string& result)
{
if (p1.empty() || p2.empty())
{
ROS_ERROR("Both p1 and p2 have to be set in getCommonParentPath()");
return false;
}
boost::filesystem::path __p1(p1);
boost::filesystem::path __p2(p2);
bool correctAbsolute = __p1.is_relative() || __p2.is_relative();
boost::filesystem::path _p1(boost::filesystem::absolute(__p1));
boost::filesystem::path _p2(boost::filesystem::absolute(__p2));
boost::filesystem::path buildPath;
boost::filesystem::path::iterator it1(_p1.begin());
boost::filesystem::path::iterator it1_end(_p1.end());
boost::filesystem::path::iterator it2(_p2.begin());
boost::filesystem::path::iterator it2_end(_p2.end());
int p1Len = numDirectories(p1);
int p2Len = numDirectories(p2);
// ROS_INFO_STREAM("p1: "<<p1<<", p2: "<<p2);
// ROS_INFO_STREAM("p1: "<<p1Len<<", p2: "<<p2Len);
if (p2Len > p1Len)
{
//swap around paths
boost::filesystem::path::iterator tmp(it2);
it2 = it1;
it1 = tmp;
tmp = it2_end;
it2_end = it1_end;
it1_end = tmp;
}
--it1_end; // make sure the iteration goes only until the previous-last
// entry, because the last entry is either '.' or a filename
for (; it1 != it1_end; ++it1, ++it2)
{
// ROS_INFO_STREAM("Comp "<<it1->string()<<", 2 "<<it2->string());
if ((it2 == it2_end)
|| (*it1 != *it2))
{
break;
}
// append the directory
buildPath /= *it1;
// std::cout << buildPath.string() << std::endl;
}
if (!buildPath.empty())
{
result = buildPath.string();
// make sure notation ends with separator.
// Last element *will* be directory as no files
// have been added in the loop.
enforceDirectory(result, false);
// If the current directory was used to build an absolute path, remove it again.
if (correctAbsolute)
{
std::string currDir = boost::filesystem::current_path().string();
urdf_traverser::helpers::enforceDirectory(currDir, false);
if (!urdf_traverser::helpers::getSubdirPath(currDir, result, result))
{
ROS_ERROR_STREAM("Could not remove temporarily created current directory for absolute path");
return false;
}
}
return true;
}
return false;
}
