static void
shutdown_camera_view(int x __attribute__ ((unused)))
{
carmen_ipc_disconnect();
printf("Kinect Laser Disconnected from robot.\n");
exit(1);
}
static void
signal_handler(int signo __attribute__ ((unused)) )
{
carmen_ipc_disconnect();
exit(0);
}
void
shutdown_robot_ackerman(int signo)
{
carmen_robot_ackerman_shutdown(signo);
carmen_ipc_disconnect();
exit(-1);
}
/* handler for C^c */
void
shutdown_module(int x)
{
if(x == SIGINT) {
carmen_ipc_disconnect();
exit(1);
}
}
static void
shutdown_param_server(int signo)
{
if (signo == SIGINT) {
carmen_ipc_disconnect();
exit(1);
}
}
static void
shutdown_laserview(int x)
{
if(x == SIGINT) {
carmen_ipc_disconnect();
exit(1);
}
}
void shutdown_module(int x)
{
if(x == SIGINT) {
carmen_robot_velocity_command(0, 0);
carmen_ipc_disconnect();
printf("Disconnected from robot.\n");
exit(0);
}
}
static void
shutdown_camera_view(int x)
{
if(x == SIGINT) {
carmen_ipc_disconnect();
printf("Disconnected from robot.\n");
exit(1);
}
}
void shutdown_module(int signo)
{
if(signo == SIGINT)
{
carmen_ipc_disconnect();
printf("Visual Tracker View: disconnected.\n");
exit(0);
}
}
void shutdown_module(int signo)
{
if(signo == SIGINT)
{
carmen_ipc_disconnect();
printf("parking_assistant: disconnected.\n");
exit(0);
}
}
void shutdown_module(int signo)
{
if(signo == SIGINT)
{
carmen_ipc_disconnect();
printf("skeleton_module_view: disconnected.\n");
exit(0);
}
}
void shutdown_module(int sig)
{
if(sig == SIGINT) {
carmen_fclose(outfile);
carmen_ipc_disconnect();
fprintf(stderr, "\nDisconnecting.\n");
exit(0);
}
}
static void nav_shutdown(int signo __attribute__ ((unused)))
{
static int done = 0;
if(!done) {
done = 1;
carmen_ipc_disconnect();
exit(-1);
}
}
void
shutdown_module(int signo)
{
carmen_ipc_disconnect();
if (signo == SIGINT)
{
printf("gps_xyz: disconnected.\n");
exit(0);
}
}
void
shutdown_module(int signo)
{
if(signo == SIGINT)
{
carmen_ipc_disconnect();
printf("ultrasonic_viewer: disconnected.\n");
exit(0);
}
}
void sig_handler(int x)
{
if(x == SIGINT) {
carmen_robot_velocity_command(0, 0);
if(!no_joystick)
carmen_close_joystick(&joystick);
carmen_ipc_disconnect();
printf("Disconnected from robot.\n");
exit(0);
}
}
void static
shutdown_module(int signo)
{
if (signo == SIGINT)
{
carmen_ipc_disconnect();
printf("moving_objects: disconnected.\n");
exit(0);
}
}
void
shutdown_module(int signo)
{
if (signo == SIGINT)
{
carmen_ipc_disconnect();
printf("visual_search: disconnected.\n");
exit(0);
}
}
static void
shutdown_module(int signo)
{
if (signo == SIGINT)
{
carmen_ipc_disconnect();
fprintf(stderr, "Shutdown grid_mapping\n");
exit(0);
}
}
void static
shutdown_module(int signo)
{
if (signo == SIGINT)
{
carmen_ipc_disconnect();
printf("simple_2d_mapper: disconnected.\n");
exit(0);
}
}
void
shutdown_module(int signo)
{
if (signo == SIGINT)
{
carmen_ipc_disconnect();
printf("navigator_spline: disconnected.\n");
exit(0);
}
}
static void
carmen_rddf_build_shutdown_module(int signo)
{
if (signo == SIGINT)
{
carmen_rddf_play_save_waypoints(carmen_rddf_filename);
carmen_ipc_disconnect();
fprintf(stderr, "\nRDDF Disconnecting...\n");
exit(0);
}
}
void
carmen_web_cam_test_shutdown_module (int signo)
{
if (signo == SIGINT)
{
carmen_ipc_disconnect ();
cvDestroyWindow("img");
printf ("web_cam_test_module: disconnected.\n");
exit (0);
}
}
void
shutdown_module(int signo)
{
if (signo == SIGINT)
{
(cvis_server->gui_->getDrawer3D()->getVertexBufferObjects())->DeleteVertexBufferObjects();
carmen_ipc_disconnect();
printf("cvis: disconnected.\n");
exit(0);
}
}
void shutdown_kinect(int signal __attribute__ ((unused)))
{
int i;
for(i=0; i<kinect_count; i++)
{
kinect_set_led_off(0);
kinect_close_device(i);
}
carmen_ipc_disconnect();
exit(0);
}
static void
navigator_shutdown(int signal)
{
static int done = 0;
if (!done)
{
carmen_ipc_disconnect();
printf("Disconnected from IPC. signal = %d\n", signal);
done = 1;
}
exit(0);
}
static void
shutdown_module()
{
static int done = 0;
if (!done)
{
carmen_ipc_disconnect();
printf("base_ackerman disconnected from IPC.\n");
done = 1;
}
exit(0);
}
static void
shutdown_traffic_light_view(int x)
{
/* release memory */
cvReleaseImage(&right_image);
/* exit module */
if (x == SIGINT)
{
carmen_verbose("Disconnecting Traffic Light View Service.\n");
carmen_ipc_disconnect();
exit(1);
}
}
void
shutdown_module(int signo)
{
if (signo == SIGINT)
{
carmen_ipc_disconnect();
printf("log_filter: disconnected\n");
if (gps_gpgga_output_file != NULL)
fclose(gps_gpgga_output_file);
if (gps_xyz_output_file != NULL)
fclose(gps_xyz_output_file);
if (fused_odometry_output_file != NULL)
fclose(fused_odometry_output_file);
if (car_odometry_output_file != NULL)
fclose(car_odometry_output_file);
exit(0);
}
}
int main(int argc, char **argv)
{
/* Connect to IPC Server */
carmen_ipc_initialize(argc, argv);
/* Check the param server version */
carmen_param_check_version(argv[0]);
/* Register shutdown cleaner handler */
signal(SIGINT, shutdown_module);
/* Read application specific parameters (Optional) */
read_parameters(argc, argv);
//Initialize relevant variables
parking_assistant_initialize();
carmen_subscribe_to_relevant_messages();
/* Define published messages by your module */
carmen_parking_assistant_define_messages();
/*
carmen_behavior_selector_state_message state;
state.goal_source = CARMEN_BEHAVIOR_SELECTOR_USER_GOAL;
state.algorithm = CARMEN_BEHAVIOR_SELECTOR_A_STAR;
state.state = BEHAVIOR_SELECTOR_PARKING;
state.parking_algorithm = CARMEN_BEHAVIOR_SELECTOR_A_STAR;
state.following_lane_algorithm = CARMEN_BEHAVIOR_SELECTOR_RRT;
state.timestamp = carmen_get_time();
state.host = carmen_get_host();
publish_carmen_selector_state_message(&state);
*/
/* Loop forever waiting for messages */
carmen_ipc_dispatch();
carmen_ipc_disconnect();
return 0;
}
