int
main(int argc, char** argv)
{
argc_g = argc;
argv_g = argv;
carmen_fused_odometry_parameters fused_odometry_parameters;
carmen_ipc_initialize(argc, argv);
carmen_param_check_version(argv[0]);
initialize_carmen_parameters(argc, argv, &fused_odometry_parameters);
register_ipc_messages();
carmen_fused_odometry_initialize(&fused_odometry_parameters);
carmen_ipc_dispatch();
return 0;
}
int
main(int argc, char** argv)
{
argc_g = argc;
argv_g = argv;
carmen_fused_odometry_parameters fused_odometry_parameters;
carmen_ipc_initialize(argc, argv);
carmen_param_check_version(argv[0]);
initialize_carmen_parameters(argc, argv, &fused_odometry_parameters);
register_ipc_messages();
carmen_fused_odometry_initialize(&fused_odometry_parameters);
// carmen_ipc_addPeriodicTimer(1.0 / fused_odometry_frequency, (TIMER_HANDLER_TYPE) correct_fused_odometry_timming_and_publish, NULL);
carmen_ipc_dispatch();
// fused_odometry_main_loop();
return 0;
}
int main(int argc, char **argv)
{
char filename[1024];
char key;
int num_scanned;
/* initialize connection to IPC network */
carmen_ipc_initialize(argc, argv);
carmen_param_check_version(argv[0]);
/* open logfile, check if file overwrites something */
if(argc < 2)
carmen_die("usage: %s <logfile>\n", argv[0]);
sprintf(filename, "%s", argv[1]);
outfile = carmen_fopen(filename, "r");
if (outfile != NULL) {
fprintf(stderr, "Overwrite %s? ", filename);
num_scanned = scanf("%c", &key);
if (toupper(key) != 'Y')
exit(-1);
carmen_fclose(outfile);
}
outfile = carmen_fopen(filename, "w");
if(outfile == NULL)
carmen_die("Error: Could not open file %s for writing.\n", filename);
carmen_logwrite_write_header(outfile);
get_logger_params(argc, argv);
if ( !(log_odometry && log_laser && log_robot_laser ) )
carmen_warn("\nWARNING: You are neither logging laser nor odometry messages!\n");
if (log_params)
get_all_params();
register_ipc_messages();
if (log_odometry)
carmen_base_subscribe_odometry_message(NULL, (carmen_handler_t)
base_odometry_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_sonars)
carmen_base_subscribe_sonar_message(NULL, (carmen_handler_t)
base_sonar_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_bumpers)
carmen_base_subscribe_bumper_message(NULL, (carmen_handler_t)
base_bumper_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_arm)
carmen_arm_subscribe_state_message(NULL, (carmen_handler_t)
arm_state_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_pantilt) {
carmen_pantilt_subscribe_scanmark_message (NULL, (carmen_handler_t)
pantilt_scanmark_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_pantilt_subscribe_laserpos_message (NULL, (carmen_handler_t)
pantilt_laserpos_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_robot_laser) {
carmen_robot_subscribe_frontlaser_message(NULL, (carmen_handler_t)
robot_frontlaser_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_robot_subscribe_rearlaser_message(NULL, (carmen_handler_t)
robot_rearlaser_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_laser) {
carmen_laser_subscribe_laser1_message(NULL, (carmen_handler_t)
laser_laser1_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser2_message(NULL, (carmen_handler_t)
laser_laser2_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser3_message(NULL, (carmen_handler_t)
laser_laser3_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser4_message(NULL, (carmen_handler_t)
laser_laser4_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser5_message(NULL, (carmen_handler_t)
laser_laser5_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_localize) {
carmen_localize_subscribe_globalpos_message(NULL, (carmen_handler_t)
localize_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_simulator) {
carmen_simulator_subscribe_truepos_message(NULL, (carmen_handler_t)
carmen_simulator_truepos_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_imu) {
carmen_imu_subscribe_imu_message(NULL, (carmen_handler_t)
imu_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_gps) {
carmen_gps_subscribe_nmea_message( NULL,
(carmen_handler_t) ipc_gps_gpgga_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_gps_subscribe_nmea_rmc_message( NULL,
(carmen_handler_t) ipc_gps_gprmc_handler,
CARMEN_SUBSCRIBE_ALL );
}
if (log_motioncmds) {
carmen_robot_subscribe_vector_move_message( NULL,
(carmen_handler_t) robot_vector_move_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_robot_subscribe_follow_trajectory_message( NULL,
(carmen_handler_t) robot_follow_trajectory_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_robot_subscribe_velocity_message( NULL,
(carmen_handler_t) robot_velocity_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_base_subscribe_velocity_message( NULL,
(carmen_handler_t) base_velocity_handler,
CARMEN_SUBSCRIBE_ALL );
}
carmen_logger_subscribe_comment_message( NULL,
(carmen_handler_t) logger_comment_handler,
CARMEN_SUBSCRIBE_ALL );
signal(SIGINT, shutdown_module);
logger_starttime = carmen_get_time();
carmen_ipc_dispatch();
return 0;
}
int main(int argc, char **argv)
{
FILE *index_file;
char index_file_name[2000];
memset(&odometry_ackerman, 0, sizeof(odometry_ackerman));
memset(&velocity_ackerman, 0, sizeof(velocity_ackerman));
memset(&visual_odometry, 0, sizeof(visual_odometry));
memset(&imu, 0, sizeof(imu));
memset(&truepos_ackerman, 0, sizeof(truepos_ackerman));
memset(&laser_ackerman1, 0, sizeof(laser_ackerman1));
memset(&laser_ackerman2, 0, sizeof(laser_ackerman2));
memset(&laser_ackerman3, 0, sizeof(laser_ackerman3));
memset(&laser_ackerman4, 0, sizeof(laser_ackerman4));
memset(&laser_ackerman5, 0, sizeof(laser_ackerman5));
memset(&laser_ldmrs, 0, sizeof(laser_ldmrs));
memset(&laser_ldmrs_objects, 0, sizeof(laser_ldmrs_objects));
memset(&laser_ldmrs_objects_data, 0, sizeof(laser_ldmrs_objects_data));
memset(&rawlaser1, 0, sizeof(rawlaser1));
memset(&rawlaser2, 0, sizeof(rawlaser2));
memset(&rawlaser3, 0, sizeof(rawlaser3));
memset(&rawlaser4, 0, sizeof(rawlaser4));
memset(&rawlaser5, 0, sizeof(rawlaser5));
memset(&gpsgga, 0, sizeof(gpsgga));
memset(&gpshdt, 0, sizeof(gpshdt));
memset(&gpsrmc, 0, sizeof(gpsrmc));
memset(&raw_depth_kinect_0, 0, sizeof(raw_depth_kinect_0));
memset(&raw_depth_kinect_1, 0, sizeof(raw_depth_kinect_1));
memset(&raw_video_kinect_0, 0, sizeof(raw_video_kinect_0));
memset(&raw_video_kinect_1, 0, sizeof(raw_video_kinect_1));
memset(&velodyne_partial_scan, 0, sizeof(velodyne_partial_scan));
memset(&velodyne_variable_scan, 0, sizeof(velodyne_variable_scan));
memset(&velodyne_gps, 0, sizeof(velodyne_gps));
memset(&xsens_euler, 0, sizeof(xsens_euler));
memset(&xsens_quat, 0, sizeof(xsens_quat));
memset(&xsens_matrix, 0, sizeof(xsens_matrix));
memset(&xsens_mtig, 0, sizeof(xsens_mtig));
memset(&bumblebee_basic_stereoimage1, 0, sizeof(bumblebee_basic_stereoimage1));
memset(&bumblebee_basic_stereoimage2, 0, sizeof(bumblebee_basic_stereoimage2));
memset(&bumblebee_basic_stereoimage3, 0, sizeof(bumblebee_basic_stereoimage3));
memset(&bumblebee_basic_stereoimage4, 0, sizeof(bumblebee_basic_stereoimage4));
memset(&bumblebee_basic_stereoimage5, 0, sizeof(bumblebee_basic_stereoimage5));
memset(&bumblebee_basic_stereoimage6, 0, sizeof(bumblebee_basic_stereoimage6));
memset(&bumblebee_basic_stereoimage7, 0, sizeof(bumblebee_basic_stereoimage7));
memset(&bumblebee_basic_stereoimage8, 0, sizeof(bumblebee_basic_stereoimage8));
memset(&bumblebee_basic_stereoimage9, 0, sizeof(bumblebee_basic_stereoimage9));
memset(&web_cam_message, 0, sizeof(web_cam_message));
memset(&ackerman_motion_message, 0, sizeof(ackerman_motion_message));
memset(&ultrasonic_message, 0, sizeof(ultrasonic_message));
carmen_ipc_initialize(argc, argv);
carmen_param_check_version(argv[0]);
register_ipc_messages ();
read_parameters (argc, argv);
carmen_playback_define_messages ();
signal(SIGINT, shutdown_playback_module);
logfile = carmen_fopen(argv[1], "r");
if (logfile == NULL)
carmen_die("Error: could not open file %s for reading.\n", argv[1]);
int fadvise_error = posix_fadvise(fileno(logfile->fp), 0, 0, POSIX_FADV_SEQUENTIAL);
if (fadvise_error)
{
printf("Could not advise POSIX_FADV_SEQUENTIAL on playback\n");
exit(1);
}
strcpy(index_file_name, argv[1]);
strcat(index_file_name, ".index");
index_file = fopen(index_file_name, "r");
if (index_file == NULL)
{
logfile_index = carmen_logfile_index_messages(logfile);
save_logindex_file(logfile_index, index_file_name);
}
else if (index_file_older_than_log_file(index_file, logfile))
{
fclose(index_file);
logfile_index = carmen_logfile_index_messages(logfile);
save_logindex_file(logfile_index, index_file_name);
}
else
{
logfile_index = load_logindex_file(index_file_name);
}
main_playback_loop();
return 0;
}