Drone* DroneDBE::createDrone(){
if (!mDll){
throw("Drone class should never be instanciated without an associated DLL");
}else{
typedef Shmoulette::Drone* (__cdecl* DLLDroneCallback)();
DLLDroneCallback dllFunc = (DLLDroneCallback)::GetProcAddress(mDll, "getInstance");
Drone* d = dllFunc();
d->init(this);
if (mPythonCallback != ""){
d->setPythonCallback(mPythonCallback);
}
return d;
}
}
int main(int argc, char *argv[])
{
int exitCode = 0;
dpdk_init(argc, argv);
QCoreApplication app(argc, argv);
Drone *drone = new Drone();
OstProtocolManager = new ProtocolManager();
app.setApplicationName(drone->objectName());
// TODO: command line options
// -v (--version)
// -h (--help)
// -p (--portnum)
if (argc > 1)
myport = atoi(argv[2]);
if (!drone->init())
{
exitCode = -1;
goto _exit;
}
qDebug("Version: %s", version);
qDebug("Revision: %s", revision);
#ifdef Q_OS_UNIX
struct sigaction sa;
memset(&sa, 0, sizeof(sa));
sa.sa_handler = cleanup;
if (sigaction(SIGTERM, &sa, NULL))
qDebug("Failed to install SIGTERM handler. Cleanup may not happen!!!");
if (sigaction(SIGINT, &sa, NULL))
qDebug("Failed to install SIGINT handler. Cleanup may not happen!!!");
#endif
exitCode = app.exec();
_exit:
delete drone;
delete OstProtocolManager;
google::protobuf::ShutdownProtobufLibrary();
return exitCode;
}
void *Drone_new(size_t size, Drone proto, int *id)
{
// setup the default functions in case they aren't set
if(!proto.init) proto.init = Drone_init;
if(!proto.boot) proto.boot = Drone_boot;
if(!proto.stand_by) proto.stand_by = Drone_stand_by;
if(!proto.navigate) proto.navigate = Drone_navigate;
if(!proto.pick_up) proto.pick_up = Drone_pick_up;
if(!proto.lift_off) proto.lift_off = Drone_lift_off;
if(!proto.deliver) proto.deliver= Drone_deliver;
if(!proto.return_home) proto.return_home = Drone_return_home;
if(!proto.land) proto.land = Drone_land;
if(!proto.state) proto.state = Drone_state;
// this seems weird, but we can make a struct of one size,
// then point a different pointer at it to "cast" it
Drone *el = calloc(1, size);
*el = proto;
// copy the id over
el->id = *id;
el->curr_state = 0;
el->busy = 0;
el->curr_x = 0;
el->curr_y = 0;
// initialize it with whatever init we were given
if(!el->init(el)) {
// looks like it didn't initialize properly
el->destroy(el);
return NULL;
} else {
// all done, we made an object of any type
return el;
}
}
int main(int argc, char *argv[])
{
int exitCode = 0;
QCoreApplication app(argc, argv);
Drone *drone;
// TODO: command line options
// -v (--version)
// -h (--help)
// -p (--portnum)
if (argc > 1)
myport = atoi(argv[1]);
app.setApplicationName("Drone");
app.setOrganizationName("Ostinato");
/* (Portable Mode) If we have a .ini file in the same directory as the
executable, we use that instead of the platform specific location
and format for the settings */
QString portableIni = QCoreApplication::applicationDirPath()
+ "/drone.ini";
if (QFile::exists(portableIni))
appSettings = new QSettings(portableIni, QSettings::IniFormat);
else
appSettings = new QSettings(QSettings::IniFormat,
QSettings::UserScope,
app.organizationName(),
app.applicationName().toLower());
drone = new Drone();
OstProtocolManager = new ProtocolManager();
if (!drone->init())
{
exitCode = -1;
goto _exit;
}
qDebug("Version: %s", version);
qDebug("Revision: %s", revision);
#ifdef Q_OS_UNIX
struct sigaction sa;
memset(&sa, 0, sizeof(sa));
sa.sa_handler = cleanup;
if (sigaction(SIGTERM, &sa, NULL))
qDebug("Failed to install SIGTERM handler. Cleanup may not happen!!!");
if (sigaction(SIGINT, &sa, NULL))
qDebug("Failed to install SIGINT handler. Cleanup may not happen!!!");
#endif
exitCode = app.exec();
_exit:
delete drone;
delete OstProtocolManager;
google::protobuf::ShutdownProtobufLibrary();
return exitCode;
}
