int main(int argc, char** argv) {
//yarp::os::Thread::setDefaultStackSize(3145728);
yarp::os::Network yarp;
if (!yarp.checkNetwork())
{
fprintf (stderr, "Error: could not initialize YARP network (is the nameserver running?)\n");
return 1;
}
YARP_REGISTER_DEVICES(icubmod)
yarp::os::Property options;
options.fromCommand(argc,argv);
// the "bundle" controls the implementation used for the simulation
// (as opposed to the simulation interface). The default is the
// standard ODE/SDL implementation. There is a "fake" do-nothing
// simulation for test purposes that does nothing other than create
// the standard ports (pass --fake to start this simulation).
SimulationBundle *bundle = NULL;
if (options.check("fake")) {
#ifdef ICUB_SIM_ENABLE_FAKE
bundle = new FakeSimulationBundle;
#endif
} else {
#ifdef ICUB_SIM_ENABLE_ODESDL
bundle = new OdeSdlSimulationBundle;
#endif
}
if (options.check("verbose"))
{
bundle->verbose = true;
fprintf(stdout, "Starting the simulator with verbose flag on\n");
}
if (bundle==NULL) {
fprintf(stderr,"Failed to allocate simulator\n");
return 1;
}
//SimulationRun main;
//if (!main.run(bundle,argc,argv)) return 1;
MainThread thread;
thread.bundle = bundle;
thread.argc = argc;
thread.argv = argv;
#ifdef _WIN32
//thread.setOptions(3145728);
#endif
thread.start();
thread.join();
return thread.result?0:1;
return 0;
}
/**
* Common kernel method which will be stated by target kernel.
*
* @return error code or zero.
*/
int32 Main::main()
{
int32 stage = 0;
int32 error = -1;
do{
// Stage 1
stage++;
if( not Interrupt::init() ) break;
// Stage 2
stage++;
if( not Thread::init() ) break;
// Stage 3
stage++;
if( not Synchronizer::init() ) break;
// Stage 4
stage++;
if( not Core::init() ) break;
// Stage complete
stage = -1;
{
MainThread main;
if(main.isConstructed())
{
main.start();
Thread::execute();
error = main.error();
}
}
}while(false);
switch(stage)
{
default:
case 4: Core::deinit();
case 3: Synchronizer::deinit();
case 2: Thread::deinit();
case 1: Interrupt::deinit();
case 0: break;
}
return error;
}