// Main
int main(int argc, char *argv[])
{
Dashel::initPlugins();
std::string httpPort = "3000";
std::vector < std::string > dashelTargetList;
bool verbose = false;
int Kiterations = -1; // set to > 0 to limit run time e.g. for valgrind
// process command line
int argCounter = 1;
while(argCounter < argc) {
const char *arg = argv[argCounter++];
if((strcmp(arg, "-v") == 0) || (strcmp(arg, "--verbose") == 0)) verbose = true;
else if((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0)) dumpHelp(std::cout, argv[0]), exit(1);
else if((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0)) dumpVersion (std::cout), exit(1);
else if((strcmp(arg, "-p") == 0) || (strcmp(arg, "--port") == 0)) httpPort = argv[argCounter++];
else if((strcmp(arg, "-K") == 0) || (strcmp(arg, "--Kiter") == 0)) Kiterations = atoi(argv[argCounter++]);
else if(strncmp(arg, "-", 1) != 0) dashelTargetList.push_back(arg);
}
// initialize Dashel plugins
Dashel::initPlugins();
// create and run bridge, catch Dashel exceptions
try {
std::auto_ptr<Aseba::Http::HttpInterface> interface(new Aseba::Http::HttpInterface(httpPort));
interface->setVerbose(verbose);
int numTargets = (int) dashelTargetList.size();
for(int i = 0; i < numTargets; i++) {
interface->addTarget(dashelTargetList[i]);
}
while(Kiterations < 0 || Kiterations > 0) {
interface->step();
if(Kiterations > 0) {
Kiterations--;
}
}
} catch(Dashel::DashelException e) {
std::cerr << "Unhandled Dashel exception: " << e.what() << std::endl;
return 1;
}
return 0;
}
// Main
int main(int argc, char *argv[])
{
Dashel::initPlugins();
std::string http_port = "3000";
std::string aesl_filename;
std::string dashel_target;
bool verbose = false;
bool dump = false;
int Kiterations = -1; // set to > 0 to limit run time e.g. for valgrind
// process command line
int argCounter = 1;
while (argCounter < argc)
{
const char *arg = argv[argCounter++];
if ((strcmp(arg, "-v") == 0) || (strcmp(arg, "--verbose") == 0))
verbose = true;
else if ((strcmp(arg, "-d") == 0) || (strcmp(arg, "--dump") == 0))
dump = true;
else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0))
dumpHelp(std::cout, argv[0]), exit(1);
else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0))
dumpVersion(std::cout), exit(1);
else if ((strcmp(arg, "-p") == 0) || (strcmp(arg, "--port") == 0))
http_port = argv[argCounter++];
else if ((strcmp(arg, "-a") == 0) || (strcmp(arg, "--aesl") == 0))
aesl_filename = argv[argCounter++];
else if ((strcmp(arg, "-K") == 0) || (strcmp(arg, "--Kiter") == 0))
Kiterations = atoi(argv[argCounter++]);
else if (strncmp(arg, "-", 1) != 0)
dashel_target = arg;
}
// initialize Dashel plugins
Dashel::initPlugins();
// create and run bridge, catch Dashel exceptions
try
{
Aseba::HttpInterface* network(new Aseba::HttpInterface(dashel_target, http_port, 1000*Kiterations));
for (int i = 0; i < 500; i++)
network->step(10); // wait for description, variables, etc
if (aesl_filename.size() > 0)
{
network->aeslLoadFile(aesl_filename);
}
else
{
const char* failsafe = "<!DOCTYPE aesl-source><network><keywords flag=\"true\"/><node nodeId=\"1\" name=\"thymio-II\"></node></network>\n";
network->aeslLoadMemory(failsafe,strlen(failsafe));
}
network->run();
delete network;
}
catch(Dashel::DashelException e)
{
std::cerr << "Unhandled Dashel exception: " << e.what() << std::endl;
return 1;
}
catch (Aseba::InterruptException& e) {
std::cerr << " attempting graceful network shutdown" << std::endl;
}
return 0;
}
int main(int argc, char *argv[])
{
Dashel::initPlugins();
unsigned port = ASEBA_DEFAULT_PORT;
bool verbose = false;
bool dump = false;
bool forward = true;
bool rawTime = false;
std::vector<std::string> additionalTargets;
int argCounter = 1;
while (argCounter < argc)
{
const char *arg = argv[argCounter];
if ((strcmp(arg, "-v") == 0) || (strcmp(arg, "--verbose") == 0))
{
verbose = true;
}
else if ((strcmp(arg, "-d") == 0) || (strcmp(arg, "--dump") == 0))
{
dump = true;
}
else if ((strcmp(arg, "-l") == 0) || (strcmp(arg, "--loop") == 0))
{
forward = false;
}
else if (strcmp(arg, "-p") == 0)
{
if (argCounter + 1 >= argc)
{
std::cerr << "port value needed" << std::endl;
return 1;
}
arg = argv[++argCounter];
port = atoi(arg);
}
else if (strcmp(arg, "--rawtime") == 0)
{
rawTime = true;
}
else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0))
{
dumpHelp(std::cout, argv[0]);
return 0;
}
else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0))
{
dumpVersion(std::cout);
return 0;
}
else
{
additionalTargets.push_back(argv[argCounter]);
}
argCounter++;
}
try
{
Aseba::Switch aswitch(port, verbose, dump, forward, rawTime);
for (size_t i = 0; i < additionalTargets.size(); i++)
{
const std::string& target(additionalTargets[i]);
Dashel::Stream* stream = aswitch.connect(target);
// see whether we have to remap the id of this stream
Dashel::ParameterSet remapIdDecoder;
remapIdDecoder.add("dummy:remapLocal=-1;remapTarget=1");
remapIdDecoder.add(target.c_str());
const int remappedLocalId(remapIdDecoder.get<int>("remapLocal"));
const int remappedTargetId(remapIdDecoder.get<int>("remapTarget"));
if (target.find("remapLocal=") != std::string::npos)
{
aswitch.remapId(stream, uint16(remappedLocalId), uint16(remappedTargetId));
if (verbose)
std::cout << "Remapping local " << remappedLocalId << " with remote " << remappedTargetId << std::endl;
}
}
/*
Uncomment this and comment aswitch.run() to flood all pears with dummy user messages
while (1)
{
aswitch.step(10);
aswitch.broadcastDummyUserMessage();
}*/
aswitch.run();
}
catch(Dashel::DashelException e)
{
std::cerr << e.what() << std::endl;
}
return 0;
}
int main(int argc, char *argv[])
{
Dashel::initPlugins();
bool respectTimings = true;
int speedFactor = 1;
std::vector<std::string> targets;
const char* inputFile = 0;
int argCounter = 1;
while (argCounter < argc)
{
const char *arg = argv[argCounter];
if (strcmp(arg, "--fastest") == 0)
{
respectTimings = false;
}
else if (strcmp(arg, "--fast") == 0)
{
speedFactor = 2;
}
else if (strcmp(arg, "--faster") == 0)
{
speedFactor = 4;
}
else if ((strcmp(arg, "-h") == 0) || (strcmp(arg, "--help") == 0))
{
dumpHelp(std::cout, argv[0]);
return 0;
}
else if ((strcmp(arg, "-V") == 0) || (strcmp(arg, "--version") == 0))
{
dumpVersion(std::cout);
return 0;
}
else if (strcmp(arg, "-f") == 0)
{
argCounter++;
if (argCounter >= argc)
{
dumpHelp(std::cout, argv[0]);
return 1;
}
else
inputFile = argv[argCounter];
}
else
{
targets.push_back(argv[argCounter]);
}
argCounter++;
}
if (targets.empty())
targets.push_back(ASEBA_DEFAULT_TARGET);
try
{
Aseba::Player player(inputFile, respectTimings, speedFactor);
for (size_t i = 0; i < targets.size(); i++)
player.connect(targets[i]);
player.run();
}
catch(Dashel::DashelException e)
{
std::cerr << e.what() << std::endl;
}
return 0;
}
