int main(int argc, char **argv)
{
state_t *app = calloc(1, sizeof(state_t));
app->lcmurl = strdup(get_default_lcm_url());
if (0 != lcm_parse_url(app->lcmurl, &app->mc_addr, &app->mc_port)) {
fprintf (stderr, "invalid URL [%s]\n", app->lcmurl);
return 1;
}
struct in_addr ia;
ia = app->mc_addr;
printf("MC group: %s port: %d\n", inet_ntoa(ia), app->mc_port);
if(0 != setup_socket(app)) {
return 1;
}
app->hosts = g_hash_table_new_full(g_int_hash, g_int_equal, NULL,
(GDestroyNotify)host_destroy);
app->mainloop = g_main_loop_new(NULL, FALSE);
app->ioc = g_io_channel_unix_new(app->recvfd);
app->sid = g_io_add_watch(app->ioc, G_IO_IN, (GIOFunc)on_message_ready,
app);
g_timeout_add(100, on_timer, app);
app->report_interval_usec = DEFAULT_REPORT_INTERVAL_SECONDS * 1000000;
app->next_report_utime = timestamp_now() + 1000000;
bot_signal_pipe_glib_quit_on_kill(app->mainloop);
g_main_loop_run(app->mainloop);
g_io_channel_unref(app->ioc);
g_source_remove(app->sid);
shutdown(app->recvfd, SHUT_RDWR);
g_hash_table_destroy(app->hosts);
free(app->lcmurl);
free(app);
return 0;
}
lcm_t *
lcm_create (const char *url)
{
if (!g_thread_supported ()) g_thread_init (NULL);
#ifdef WIN32
WSADATA wsd;
int status = WSAStartup ( MAKEWORD ( 2, 0 ), &wsd );
if ( status )
{
return NULL;
}
#endif
char * provider_str = NULL;
char * network = NULL;
GHashTable * args = g_hash_table_new_full (g_str_hash, g_str_equal,
free, free);
GPtrArray * providers = g_ptr_array_new ();
lcm_t *lcm = NULL;
// initialize the list of providers
lcm_udpm_provider_init (providers);
lcm_logprov_provider_init (providers);
lcm_tcpq_provider_init (providers);
if (providers->len == 0) {
fprintf (stderr, "Error: no LCM providers found\n");
goto fail;
}
if (!url || !strlen(url))
url = getenv ("LCM_DEFAULT_URL");
if (!url || !strlen(url))
url = LCM_DEFAULT_URL;
if (0 != lcm_parse_url (url, &provider_str, &network, args)) {
fprintf (stderr, "%s:%d -- invalid URL [%s]\n",
__FILE__, __LINE__, url);
goto fail;
}
lcm_provider_info_t * info = NULL;
/* Find a matching provider */
for (unsigned int i = 0; i < providers->len; i++) {
lcm_provider_info_t * pinfo = (lcm_provider_info_t *) g_ptr_array_index (providers, i);
if (!strcmp (pinfo->name, provider_str)) {
info = pinfo;
break;
}
}
if (!info) {
fprintf (stderr, "Error: LCM provider \"%s\" not found\n",
provider_str);
g_ptr_array_free (providers, TRUE);
free (provider_str);
free (network);
g_hash_table_destroy (args);
return NULL;
}
lcm = (lcm_t *) calloc (1, sizeof (lcm_t));
lcm->vtable = info->vtable;
lcm->handlers_all = g_ptr_array_new();
lcm->handlers_map = g_hash_table_new (g_str_hash, g_str_equal);
g_static_rec_mutex_init (&lcm->mutex);
g_static_rec_mutex_init (&lcm->handle_mutex);
lcm->provider = info->vtable->create (lcm, network, args);
lcm->in_handle = 0;
free (provider_str);
free (network);
g_ptr_array_free (providers, TRUE);
g_hash_table_destroy (args);
if (!lcm->provider) {
lcm_destroy (lcm);
return NULL;
}
lcm->default_max_num_queued_messages = 30;
return lcm;
fail:
free (provider_str);
free (network);
if (args)
g_hash_table_destroy (args);
if (providers)
g_ptr_array_free (providers, TRUE);
// if (lcm)
// lcm_destroy (lcm);
return NULL;
}