int main(int argn, char* args[])
{
ros::init(argn, args, "joint_state_to_peis");
peiskmt_initialize(&argn, args);
JointStateToPeis _my_pub_;
ROS_INFO("Main thread spinning...");
ros::spin();
return 0;
}
int main(int argc,char **args) {
if(argc > 1 && strcmp(args[1],"--help") == 0) printUsage(stderr,argc,args);
/* Initialize everything */
peiskmt_initialize(&argc,args);
while(1) {
char c=fgetc(stdin);
if(feof(stdin)) exit(0);
printf("%c",c);
}
}
int main(int argn, char** args, char** env) {
peiskmt_initialize(&argn, args, env);
// PeisSubscriberHandle s = peiskmt_subscribe(1, "Simple.Publisher_tuple");
struct simple p;
pthread_t id;
pthread_create(&id, NULL, &valueThread, &p);
printf("CALL\n");
//PeisCallbackHandle c;
peiskmt_registerMetaTupleCallback(1, "simple", &p, &callback);
int i = 20;
while(i--) {
sleep(1);
}
printf("NO CALL\n");
peiskmt_unregisterMetaTupleCallback(1, "simple");
i = 5;
while(i--) {
sleep(1);
}
printf("CALL AGAIN\n");
peiskmt_registerTupleCallback(1, "simple", &p, &callback);
i = 20;
while(i--) {
sleep(1);
}
printf("NO CALL AGAIN\n");
// peiskmt_unsubscribe(s);
pthread_join(id, NULL);
return 0;
}
int main(int argn, char* args[])
{
ros::init(argn, args, "acquire_tabletop_server");
std::vector <std::string> peis_args;
ros::removeROSArgs(argn, args, peis_args);
std::vector <char*> peis_args_c_str;
for(int i = 0; i < peis_args.size(); i++) {
peis_args_c_str.push_back(new char[peis_args[i].size()+1]);
strcpy(peis_args_c_str[i],peis_args[i].c_str());
}
argn = peis_args.size();
args = peis_args_c_str.data();
for(int i = 0; i < argn; i++) {
ROS_INFO("(%s)",args[i]);
}
peiskmt_initialize(&argn, args);
acquire_tabletop::AcquireTabletopServer ATS;
ros::MultiThreadedSpinner m_t_spinner(4);
m_t_spinner.spin();
}
int main(int argc,char **args) {
int i,j;
int owner=-1; /* Default owner used when setting tuples */
int hold=0; /* If we should hold (stay alive) after settings tuples or quit */
int cited; /* True if we are currently processig a word within " mark's */
if(argc > 1 && strcmp(args[1],"--help") == 0) printUsage(stderr,argc,args);
int myArgc=argc;
char *myArgs[4096];
/* Initialize tuplespace */
peiskmt_initialize(&argc,args);
sleep(3);
/* Copy commandline args (translating leading -- to nothing) */
for(i=0;i<myArgc;i++) {
if(strncmp(args[i],"--",2) == 0)
myArgs[i]=strdup(args[i]+2);
else myArgs[i]=strdup(args[i]);
}
/* Read all tuples from commandline */
for(i=1;i<myArgc;i++) {
fflush(stdout);
if(strcmp(myArgs[i],"load") == 0) {
i++;
FILE *fp;
if(strcmp(myArgs[i],"-") == 0) fp = stdin;
else fp = fopen(myArgs[i],"rb");
if(!fp) continue;
i=i+1;
int pos=i;
while(!feof(fp)) {
char c;
char word[MAX_LEN];
c=fgetc(fp);
if(feof(fp)) break;
/* Remove all leading comments */
if(c == '#') do { c=fgetc(fp); } while(!feof(fp) && c != '\n');
/* Remove all leading whitespace */
else if(isspace(c)) { }
else {
/* Read a word */
if(c == '\"') { cited=1; c=fgetc(fp); }
else cited=0;
for(j=0;j<MAX_LEN && !feof(fp);) {
if(feof(fp)) break;
if(c == '\\') {
/* Backquoted character - treat next character litteraly */
c=fgetc(fp);
word[j++] = c;
} else if(c == '\"') {
/* It's a citation mark, might end a word */
if(cited) break;
else { fprintf(stderr,"Error - bad word %s\"",word); exit(0); }
} else if(isspace(c) && !cited) break;
else word[j++]=c;
c=fgetc(fp);
}
word[j++]=0;
/* Add it to the current position of the arguments list */
myArgc++;
for(j=pos+1;j<myArgc;j++) myArgs[j]=myArgs[j-1];
myArgs[pos]=strdup(word);
pos++;
}
}
i=i-1;
}
else if(strcmp(myArgs[i],"set") == 0) {
char *key = myArgs[++i];
char *value = myArgs[++i];
if(owner == -1) peiskmt_setTuple(key,strlen(value)+1,value);
else peiskmt_setRemoteTuple(owner,key,strlen(value)+1,value,"fake/mime",PEISK_ENCODING_ASCII);
} else if(strcmp(myArgs[i],"owner") == 0) {
errno=0;
owner=strtol(myArgs[++i],NULL,10);
if(errno) { fprintf(stderr,"Error - bad owner string '%s'\n",myArgs[i]); owner=-1; }
} else if(strncmp(myArgs[i],"peis-",5) == 0) {}
else if(strcmp(myArgs[i],"append") == 0) {
char *key = myArgs[++i];
char *value = myArgs[++i];
PeisTuple abstract;
peiskmt_initTuple(&abstract);
peiskmt_setTupleName(&abstract,key);
if(owner == -1) abstract.owner = peisk_peisid();
else abstract.owner = owner;
/* TODO... should be MT!! */
abstract.creator = -1;
abstract.ts_write[0] = -1;
abstract.ts_write[1] = -1;
abstract.ts_expire[0] = -1;
abstract.ts_expire[1] = -1;
abstract.ts_user[0] = -1;
abstract.ts_user[1] = -1;
peiskmt_appendTupleByAbstract(&abstract,strlen(value)+1,value);
}
else if(strcmp(myArgs[i],"hold") == 0) hold=1;
else if(strcmp(myArgs[i],"dont-hold") == 0) hold=0;
else if(strcmp(myArgs[i],"wait") == 0) {
float f;
int ti;
char *time = myArgs[++i];
if(sscanf(time,"%f",&f) == 1)
usleep((int)f*1000000);
else if(sscanf(time,"%d",&ti) == 1)
usleep(ti*1000000);
}
else {
fprintf(stderr,"Error - unknown option '%s'\n",myArgs[i]);
}
}
if(hold)
while(peisk_isRunning) { usleep(100); }
else
sleep(3);
peiskmt_shutdown();
}
int main(int argc,char **args)
{
char configfilename[MAXLENGTH];
char logfilename[MAXLENGTH];
FILE* logfile;
int skipHeader = 0;
char tuplename[MAXLENGTH];
int isRunning;
int element_ready;
PeisTuple* mytuple;
int i;
int ID, len;
char* value;
time_t now;
struct tm ts;
char date[MAXLENGTH];
float kernel_time;
// handlers
PeisSubscriberHandle subHandler[MAXKEYS];
PeisCallbackHandle callHandler[MAXKEYS];
// init isRunning
isRunning = 1;
// init the semaphore
pthread_mutex_init(&tuple_processing, NULL);
// init the tuple list
initializeList(&tuples);
// initial check for arguments
memcpy(configfilename, CONFIGFILE, strlen(CONFIGFILE)+1);
memcpy(logfilename, LOGFILE, strlen(CONFIGFILE)+1);
for ( i = 0; i < argc; i++ )
{
if (strcmp(args[i],"--help") == 0) { printUsage(stderr,argc,args); }
if (strcmp(args[i],"--conf") == 0) { memcpy(configfilename, args[i+1], strlen(args[i+1])+1); }
if (strcmp(args[i],"--log") == 0) { memcpy(logfilename, args[i+1], strlen(args[i+1])+1); }
if (strcmp(args[i],"--skip") == 0) { skipHeader = 1; }
}
// instantiate & initialize the PEIS component
peiskmt_initialize(&argc, args);
// prepare the header of the log file
// time: "ddd yyyy-mm-dd hh:mm:ss zzz"
time(&now);
ts = *localtime(&now);
strftime(date, sizeof(date), "%a %Y-%m-%d %H:%M:%S %Z", &ts);
kernel_time = peiskmt_gettimef();
// Printing the header for the log file
if (skipHeader == 0)
{
if( !(logfile = fopen(logfilename, "w") ) )
{
printf("Error opening the log file %s \n", logfilename);
isRunning = 0;
}
ID = peiskmt_peisid();
PeisTuple* kernelTuple = peiskmt_getTuple(ID,"kernel.version",PEISK_KEEP_OLD|PEISK_NON_BLOCKING);
fprintf(logfile, "; Kernel version %s\n", kernelTuple->data);
fprintf(logfile, "; peislogger version 1.0\n");
fprintf(logfile, "; starting at %f kernel time, %s\n", kernel_time, date);
fprintf(logfile, "%f\n", kernel_time);
fprintf(logfile, "; structure of recorded data:\n");
fprintf(logfile, "; kernel_ts,write_ts,user_ts,expire_ts,owner,creator,keyDepth,keys,datalenght,data\n");
fclose(logfile);
}
// Reading the keys of the tuples to subscribe
if (!readConfiguration(configfilename))
{
printf("Problem reading from configuration file %s \n", configfilename);
isRunning = 0;
}
// Subscribe to all the keys specified in the configuration file and attach a callback
for( i = 0 ; i < keyscounter ; i++)
{
printf("Subscribing to tuple: \"%s\" ", keys[i]);
printf("...");
subHandler[i] = peiskmt_subscribe(-1, keys[i]);
callHandler[i] = peiskmt_registerTupleCallback(-1, keys[i], NULL, (void*)eventCallback);
printf("DONE \n");
}
while( isRunning && peiskmt_isRunning() )
{
// get the tuple to write
// not very elegant, but this way I can use the semaphores
pthread_mutex_lock(&tuple_processing);
element_ready = isNotEmpty(&tuples);
pthread_mutex_unlock(&tuple_processing);
if(element_ready)
{
pthread_mutex_lock(&tuple_processing);
mytuple = getAndDeleteFirstElement(&tuples);
pthread_mutex_unlock(&tuple_processing);
peiskmt_printTuple(mytuple);
printf("\n");
if ( !(logfile = fopen(logfilename, "a") ) )
{
printf("Error appending to logfile file %s \n", logfilename);
exit(0);
}
peiskmt_getTupleName(mytuple, tuplename, sizeof(tuplename));
fprintf(logfile, "%f %d.%d %d.%d %d.%d %d %d %d %d %d %s %d %s\n",
peiskmt_gettimef(), mytuple->ts_write[0], mytuple->ts_write[1],
mytuple->ts_user[0], mytuple->ts_user[1], mytuple->ts_expire[0], mytuple->ts_expire[1],
mytuple->owner, mytuple->creator, mytuple->alloclen, mytuple->isNew, mytuple->keyDepth,
tuplename, strlen(mytuple->data)+1, (char*)mytuple->data);
fclose(logfile);
}
usleep(10000);
}
// unsubscribe
for( i = 0 ; i < keyscounter ; i++)
{
peiskmt_unsubscribe(subHandler[i]);
peiskmt_unregisterTupleCallback(callHandler[i]);
}
// free the memory of both the queue and the variables
peiskmt_freeTuple(mytuple);
emptyQueue(&tuples);
pthread_mutex_destroy(&tuple_processing);
peiskmt_shutdown();
}
