int main(int argc, char *argv[]) {
int i,j;
IPC_RETURN_TYPE ret;
if (argc < 3 || carmen_find_param("-help") ||
carmen_find_param("--help") || carmen_find_param("-h")) {
fprintf(stderr,"\n%s is used to connect serveral carmen-simulators\n", argv[0]);
fprintf(stderr,"so that the individual robots can see each other.\n\n");
fprintf(stderr,"Usage: %s [centralhost of 1st simulator] [...] [n-th simulator]\n", argv[0]);
fprintf(stderr,"(e.g. %s localhost localhost:1382 locahost:1383)\n", argv[0]);
exit(0);
}
for (i=1; i<argc; i++) {
for (j=1; j<argc; j++) {
if (i != j) {
ret = IPC_connectModule(argv[0], argv[j]);
if (ret != IPC_OK) {
carmen_die("Error: could not connect to central on: %s\n", argv[j]);
}
carmen_simulator_connect_robots(argv[i]);
}
}
}
fprintf(stderr,"simulators are now successly connected!\n");
return 0;
}
int main(int argc, char *argv[])
{
num_contexts = argc-1;
context = (IPC_CONTEXT_PTR *)calloc(num_contexts, sizeof(IPC_CONTEXT_PTR));
/* check_alloc checked */
IPC_setVerbosity(IPC_Print_Warnings);
for (cur_context = 0; cur_context < num_contexts; cur_context++) {
IPC_connectModule(argv[0], argv[cur_context+1]);
context[cur_context] = IPC_getContext();
#if (defined(__x86_64__))
IPC_subscribe(CARMEN_TEST_IPC_NAME, msgHandler, (void *)(long)cur_context);
#else
IPC_subscribe(CARMEN_TEST_IPC_NAME, msgHandler, (void *)cur_context);
#endif
IPC_setMsgQueueLength(CARMEN_TEST_IPC_NAME, 1);
}
x_ipcRegisterExitProc(handle_exit);
while (1) {
for (cur_context = 0; cur_context < num_contexts; cur_context++) {
fprintf(stderr, "chunk %d\n", cur_context);
if (context[cur_context] != NULL) {
IPC_setContext(context[cur_context]);
IPC_listenClear(0);
sleep(1);
}
}
}
return 0;
}
int main(int argc, char* argv[])
{
gpsHeading = 0;
compassHeading = 0;
compassYawRate = 0;
yawRate = 0;
gpsSpeed = 0;
leftWheelSpeed = 0;
rightWheelSpeed = 0;
QueryPerformanceFrequency(&frequency);
QueryPerformanceCounter(¤tTick);
//Connect to IPC
IPC_connectModule("StateEstimationTest","localhost");
time_t theTime;
time(&theTime);
tm *localTime = localtime(&theTime);
char filename[1000];
sprintf(filename, LOGGING_ROOT);
sprintf(filename + strlen(LOGGING_ROOT), "%04d-%02d-%02d-%02d-%02d-%02d-SEtest.csv", localTime->tm_year + 1900, localTime->tm_mon + 1, localTime->tm_mday, localTime->tm_hour, localTime->tm_min, localTime->tm_sec);
file.open(filename);
file << "GPS Speed,GPS Heading,Compass Heading,Compass Yaw Rate,Gyro Yaw Rate,LeftWheel,RightWheel" << endl;
try
{
//Subscribe to GPS and wheel speed
Messages::StateEstimation.subscribe(StateEstHandler,true,false);
Messages::GPSUpdate.subscribe(GPSHandler,true,false);
Messages::CompassUpdate.subscribe(CompassHandler,true,false);
Messages::GyroUpdate.subscribe(GyroHandler,true,false);
Messages::GetWheelSpeed.subscribe(WheelSpeedHandler,true,false);
Timer::addTimer(tick, INPUT_TICK);
IPC_dispatch();
}
catch( exception &e)
{
cout << e.what() << endl;
}
catch(...)
{
cout << "non-exception error" << endl;
}
// teardown
IPC_disconnect();
return 0;
}
JNIEXPORT jint JNICALL
Java_ipc_java_IPC_IPC_1connectModule (JNIEnv *env, jclass theClass,
jstring moduleName, jstring serverName)
{
const char *cmoduleName, *cserverName;
int retVal;
cmoduleName = (*env)->GetStringUTFChars(env, moduleName, 0);
cserverName = (*env)->GetStringUTFChars(env, serverName, 0);
retVal = IPC_connectModule(cmoduleName, cserverName);
(*env)->ReleaseStringUTFChars(env, moduleName, cmoduleName);
(*env)->ReleaseStringUTFChars(env, serverName, cserverName);
return (jint)retVal;
}
int carmen_multicentral_ipc_connect(char *ipc_module_name, char *central_name)
{
IPC_RETURN_TYPE err;
/* connect to the central server */
err = IPC_connectModule(ipc_module_name, central_name);
if(err == IPC_Error)
return -1;
/* Set local message queue capacity */
err = IPC_setCapacity(4);
carmen_test_ipc_exit(err,
"I had problems setting the IPC capacity. This is a "
"very strange error and should never happen.\n",
"IPC_setCapacity");
return 0;
}
/**
* Start up IPC. TODO: status messages
*
* @param char *module_name displayed by Central when messages received/sent
* @param char *host_name of valid host running Central to connect to
*
* @return int 0 on successful connect
*/
int init_ipc(char* module_name, char* host_name) {
if(host_name == NULL) {
if( IPC_connect(module_name) != IPC_OK ) {
// print Unable to connect to central.
return(-1);
}
}
else {
if(IPC_connectModule(module_name, host_name) != IPC_OK) {
// print Unable to connect to central.
return(-1);
}
}
//sprintf(buffer,"Connected to IPC as module %s", module_name);
printf("%s IPC connect to %s success\n",module_name,host_name);
IPC_initialize();
define_command_ipc_types();
return(0);
}// end init_ipc
int initIPC(char * moduleName, char * server, GCM_Common_RobotState *curState) {
GCM_Module_IPC_Data mid;
// gethostname(central,255);
if(IPC_connectModule(moduleName,server)!=IPC_OK){
printf("Unable to connect to IPC server on %s! D'oh. Make sure central has been started on the IPC host.\n",server);
return(-1);
}
printf("Connected to IPC server on %s as %s\n", server, moduleName);
IPC_initialize();
GCM_defineCommonIPCTypes();
mid.threadID=getpid();
strcpy(mid.moduleName,moduleName);
IPC_publishData(GCM_COMMON_STARTUP,&mid);
// IPC_subscribeData( GCM_COMMON_ROBOTSTATE, robotStateHandler, curState );
return 0;
}
