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;
}
void carmen_multicentral_subscribe_messages(carmen_centrallist_p centrallist,
void (*subscribe_func)(void))
{
int i;
for(i = 0; i < centrallist->num_centrals; i++)
if(centrallist->central[i].connected) {
IPC_setContext(centrallist->central[i].context);
subscribe_func();
}
}
static void handle_exit(void)
{
fprintf(stderr, "Caught exit on %d.\n", cur_context);
context[cur_context] = NULL;
if (cur_context == num_contexts-1)
cur_context = 0;
else
cur_context++;
IPC_setContext(context[cur_context]);
fprintf(stderr, "Set context to %d.\n", cur_context);
return;
}
void carmen_multicentral_get_params(carmen_centrallist_p centrallist,
int argc, char **argv,
void (*param_func)(int, char **))
{
int i;
/* get parameters from first valid central */
for(i = 0; i < centrallist->num_centrals; i++)
if(centrallist->central[i].connected) {
IPC_setContext(centrallist->central[i].context);
carmen_param_check_version(argv[0]);
param_func(argc, argv);
break;
}
}
void carmen_multicentral_ipc_sleep(carmen_centrallist_p centrallist,
double sleep_time)
{
int i, count = 0;
for(i = 0; i < centrallist->num_centrals; i++)
if(centrallist->central[i].connected)
count++;
if(count == 0)
usleep((int)(sleep_time * 1e6));
else {
/* handle IPC messages for each central */
for(i = 0; i < centrallist->num_centrals; i++)
if(centrallist->central[i].connected) {
IPC_setContext(centrallist->central[i].context);
carmen_ipc_sleep(sleep_time / count);
}
}
}
JNIEXPORT jint JNICALL Java_ipc_java_IPC_IPC_1setContext (JNIEnv *env, jclass theClass,
jlong context)
{
return IPC_setContext((IPC_CONTEXT_PTR)(size_t)context);
}
