/* main function */
int main(int argc, char *argv[]) {
fData *theData;
int errCheck;
int xField = -1;
int yField = -1;
int weightField = -1;
if (argc <= 1) {
showUsage();
return 0;
}
setInputFiles(argc, argv);
theData = readFile(dataFile, dataTypesFile, &errCheck);
if (errCheck)
CMmsgPrint(CMmsgUsrError, "errors were reported, but continuing anyways.");
xField = findArg(XSHORT, XLONG, argc, argv);
yField = findArg(YSHORT, YLONG, argc, argv);
weightField = findArg(WEIGHTSHORT, WEIGHTLONG, argc, argv);
if (xField && xField + 1 < argc)
xField = getFieldNum(theData, argv[xField + 1]);
else xField = -1;
if (yField && yField + 1 < argc)
yField = getFieldNum(theData, argv[yField + 1]);
else yField = -1;
if (weightField && weightField + 1 < argc)
weightField = getFieldNum(theData, argv[weightField + 1]);
else weightField = -1;
if (xField == -1) {
CMmsgPrint(CMmsgUsrError, "Could not get the X field");
return 0;
}
if (yField == -1) {
CMmsgPrint(CMmsgUsrError, "Could not get the Y field");
return 0;
}
/*(weight field is not mandatory)*/
reg(xField, yField, weightField, theData);
return 0;
}
void installVtableOrDie( const char * in_key, const struct AllocatorVtable * in_tables[], struct AllocatorVtable * out_table ) {
const char * config = getConfStr();
if( NULL == config ) {
config = defaultConfig;
}
size_t valueSize;
const char * value = findArg( config, in_key, &valueSize );
if( NULL == value ) {
fprintf( stderr, "Error: libmprof: Could not find value for '%s' in env var 'MPROF_CONF'.\n", in_key );
exit( -1 );
}
const struct AllocatorVtable * table = lookupVtable( value, valueSize, in_tables );
if( NULL == table ) {
//not wise, but neither is fprintf without malloc....
((char*) value )[ valueSize ] = '\0';
fprintf( stderr, "Error: libmprof: Cannot find vtable '%s' candidate for '%s'\n", value, in_key );
exit( -1 );
}
*out_table = *table;
if( table->construct ) {
table->construct();
}
}
String
MSWindowsClipboardHTMLConverter::doToIClipboard(const String& data) const
{
// get fragment start/end args
String startArg = findArg(data, "StartFragment");
String endArg = findArg(data, "EndFragment");
if (startArg.empty() || endArg.empty()) {
return String();
}
// convert args to integers
SInt32 start = (SInt32)atoi(startArg.c_str());
SInt32 end = (SInt32)atoi(endArg.c_str());
if (start <= 0 || end <= 0 || start >= end) {
return String();
}
// extract the fragment
return data.substr(start, end - start);
}
static void mprofCountConstruct( void ) {
size_t valueSize;
const char * value = findArg( getConfStr(), "COUNTS_PATH", &valueSize );
if( value ) {
char * tmp = tmpAllocVtable.calloc( valueSize + 1, sizeof( char ) );
strncpy( tmp, value, valueSize );
value = tmp;
} else {
value = "./mprof.counts";
}
mprofRecordInit();
sem_init( &mmapSem, 0, 1 );
assert( mmapOpen( &countsArea, value, O_RDWR | O_TRUNC | O_CREAT ) );
assert( mmapSize( &countsArea, sizeof( struct MprofRecordCount ), MMAP_AREA_SET ) );
}
static void mprofLogMmapConstruct( void ) {
size_t argSize;
const char * arg = findArg( getConfStr(), "LOG_QTY", &argSize );
if( arg ) {
growthQty = strtol( arg, NULL, 10 );
}
arg = findArg( getConfStr(), "CACHE_QTY", &argSize );
if( arg ) {
cacheQty = strtol( arg, NULL, 10 );
}
arg = findArg( getConfStr(), "LOG_PATH", &argSize );
if( arg ) {
char * tmp = tmpAllocVtable.calloc( argSize + 1, sizeof( char ) );
strncpy( tmp, arg, argSize );
arg = tmp;
} else {
arg = "./mprof.log";
}
assert( mmapOpen( &area, arg, O_RDWR | O_TRUNC | O_CREAT ) );
assert( mmapSize( &area, growthQty * sizeof( struct MprofRecordAlloc ), MMAP_AREA_SET ) );
sem_init( &mmapSem, 0, 1 );
}
void setInputFiles( int argc, char* argv [] )
{
int i,j;
/* trying to open the data types file */
if( (i = findArg( DATAINPUTSHORT, DATAINPUTLONG, argc, argv )) && (i + 1 < argc) &&
access( argv[i+1], R_OK ) == 0 )
dataTypesFile = fopen( argv[i+1], "rb" );
/* trying to open the data file */
for( j=1;j<argc;j++ )
{
if( ((dataTypesFile != NULL && i+1 != j) || (!dataTypesFile)) && access( argv[j], R_OK ) == 0 )
dataFile = fopen( argv[j], "rb" );
}
if( dataFile == NULL )
dataFile = stdin;
}
GBool parseArgs(ArgDesc *args, int *argc, char *argv[]) {
ArgDesc *arg;
int i, j;
GBool ok;
ok = gTrue;
i = 1;
while (i < *argc) {
if (!strcmp(argv[i], "--")) {
--*argc;
for (j = i; j < *argc; ++j)
argv[j] = argv[j+1];
break;
} else if ((arg = findArg(args, argv[i]))) {
if (!grabArg(arg, i, argc, argv))
ok = gFalse;
} else {
++i;
}
}
return ok;
}
int main(int argc, char* argv[]) {
struct bParamList * paramList = NULL;
const char *strPtr;
int ii;
for (ii=0; ii<TCX_MAX_CLIENTS; ii++) {
CLIENT[ii] = NULL;
}
/*
* Set some parameters
*/
/* add some defaults */
paramList = bParametersAddEntry(paramList, "*", "base.bps", "9600");
paramList = bParametersAddEntry(paramList, "*", "base.dev", "/dev/cur0");
paramList = bParametersAddEntry(paramList, "", "TCXHOST", "localhost");
paramList = bParametersAddEntry(paramList, "", "fork", "yes");
/* add some parameter files */
paramList = bParametersAddFile(paramList, "etc/beeSoft.ini");
/* add some enviroment variables */
paramList = bParametersAddEnv(paramList, "", "TCXHOST");
/* add command line arguements */
paramList = bParametersAddArray(paramList, "", argc, argv);
/* here is where we should add non "parameter format" options */
bParametersFillParams(paramList);
strPtr = bParametersGetParam(paramList, "robot", "name");
if (!strPtr) {
fprintf(stderr,
"Robot name not set. Check the value in beeSoft.ini.\n");
exit(1);
}
else if (!strcmp("none", strPtr)) {
fprintf(stderr,
"Robot name set to 'none'. Check value in beeSoft.ini.\n");
exit(1);
}
strPtr = bParametersGetParam(paramList, strPtr, "base.type");
if (!strPtr) {
fprintf(stderr,
"Base type not set. Check the value in beeSoft.ini.\n");
exit(1);
}
else if (
strcmp("B14", strPtr) &&
strcmp("B21", strPtr) &&
strcmp("Ramona", strPtr)
) {
fprintf(stderr,
"Arm type set to unrecognized type '%s'. Check the\n"
"value in beeSoft.ini.\n", strPtr);
exit(1);
}
/*
*
*/
argv0 = argv[0];
if (makeLock(BASE_SERVER_LOCK)<0) {
fprintf(stderr,"%s: Already running base server\n",argv[0]);
exit(-1);
}
if (findArg(argc,argv,"-v")) {
VERBOSE = TRUE;
fprintf(stderr,"baseServer started in verbose mode\n");
}
if (findArg(argc,argv,"-noIrs")) {
IRS = FALSE;
fprintf(stderr,"baseServer started without IRs\n");
}
if (findArg(argc,argv,"-noTactiles")) {
TACTILES = FALSE;
fprintf(stderr,"baseServer started without Tactiles\n");
}
if (findArg(argc,argv,"-noSonars")) {
SONARS= FALSE;
fprintf(stderr,"baseServer started without Sonars\n");
}
if (findArg(argc,argv,"-simulator")) {
useSimulator=TRUE;
fprintf(stderr,"baseServer connecting to simulator.\n");
}
RaiInit();
BaseInit(bRobot.base_dev, bRobot.base_bps);
catchInterrupts();
initBaseServerTCX(bRobot.TCXHOST);
if (useSimulator==TRUE) {
simulatorHandle = tcxConnectModule(TCX_SIMULATOR_MODULE_NAME);
}
registerWatchdogCallback(watchdogToClient);
/*
* GRUMBLE - It is going to be a bit ugly to get the sensor
* structures initialized without opening /dev/abus. tds
*/
if (SONARS && !useSimulator) {
sonarInit();
registerSonarCallback(sonarToClient);
SIM_sonarStop(); /* turn off sonar until we have a client */
}
if (IRS && !useSimulator) {
irInit();
registerIrCallback(irToClient);
SIM_irStop(); /* turn off ir until we have a client */
}
if (TACTILES && !useSimulator) {
tactileInit();
registerTactileCallback(tactileToClient);
tactileStop();
}
registerStatusCallback(statusToClient);
registerBaseCallback(baseToClient);
initBaseServerModules();
if (bRobot.fork) {
bDaemonize("baseServer.log");
}
rotateLimp();
translateLimp();
RaiStart();
exit(0);
}
