static void parse_options(int argc, char ** argv)
{
string skill_spec("");
string robot_spec("");
servo_rate = 500;
for (int ii(1); ii < argc; ++ii) {
if ((strlen(argv[ii]) < 2) || ('-' != argv[ii][0])) {
usage(EXIT_FAILURE, "problem with option `" + string(argv[ii]) + "'");
}
else
switch (argv[ii][1]) {
case 'h':
usage(EXIT_SUCCESS, "servo [-h] [-v] [-s skillspec] -r robotspec");
case 'v':
verbose = true;
break;
case 'r':
++ii;
if (ii >= argc) {
usage(EXIT_FAILURE, "-r requires parameter");
}
robot_spec = argv[ii];
break;
case 'f':
++ii;
if (ii >= argc) {
usage(EXIT_FAILURE, "-f requires parameter");
}
else {
istringstream is(argv[ii]);
is >> servo_rate;
if ( ! is) {
usage(EXIT_FAILURE, "failed to read servo rate from `" + string(argv[ii]) + "'");
}
if (0 >= servo_rate) {
usage(EXIT_FAILURE, "servo rate has to be positive");
}
}
break;
case 's':
++ii;
if (ii >= argc) {
usage(EXIT_FAILURE, "-s requires parameter");
}
skill_spec = argv[ii];
break;
default:
usage(EXIT_FAILURE, "invalid option `" + string(argv[ii]) + "'");
}
}
try {
if (robot_spec.empty()) {
usage(EXIT_FAILURE, "no robot specification (see option -r)");
}
if (verbose) {
warnx("reading robot spec from %s", robot_spec.c_str());
}
static bool const enable_coriolis_centrifugal(false);
model.reset(jspace::test::parse_sai_xml_file(robot_spec, enable_coriolis_centrifugal));
}
catch (runtime_error const & ee) {
errx(EXIT_FAILURE,
"exception while parsing robot specification\n"
" filename: %s\n"
" error: %s",
robot_spec.c_str(), ee.what());
}
factory.reset(new Factory());
Status st;
if (skill_spec.empty()) {
if (verbose) {
warnx("using fallback task/posture skill");
}
st = factory->parseString(opspace_fallback_str);
}
else {
if (verbose) {
warnx("reading skills from %s", skill_spec.c_str());
}
st = factory->parseFile(skill_spec);
}
if ( ! st) {
errx(EXIT_FAILURE,
"failed to parse skills\n"
" specification file: %s\n"
" error description: %s",
skill_spec.c_str(), st.errstr.c_str());
}
if (verbose) {
factory->dump(cout, "*** parsed tasks and skills", "* ");
}
}
/**
* Run a query with a cursor provided by the query optimizer, or FindingStartCursor.
* @yields the db lock.
*/
string queryWithQueryOptimizer( int queryOptions, const string& ns,
const BSONObj &jsobj, CurOp& curop,
const BSONObj &query, const BSONObj &order,
const shared_ptr<ParsedQuery> &pq_shared,
const BSONObj &oldPlan,
const ChunkVersion &shardingVersionAtStart,
scoped_ptr<PageFaultRetryableSection>& parentPageFaultSection,
scoped_ptr<NoPageFaultsAllowed>& noPageFault,
Message &result ) {
const ParsedQuery &pq( *pq_shared );
shared_ptr<Cursor> cursor;
QueryPlanSummary queryPlan;
if ( pq.hasOption( QueryOption_OplogReplay ) ) {
cursor = FindingStartCursor::getCursor( ns.c_str(), query, order );
}
else {
cursor = getOptimizedCursor( ns.c_str(),
query,
order,
QueryPlanSelectionPolicy::any(),
pq_shared,
false,
&queryPlan );
}
verify( cursor );
scoped_ptr<QueryResponseBuilder> queryResponseBuilder
( QueryResponseBuilder::make( pq, cursor, queryPlan, oldPlan ) );
bool saveClientCursor = false;
OpTime slaveReadTill;
ClientCursorHolder ccPointer( new ClientCursor( QueryOption_NoCursorTimeout, cursor,
ns ) );
for( ; cursor->ok(); cursor->advance() ) {
bool yielded = false;
if ( !ccPointer->yieldSometimes( ClientCursor::MaybeCovered, &yielded ) ||
!cursor->ok() ) {
cursor.reset();
queryResponseBuilder->noteYield();
// !!! TODO The queryResponseBuilder still holds cursor. Currently it will not do
// anything unsafe with the cursor in handoff(), but this is very fragile.
//
// We don't fail the query since we're fine with returning partial data if the
// collection was dropped.
// NOTE see SERVER-2454.
// TODO This is wrong. The cursor could be gone if the closeAllDatabases command
// just ran.
break;
}
if ( yielded ) {
queryResponseBuilder->noteYield();
}
if ( pq.getMaxScan() && cursor->nscanned() > pq.getMaxScan() ) {
break;
}
if ( !queryResponseBuilder->addMatch() ) {
continue;
}
// Note slave's position in the oplog.
if ( pq.hasOption( QueryOption_OplogReplay ) ) {
BSONObj current = cursor->current();
BSONElement e = current["ts"];
if ( e.type() == Date || e.type() == Timestamp ) {
slaveReadTill = e._opTime();
}
}
if ( !cursor->supportGetMore() || pq.isExplain() ) {
if ( queryResponseBuilder->enoughTotalResults() ) {
break;
}
}
else if ( queryResponseBuilder->enoughForFirstBatch() ) {
// if only 1 requested, no cursor saved for efficiency...we assume it is findOne()
if ( pq.wantMore() && pq.getNumToReturn() != 1 ) {
queryResponseBuilder->finishedFirstBatch();
if ( cursor->advance() ) {
saveClientCursor = true;
}
}
break;
}
}
if ( cursor ) {
if ( pq.hasOption( QueryOption_CursorTailable ) && pq.getNumToReturn() != 1 ) {
cursor->setTailable();
}
// If the tailing request succeeded.
if ( cursor->tailable() ) {
saveClientCursor = true;
}
}
if ( ! shardingState.getVersion( ns ).isWriteCompatibleWith( shardingVersionAtStart ) ) {
// if the version changed during the query
// we might be missing some data
// and its safe to send this as mongos can resend
// at this point
throw SendStaleConfigException(ns, "version changed during initial query",
shardingVersionAtStart,
shardingState.getVersion(ns));
}
parentPageFaultSection.reset(0);
noPageFault.reset( new NoPageFaultsAllowed() );
int nReturned = queryResponseBuilder->handoff( result );
ccPointer.reset();
long long cursorid = 0;
if ( saveClientCursor ) {
// Create a new ClientCursor, with a default timeout.
ccPointer.reset( new ClientCursor( queryOptions, cursor, ns,
jsobj.getOwned() ) );
cursorid = ccPointer->cursorid();
DEV { MONGO_TLOG(2) << "query has more, cursorid: " << cursorid << endl; }
if ( cursor->supportYields() ) {
ClientCursor::YieldData data;
ccPointer->prepareToYield( data );
}
else {
ccPointer->c()->noteLocation();
}
// Save slave's position in the oplog.
if ( pq.hasOption( QueryOption_OplogReplay ) && !slaveReadTill.isNull() ) {
ccPointer->slaveReadTill( slaveReadTill );
}
if ( !ccPointer->ok() && ccPointer->c()->tailable() ) {
DEV {
MONGO_TLOG(0) << "query has no more but tailable, cursorid: " << cursorid <<
endl;
}
}
if( queryOptions & QueryOption_Exhaust ) {
curop.debug().exhaust = true;
}
// Set attributes for getMore.
ccPointer->setCollMetadata( queryResponseBuilder->collMetadata() );
ccPointer->setPos( nReturned );
ccPointer->pq = pq_shared;
ccPointer->fields = pq.getFieldPtr();
// If the query had a time limit, remaining time is "rolled over" to the cursor (for
// use by future getmore ops).
ccPointer->setLeftoverMaxTimeMicros( curop.getRemainingMaxTimeMicros() );
ccPointer.release();
}
