void HandleSignal( int num )
{
switch(num)
{
case SIGINT:/* Interactive attention */
Log( MSG_ERROR, "Starting console..." );
GServer->startConsole( );
// restart signals
StopSignal( );
StartSignal( );
break;
case SIGILL:/* Illegal instruction */
Log( MSG_ERROR, "Signal received: SIGILL, Server will be closed, Trying to save..." );
GServer->isActive = false;
#ifdef _WIN32
Sleep(1000);
#else
usleep(1000);
#endif
raise(num);
break;
case SIGFPE:/* Floating point error */
Log( MSG_ERROR, "Signal received: SIGFPE, Server will be closed, Trying to save..." );
GServer->isActive = false;
raise(num);
break;
case SIGSEGV:/* Segmentation violation */
Log( MSG_ERROR, "Signal received: SIGSEGV, Server will be closed, Trying to save..." );
GServer->isActive = false;
#ifdef _WIN32
Sleep(1000);
#else
usleep(1000);
#endif
raise(num);
break;
case SIGTERM:/* Termination request */
Log( MSG_INFO, "Signal received: SIGTERM, Server will be closed" );
GServer->isActive = false;
break;
#ifdef _WIN32
case SIGBREAK:/* Control-break */
Log( MSG_INFO, "Signal received: SIGBREAK, Server will be closed" );
GServer->isActive = false;
break;
#endif
default:
cout << "Unknown Signal Number: " << num << endl;
raise(num);
}
}
// Main server function
int main(int argc, char *argv[])
{
srand( (unsigned)time(NULL) );
srand( rand()*time(NULL) );
StartSignal( );
LOG_THISSERVER = LOG_WORLD_SERVER;
InitWinSocket( );
string fileconf = "worldserver.conf";
if(argc>1)
{
fileconf = argv[1];
}
CWorldServer *server = new (nothrow) CWorldServer( fileconf );
if(server==NULL)
return -1;
pthread_attr_init(&server->at);
pthread_attr_setdetachstate(&server->at, PTHREAD_CREATE_JOINABLE);
// Connect mysql
MYSQL mysql;
server->DB = new CDatabase( server->Config.SQLServer.pcServer,
server->Config.SQLServer.pcUserName,
server->Config.SQLServer.pcPassword,
server->Config.SQLServer.pcDatabase,
server->Config.SQLServer.pcPort, &mysql );
server->port = server->Config.CharPort;
if(server->Config.usethreads)
Log( MSG_INFO, "Using Threads" );
// Start server
server->port = server->Config.WorldPort;
if(server->DB->Connect( )==0) Log( MSG_INFO, "Connected to MySQL server" );
else
{
delete server;
server = NULL;
#ifdef _WIN32
system("pause");
#endif
return -1;
}
server->StartServer();
// Close server
pthread_attr_destroy(&server->at);
server->DB->Disconnect( );
CloseWinSocket( );
StopSignal( );
Log(MSG_INFO, "Cleaning memory, please wait..." );
delete server;
server = NULL;
return EXIT_SUCCESS;
}
// Main function
int main(int argc, char *argv[])
{
//LMA: deactivating signal tracker.
StartSignal( );
LOG_THISSERVER = LOG_CHARACTER_SERVER;
InitWinSocket( );
string fileconf = "charserver.conf";
if(argc>1)
{
fileconf = argv[1];
}
CCharServer *server = new (nothrow) CCharServer( fileconf );
if(server==NULL)
return -1;
MYSQL mysql;
server->DB = new CDatabase( server->Config.SQLServer.pcServer,
server->Config.SQLServer.pcUserName,
server->Config.SQLServer.pcPassword,
server->Config.SQLServer.pcDatabase,
server->Config.SQLServer.pcPort, &mysql );
server->port = server->Config.CharPort;
if(server->Config.usethreads)
Log( MSG_INFO, "Using Threads" );
if(server->DB->Connect( )==0) Log( MSG_INFO, "Connected to MySQL server" );
else
{
delete server;
#ifdef _WIN32
system("pause");
#endif
return -1;
}
// Start server
server->StartServer();
// Close server
server->DB->Disconnect( );
//LMA: deleting stuff.
server->chatroom_list.clear();
delete server;
CloseWinSocket( );
StopSignal( );
return EXIT_SUCCESS;
}
// Main server function
int main(int argc, char *argv[])
{
//LMA: Opening log.
LogHandleSp(1);
LogDebugPriority(0,true); //LMA: LogDebug won't appear in Logs or screen.
srand( (unsigned)time(NULL) );
srand( rand()*time(NULL) );
//LMA: TEST DEACTIVATING ERROR TRAPPING
//Uncomment following line to use "console" mode (control+C).
//StartSignal( );
LOG_THISSERVER = LOG_WORLD_SERVER;
InitWinSocket( );
string fileconf = "worldserver.conf";
if(argc>1)
{
fileconf = argv[1];
}
CWorldServer *server = new (nothrow) CWorldServer( fileconf );
if(server==NULL)
return -1;
pthread_attr_init(&server->at);
pthread_attr_setdetachstate(&server->at, PTHREAD_CREATE_JOINABLE);
// Connect mysql
MYSQL mysql;
server->DB = new CDatabase( server->Config.SQLServer.pcServer,
server->Config.SQLServer.pcUserName,
server->Config.SQLServer.pcPassword,
server->Config.SQLServer.pcDatabase,
server->Config.SQLServer.pcPort, &mysql );
server->port = server->Config.CharPort;
if(server->Config.usethreads)
Log( MSG_INFO, "Using Threads" );
// Start server
server->port = server->Config.WorldPort;
if(server->DB->Connect( )==0) Log( MSG_INFO, "Connected to MySQL server" );
else
{
delete server;
server = NULL;
#ifdef _WIN32
system("pause");
#endif
return -1;
}
server->StartServer();
// Close server
pthread_attr_destroy(&server->at);
server->DB->Disconnect( );
CloseWinSocket( );
StopSignal( );
Log(MSG_INFO, "Cleaning memory, please wait..." );
delete server;
server = NULL;
//LMA: closing log.
LogHandleSp(0);
return EXIT_SUCCESS;
}
/*********************************************
receive a SLAM data and begin to plan
Output:
*********************************************/
bool MINI_PLANNING::Planning()
{
//first grab useful data
//include SLAM data, Object data,
PosVector=PLANNINGDATA.grabDataRef(0, 1); //get udp SLAM only one
LaserVector=PLANNINGDATA.grabDataRef(1, 1);
//get Pos data and objectdata
DepackLaser();
DepackPos();
// get the recent gps data
//at the same time make sure that there are data from laser
if(Realbuf.size()&&NO_COLLISION.laserdata.size())
{
//emit VoiceSignal(0);
//timer->stop();
SLAM_DATA Pos_now=Realbuf.last();
NO_COLLISION.Cord_Projection(Pos_now); //first project laser point
double heading_x=cos(Pos_now.ang.z+PI/2);
double heading_y=sin(Pos_now.ang.z+PI/2);
trajec_state Real_Pos;
Real_Pos.x=Pos_now.shv.x;
Real_Pos.y=Pos_now.shv.y;
Real_Pos.theta=Pos_now.ang.z+PI/2;
Real_Pos.curvature=0;
//now the Pos_now data become the real location
//of the back axle
//find the coorespond point in the aim trajectory
if(OFFLINE_Trajectory.size())
{
uint aim_num = find_neibour_point(Pos_now);
aim_point = aim_num;
trajec_state Aim_Pos;
Aim_Pos.x=OFFLINE_Trajectory.at(aim_num).x;
Aim_Pos.y=OFFLINE_Trajectory.at(aim_num).y;
Aim_Pos.theta=OFFLINE_Trajectory.at(aim_num).yaw;
bool flag=Path_Generate.Path_saving(Real_Pos,Aim_Pos,0);
//generate trajectory 0 if no collision ,use it
if(flag) //规划成功
{//collision detect
NO_COLLISION.Collision_detection(&Path_Generate.traj_sets[0]);
Path_Generate.traj_sets[0].dist_to_init_trajectory=0; //least dist
}
if(Path_Generate.traj_sets[0].feasible==false)
{
//timer->stop();
// need to stop every time that there are collision
emit StopSignal();
//then begin to calculate or search.....
//first try 6 trajectory
if(waitcounter++>3)
{
waitcounter=0;
timer->stop();
emit StopSignal();
if(TrajectorySetsGenerate(Real_Pos,Aim_Pos)==false)
{ //not even one trajectory that satisfied
//emit stop signal.
//emit StopSignal();
emit VoiceSignal(6);
timer->start();
return false;
}
else //at last one in 6 can be used
{
emit VoiceSignal(1);
FinalTrackingTrajectory(aim_num);
}
timer->start();
}
}
//第一条可用 Path_Generate.traj_sets[0].feasible==true
else
{
FinalTrackingTrajectory(aim_num);
waitcounter=0;
}
}
}
}
void HandleSignal( int num )
{
switch(num)
{
case SIGINT:/* Interactive attention */
Log( MSG_ERROR, "Starting console..." );
if(!GServer->console_started)
{
GServer->console_started=true;
GServer->startConsole( );
// restart signals
StopSignal( );
StartSignal( );
}
else
{
//LMA: restart signals
StopSignal( );
StartSignal( );
}
break;
case SIGILL:/* Illegal instruction */
Log( MSG_ERROR, "Signal received: SIGILL, Server will be closed, Trying to save..." );
GServer->DisconnectAll();
#ifdef _WIN32
Sleep(1000);
#else
usleep(1000);
#endif
delete GServer;
raise(num);
break;
case SIGFPE:/* Floating point error */
Log( MSG_ERROR, "Signal received: SIGFPE, Server will be closed, Trying to save..." );
GServer->DisconnectAll();
delete GServer;
raise(num);
break;
case SIGSEGV:/* Segmentation violation */
Log( MSG_ERROR, "Signal received: SIGSEGV, Server will be closed, Trying to save..." );
GServer->DisconnectAll();
#ifdef _WIN32
Sleep(1000);
#else
usleep(1000);
#endif
delete GServer;
raise(num);
break;
case SIGTERM:/* Termination request */
Log( MSG_INFO, "Signal received: SIGTERM, Server will be closed" );
pthread_create( &GServer->WorldThread[SHUTDOWN_THREAD], NULL, ShutdownServer, (PVOID)0);
break;
#ifdef _WIN32
case SIGBREAK:/* Control-break */
Log( MSG_INFO, "Signal received: SIGBREAK, Server will be closed" );
pthread_create( &GServer->WorldThread[SHUTDOWN_THREAD], NULL, ShutdownServer, (PVOID)0);
break;
#endif
default:
cout << "Unknown Signal Number: " << num << endl;
raise(num);
}
}
