int YARPNativeEndpointManager::CreateOutputEndpoint(YARPUniqueNameID& name)
{
#ifndef __QNX6__
ACE_UNUSED_ARG(name);
return YARP_FAIL;
#else
YARPUniqueNameQnx& nameq = (YARPUniqueNameQnx&)name;
int coid = ConnectAttach(
netmgr_strtond (nameq.getNode().c_str(),NULL),
nameq.getPid(),
nameq.getChannelID(),
0,
0);
ACE_DEBUG ((LM_DEBUG, "ConnectAttach: %s(%d), %d %d, returned %d\n",
nameq.getNode().c_str(),
netmgr_strtond (nameq.getNode().c_str(), NULL),
nameq.getPid(), nameq.getChannelID(),
coid));
if (coid != -1)
{
nameq.setRawIdentifier(coid);
return YARP_OK; ///name.getNameID();
}
/// failed.
///return YARPNameID();
return YARP_OK;
#endif
}
int
RTCFUNC(init,net)(struct chip_loc *chip, char *argv[]) {
char buf[512], buf2[512];
if(argv[0] == NULL)
nd = ND_LOCAL_NODE;
else
nd = netmgr_strtond(argv[0],NULL);
if(nd == -1)
return -1;
if(netmgr_ndtostr(ND2S_DIR_SHOW,nd,buf2,sizeof(buf2)) == -1){
perror("netmgr_ndtostr:");
return -1;
}
sprintf(buf, "%sproc/1/as", buf2);
fd = open(buf, O_RDONLY);
if(fd == -1)
return -1;
return 0;
}
int main(int argc, char *argv[])
{
int opt, nd = ND_LOCAL_NODE;
char *node_name = NULL;
int shutdown_type = SHUTDOWN_REBOOT;
tcgetattr(1, &termattr);
while((opt = getopt(argc, argv, "bDfn:qS:v")) != -1)
switch(opt)
{
case 'b':
shutdown_type = SHUTDOWN_SYSTEM;
break;
case 'S':
switch(tolower(*optarg))
{
case 'r':
shutdown_type = SHUTDOWN_REBOOT;
break;
case 's':
shutdown_type = SHUTDOWN_SYSTEM;
break;
default:
fprintf(stderr,"Invalid shutdown type (%s).\n",optarg);
exit(EXIT_FAILURE);
}
break;
case 'D':
flags |= FLAG_DEBUG;
break;
case 'f':
flags |= FLAG_FAST;
break;
case 'n':
node_name = optarg;
nd = netmgr_strtond(optarg, NULL);
if(nd == -1){
perror("No such node");
exit(EXIT_FAILURE);
}
break;
case 'q':
flags &= ~(FLAG_VERBOSE | FLAG_VERY_VERBOSE);
break;
case 'v':
flags |= FLAG_VERBOSE | FLAG_VERY_VERBOSE;
break;
default:
fprintf(stderr,"Invalid option (%c).\n",opt);
exit(EXIT_FAILURE);
}
if(node_name && nd != ND_LOCAL_NODE){
if(spawn_remote_shutdown(node_name, argv) == -1){
perror("unable to spawn on remote node");
exit(EXIT_FAILURE);
}
}
else {
shutdown_system(shutdown_type,flags);
}
exit(EXIT_SUCCESS);
}
