int
NdbRestarter::rollingRestart(Uint32 flags)
{
if (getStatus() != 0)
return -1;
NdbNodeBitmask ng_mask;
NdbNodeBitmask restart_nodes;
Vector<int> nodes;
for(unsigned i = 0; i < ndbNodes.size(); i++)
{
if (ng_mask.get(ndbNodes[i].node_group) == false)
{
ng_mask.set(ndbNodes[i].node_group);
nodes.push_back(ndbNodes[i].node_id);
restart_nodes.set(ndbNodes[i].node_id);
}
}
loop:
if (ndb_mgm_restart2(handle, nodes.size(), nodes.getBase(),
(flags & NRRF_INITIAL) != 0,
(flags & NRRF_NOSTART) != 0,
(flags & NRRF_ABORT) != 0 || true) <= 0)
{
return -1;
}
if (waitNodesNoStart(nodes.getBase(), nodes.size()))
return -1;
if (startNodes(nodes.getBase(), nodes.size()))
return -1;
if (waitClusterStarted())
return -1;
nodes.clear();
for (Uint32 i = 0; i<ndbNodes.size(); i++)
{
if (restart_nodes.get(ndbNodes[i].node_id) == false)
{
nodes.push_back(ndbNodes[i].node_id);
restart_nodes.set(ndbNodes[i].node_id);
}
}
if (nodes.size())
goto loop;
return 0;
}
/*
main(...)
This just sets up all the ROS stuff and serves as the primary top level menu
*/
int main(int argc, char **argv)
{
//Standard ROS startup
ros::init(argc, argv, "GUIInterfacer");
ros::NodeHandle n;
//advertise service - New - JC
ros::ServiceServer fileNameService = n.advertiseService("send_file_path", setFileName);
//setup client services
createSimulatedPlaneClient = n.serviceClient<AU_UAV_ROS::CreateSimulatedPlane>("create_simulated_plane");
deleteSimulatedPlaneClient = n.serviceClient<AU_UAV_ROS::DeleteSimulatedPlane>("delete_simulated_plane");
requestPlaneIDClient = n.serviceClient<AU_UAV_ROS::RequestPlaneID>("request_plane_ID");
goToWaypointClient = n.serviceClient<AU_UAV_ROS::GoToWaypoint>("go_to_waypoint");
loadPathClient = n.serviceClient<AU_UAV_ROS::LoadPath>("load_path");
loadCourseClient = n.serviceClient<AU_UAV_ROS::LoadCourse>("load_course");
initiateCoordinator = n.serviceClient<AU_UAV_ROS::StartCoordinator>("start_coordinator");
initiateCollisionAvoidance = n.serviceClient<AU_UAV_ROS::StartCollisionAvoidance>("start_collision_avoidance");
initiateSimulator = n.serviceClient<AU_UAV_ROS::StartSimulator>("start_simulator");
initiateXbeeIO = n.serviceClient<AU_UAV_ROS::StartXbeeIO>("start_xbeeio");
//initiateEvaluator = n.serviceClient<AU_UAV_ROS::StartEvaluator>("start_evaluator");
//make sure all other nodes have time to activate
sleep(1);
//new - JC - We cannot spin() because it will never stop, but we need to get our service callbacks so let's spin until we get the service call.
ros::Rate r(10); // 10 hz
while (!fileNameLoaded)
{
ros::spinOnce();
r.sleep();
}
startNodes();
//make sure all other nodes have time to activate
sleep(1);
//send service call to next node in line - in that node have a blocking call in main that just does the above and make the boolean true when the service is called
initiateTest();
return 0;
}
int main(int argc, char **argv)
{
//Standard ROS startup
ros::init(argc, argv, "evaluator");
ros::NodeHandle n;
//set up ROS messages
ros::Subscriber sub = n.subscribe("telemetry", 1000, telemetryCallback);
//set up ROS services
AU_UAV_ROS::LoadCourse srv;
createSimulatedPlaneClient = n.serviceClient<AU_UAV_ROS::CreateSimulatedPlane>("create_simulated_plane");
deleteSimulatedPlaneClient = n.serviceClient<AU_UAV_ROS::DeleteSimulatedPlane>("delete_simulated_plane");
loadCourseClient = n.serviceClient<AU_UAV_ROS::LoadCourse>("load_course");
saveFlightDataClient = n.serviceClient<AU_UAV_ROS::SaveFlightData>("save_flight_data");
initiateCoordinator = n.serviceClient<AU_UAV_ROS::StartCoordinator>("start_coordinator");
initiateCollisionAvoidance = n.serviceClient<AU_UAV_ROS::StartCollisionAvoidance>("start_collision_avoidance");
initiateSimulator = n.serviceClient<AU_UAV_ROS::StartSimulator>("start_simulator");
//make sure all other nodes have time to activate
sleep(1);
system("clear");
//get the file input
char filename[256];
printf("\nEnter the filename of the course to load 22:");
scanf("%s", filename);
printf("\nEnter the filename for output:");
scanf("%s", scoresheetFilename);
printf("Enter the length of simulation in seconds: ");
scanf("%d",&TIME_LIMIT);
sleep(1);
startNodes();
sleep(1);
//create all our UAVs
if(createCourseUAVs(filename))
{
//nothing bad happened
}
else
{
ROS_ERROR("Error creating UAVs");
return 1;
}
srv.request.filename = (ros::package::getPath("AU_UAV_ROS")+"/courses/"+filename).c_str();
//countdown to success
system("clear");
printf("\n");
printf("Last Plane ID: %d\n", lastPlaneID);
printf("KML File: %s.kml\n", scoresheetFilename);
printf("Score File: %s.score\n", scoresheetFilename);
printf("Loading course into coordinator in...\n3...\n");
ros::Duration(1.0).sleep();
printf("2...\n");
ros::Duration(1.0).sleep();
printf("1...\n");
ros::Duration(1.0).sleep();
//call the load course function on the coordinator
if(loadCourseClient.call(srv))
{
printf("Course loaded successfully!\n");
}
else
{
ROS_ERROR("Error loading course");
}
//set the start time to now
startTime = ros::Time::now();
//planes are created, lets spin for telemetry updates
ros::spin();
}
