int main(int argc, char **argv) { int ros_argc; char **ros_argv; std::string node_name(NODE_NAME_DEFAULT); int option; int ival; double dval; nist_kitting::ws_stat ws_stat_buf; ws_stat_buf.stat.period = PERIOD_DEFAULT; opterr = 0; while (true) { option = getopt(argc, argv, ":i:n:t:p:f:hd"); if (option == -1) break; switch (option) { case 'i': inifile_name = std::string(optarg); break; case 'n': // first check for valid name if (optarg[0] == '-') { fprintf(stderr, "invalid node name: %s\n", optarg); return 1; } node_name = std::string(optarg); break; case 't': dval = atof(optarg); if (dval < FLT_EPSILON) { fprintf(stderr, "bad value for period: %s\n", optarg); return 1; } ws_stat_buf.stat.period = dval; break; case 'p': planning_app = std::string(optarg); break; case 'f': plan_file = std::string(optarg); break; case 'h': print_help(); break; case 'd': debug = 1; ulapi_set_debug(ULAPI_DEBUG_ALL); break; case ':': fprintf(stderr, "missing value for -%c\n", optopt); return 1; break; default: fprintf (stderr, "unrecognized option -%c\n", optopt); return 1; break; } } if (ULAPI_OK != ulapi_init()) { fprintf(stderr, "can't init ulapi\n"); return 1; } if (inifile_name.empty()) { fprintf(stderr, "no ini file provided\n"); return 1; } if (0 != ini_load(inifile_name, planning_app, plan_file)) { fprintf(stderr, "error reading ini file %s\n", inifile_name.c_str()); return 1; } if (planning_app.empty()) { fprintf(stderr, "no planning application provided\n"); return 1; } if (plan_file.empty()) { fprintf(stderr, "no plan file provided\n"); return 1; } if (debug) { ROS_INFO("Using planning application '%s', plan file '%s'\n", planning_app.c_str(), plan_file.c_str()); } // pass everything after a '--' separator to ROS ros_argc = argc - optind; ros_argv = &argv[optind]; ros::init(ros_argc, ros_argv, node_name); ros::NodeHandle nh; ros::Subscriber ws_cmd_sub; ros::Subscriber emove_stat_sub; ros::Publisher ws_stat_pub; ros::Publisher emove_cmd_pub; ros::Rate loop_rate(1.0 / ws_stat_buf.stat.period); ws_cmd_sub = nh.subscribe(KITTING_WS_CMD_TOPIC, TOPIC_QUEUE_LEN, ws_cmd_callback); emove_stat_sub = nh.subscribe(KITTING_EMOVE_STAT_TOPIC, TOPIC_QUEUE_LEN, emove_stat_callback); ws_stat_pub = nh.advertise<nist_kitting::ws_stat>(KITTING_WS_STAT_TOPIC, TOPIC_QUEUE_LEN); emove_cmd_pub = nh.advertise<nist_kitting::emove_cmd>(KITTING_EMOVE_CMD_TOPIC, TOPIC_QUEUE_LEN); // stuff a NOP command ws_stat_buf.stat.type = ws_cmd_buf.cmd.type = KITTING_NOP; ws_stat_buf.stat.serial_number = ws_cmd_buf.cmd.serial_number = 0; ws_stat_buf.stat.state = RCS_STATE_NEW_COMMAND; ws_stat_buf.stat.status = RCS_STATUS_EXEC; ws_stat_buf.stat.heartbeat = 0; signal(SIGINT, quit); double start, end, last_start = ulapi_time() - ws_stat_buf.stat.period; while (true) { ros::spinOnce(); start = ulapi_time(); ws_stat_buf.stat.cycle = start - last_start; last_start = start; if (ws_stat_buf.stat.serial_number != ws_cmd_buf.cmd.serial_number) { ws_stat_buf.stat.type = ws_cmd_buf.cmd.type; ws_stat_buf.stat.serial_number = ws_cmd_buf.cmd.serial_number; ws_stat_buf.stat.state = RCS_STATE_NEW_COMMAND; ws_stat_buf.stat.status = RCS_STATUS_EXEC; if (NULL != planning_process) { ulapi_process_stop(planning_process); ulapi_process_delete(planning_process); planning_process = NULL; } } switch (ws_cmd_buf.cmd.type) { case KITTING_NOP: do_cmd_kitting_nop(ws_stat_buf); break; case KITTING_INIT: do_cmd_kitting_init(ws_stat_buf, emove_cmd_pub, emove_stat_buf); break; case KITTING_HALT: do_cmd_halt(ws_stat_buf); break; case KITTING_WS_ASSEMBLE_KIT: do_cmd_kitting_ws_assemble_kit(ws_cmd_buf.assemble_kit, ws_stat_buf, emove_cmd_pub, emove_stat_buf); break; default: // unrecognized command -- FIXME break; } ws_stat_buf.stat.heartbeat++; end = ulapi_time(); ws_stat_buf.stat.duration = ulapi_time() - start; ws_stat_pub.publish(ws_stat_buf); loop_rate.sleep(); } return 0; }
int main(int argc, char *argv[]) { int option; ulapi_integer port = SAMPLE_APP_DEFAULT_PORT; enum {BUFFERLEN = 256}; char host[BUFFERLEN] = "localhost"; ulapi_integer debug = 0; ulapi_integer client_id; ulapi_task_struct *client_task; client_args *client_args_ptr; client_db_struct client_db; char buffer[BUFFERLEN]; char *ptr; int number; ulapi_opterr = 0; for (;;) { option = ulapi_getopt(argc, argv, ":p:h:d"); if (option == -1) break; switch (option) { case 'p': port = atoi(ulapi_optarg); break; case 'h': strncpy(host, ulapi_optarg, sizeof(host)); host[sizeof(host) - 1] = 0; break; case 'd': debug = 1; break; case ':': fprintf(stderr, "missing value for -%c\n", ulapi_optopt); return 1; break; default: /* '?' */ fprintf(stderr, "unrecognized option -%c\n", ulapi_optopt); return 1; break; } } if (ulapi_optind < argc) { fprintf(stderr, "extra non-option characters: %s\n", argv[ulapi_optind]); return 1; } if (ULAPI_OK != ulapi_init()) { fprintf(stderr, "ulapi_init error\n"); return 1; } if (debug) ulapi_set_debug(ULAPI_DEBUG_ALL); if (0 != sample_app_init()) { fprintf(stderr, "can't init the sample app\n"); return 1; } client_id = ulapi_socket_get_client_id(port, host); if (client_id < 0) { fprintf(stderr, "can't connect to port %d\n", (int) port); ulapi_exit(); return 1; } if (debug) { printf("serving port %d\n", (int) port); } client_db.mutex = ulapi_mutex_new(0); client_db.number = 0; client_task = ulapi_task_new(); client_args_ptr = reinterpret_cast<client_args *>(malloc(sizeof(client_args))); client_args_ptr->client_task = client_task; client_args_ptr->client_id = client_id; client_args_ptr->client_db_ptr = &client_db; client_args_ptr->debug = debug; ulapi_task_start(client_task, client_code, client_args_ptr, ulapi_prio_lowest(), 0); /* enter application main loop */ while (!feof(stdin)) { if (NULL == fgets(buffer, sizeof(buffer), stdin)) { break; } ptr = buffer; while (isspace(*ptr)) ptr++; if ('q' == *ptr) break; if (0 == *ptr) { ulapi_mutex_take(client_db.mutex); number = client_db.number; ulapi_mutex_give(client_db.mutex); printf("%d\n", number); continue; } if (1 == sscanf(ptr, "%d", &number)) { ulapi_mutex_take(client_db.mutex); client_db.number = number; ulapi_mutex_give(client_db.mutex); continue; } } ulapi_socket_close(client_id); ulapi_exit(); sample_app_exit(); return 0; }