int firstcomp::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
int status=EXIT_SUCCESS;
// Remote server proxy access example
// RemoteComponentPrx remotecomponent_proxy;
LaserPrx laser_proxy;
DifferentialRobotPrx differentialrobot_proxy;
string proxy;
// User variables
initialize();
// Remote server proxy creation example
// try
// {
// // Load the remote server proxy
// proxy = getProxyString("RemoteProxy");
// remotecomponent_proxy = RemotePrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
// if( !remotecomponent_proxy )
// {
// rInfo(QString("Error loading proxy!"));
// return EXIT_FAILURE;
// }
//catch(const Ice::Exception& ex)
//{
// cout << "[" << PROGRAM_NAME << "]: Exception: " << ex << endl;
// return EXIT_FAILURE;
//}
//rInfo("RemoteProxy initialized Ok!");
// // Now you can use remote server proxy (remotecomponent_proxy) as local object
//Remote server proxy creation example
try
{
laser_proxy = LaserPrx::uncheckedCast( communicator()->stringToProxy( getProxyString("LaserProxy") ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("LaserProxy initialized Ok!");
mprx["LaserProxy"] = (::IceProxy::Ice::Object*)(&laser_proxy);//Remote server proxy creation example
try
{
differentialrobot_proxy = DifferentialRobotPrx::uncheckedCast( communicator()->stringToProxy( getProxyString("DifferentialRobotProxy") ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("DifferentialRobotProxy initialized Ok!");
mprx["DifferentialRobotProxy"] = (::IceProxy::Ice::Object*)(&differentialrobot_proxy);
GenericWorker *worker = new SpecificWorker(mprx);
//Monitor thread
GenericMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor,SIGNAL(kill()),&a,SLOT(quit()));
QObject::connect(worker,SIGNAL(kill()),&a,SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
try
{
// Server adapter creation and publication
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapter("CommonBehavior");
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int ::RenderOSG::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
int status=EXIT_SUCCESS;
string proxy, tmp;
initialize();
GenericWorker *worker = new SpecificWorker(mprx);
//Monitor thread
GenericMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor, SIGNAL(kill()), &a, SLOT(quit()));
QObject::connect(worker, SIGNAL(kill()), &a, SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
try
{
// Server adapter creation and publication
if (not GenericMonitor::configGetString(communicator(), prefix, "CommonBehavior.Endpoints", tmp, ""))
{
cout << "[" << PROGRAM_NAME << "]: Can't read configuration for proxy CommonBehavior\n";
}
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapterWithEndpoints("commonbehavior", tmp);
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int JoystickPublishComp::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
int status=EXIT_SUCCESS;
// Remote server proxy access example
// RemoteComponentPrx remotecomponent_proxy;
string proxy;
// User variables
initialize();
// Remote server proxy creation example
// try
// {
// // Load the remote server proxy
// proxy = getProxyString("RemoteProxy");
// remotecomponent_proxy = RemotePrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
// if( !remotecomponent_proxy )
// {
// rInfo(QString("Error loading proxy!"));
// return EXIT_FAILURE;
// }
//catch(const Ice::Exception& ex)
//{
// cout << "[" << PROGRAM_NAME << "]: Exception: " << ex << endl;
// return EXIT_FAILURE;
//}
//rInfo("RemoteProxy initialized Ok!");
// // Now you can use remote server proxy (remotecomponent_proxy) as local object
IceStorm::TopicManagerPrx topicManager = IceStorm::TopicManagerPrx::checkedCast(communicator()->propertyToProxy("TopicManager.Proxy"));
IceStorm::TopicPrx joystickadapter_topic;
while(!joystickadapter_topic){
try {
joystickadapter_topic = topicManager->create("JoystickAdapter"); // communicator()->getProperties()->getProperty("JoystickAdapter") does not work!
}catch (const IceStorm::TopicExists&){
// Another client created the topic.
try{
joystickadapter_topic = topicManager->retrieve("JoystickAdapter"); // communicator()->getProperties()->getProperty("JoystickAdapter") does not work!
}catch (const IceStorm::NoSuchTopic&){
//Error. Topic does not exist.
}
}
}
Ice::ObjectPrx joystickadapter_pub = joystickadapter_topic->getPublisher()->ice_oneway();
JoystickAdapterPrx joystickadapter = JoystickAdapterPrx::uncheckedCast(joystickadapter_pub);
mprx["JoystickAdapterPub"] = (::IceProxy::Ice::Object*)(&joystickadapter);
GenericWorker *worker = new SpecificWorker(mprx);
//Monitor thread
GenericMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor,SIGNAL(kill()),&a,SLOT(quit()));
QObject::connect(worker,SIGNAL(kill()),&a,SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
try
{
// Server adapter creation and publication
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapter("CommonBehavior");
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int Interpolator::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
int status=EXIT_SUCCESS;
string proxy;
initialize();
IceStorm::TopicManagerPrx topicManager = IceStorm::TopicManagerPrx::checkedCast(communicator()->propertyToProxy("TopicManager.Proxy"));
GenericWorker *worker = new SpecificWorker(mprx);
//Monitor thread
GenericMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor,SIGNAL(kill()),&a,SLOT(quit()));
QObject::connect(worker,SIGNAL(kill()),&a,SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
try
{
// Server adapter creation and publication
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapter("CommonBehavior");
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
Ice::ObjectAdapterPtr adapterJointMotor = communicator()->createObjectAdapter("JointMotorComp");
JointMotorI *jointmotor = new JointMotorI(worker);
adapterJointMotor->add(jointmotor, communicator()->stringToIdentity("jointmotor"));
// Server adapter creation and publication
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int objectDetectionComp::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
int status=EXIT_SUCCESS;
// Remote server proxy access example
// RemoteComponentPrx remotecomponent_proxy;
InnerModelManagerPrx innermodelmanager_proxy;
RGBDPrx rgbd_proxy;
string proxy;
// User variables
initialize();
// Remote server proxy creation example
// try
// {
// // Load the remote server proxy
// proxy = getProxyString("RemoteProxy");
// remotecomponent_proxy = RemotePrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
// if( !remotecomponent_proxy )
// {
// rInfo(QString("Error loading proxy!"));
// return EXIT_FAILURE;
// }
//catch(const Ice::Exception& ex)
//{
// cout << "[" << PROGRAM_NAME << "]: Exception: " << ex << endl;
// return EXIT_FAILURE;
//}
//rInfo("RemoteProxy initialized Ok!");
// // Now you can use remote server proxy (remotecomponent_proxy) as local object
//Remote server proxy creation example
try
{
innermodelmanager_proxy = InnerModelManagerPrx::uncheckedCast( communicator()->stringToProxy( getProxyString("InnerModelManagerProxy") ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("InnerModelManagerProxy initialized Ok!");
mprx["InnerModelManagerProxy"] = (::IceProxy::Ice::Object*)(&innermodelmanager_proxy);//Remote server proxy creation example
try
{
rgbd_proxy = RGBDPrx::uncheckedCast( communicator()->stringToProxy( getProxyString("RGBDProxy") ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("RGBDProxy initialized Ok!");
mprx["RGBDProxy"] = (::IceProxy::Ice::Object*)(&rgbd_proxy);
IceStorm::TopicManagerPrx topicManager = IceStorm::TopicManagerPrx::checkedCast(communicator()->propertyToProxy("TopicManager.Proxy"));
GenericWorker *worker = new SpecificWorker(mprx);
//Monitor thread
GenericMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor,SIGNAL(kill()),&a,SLOT(quit()));
QObject::connect(worker,SIGNAL(kill()),&a,SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
try
{
// Server adapter creation and publication
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapter("CommonBehavior");
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
Ice::ObjectAdapterPtr AprilTags_adapter = communicator()->createObjectAdapter("AprilTagsTopic");
AprilTagsPtr apriltagsI_ = new AprilTagsI(worker);
Ice::ObjectPrx apriltags_proxy = AprilTags_adapter->addWithUUID(apriltagsI_)->ice_oneway();
IceStorm::TopicPrx apriltags_topic;
if(!apriltags_topic){
try {
apriltags_topic = topicManager->create("AprilTags");
}
catch (const IceStorm::TopicExists&) {
//Another client created the topic
try{
apriltags_topic = topicManager->retrieve("AprilTags");
}catch(const IceStorm::NoSuchTopic&){
//Error. Topic does not exist
}
}
IceStorm::QoS qos;
apriltags_topic->subscribeAndGetPublisher(qos, apriltags_proxy);
}
AprilTags_adapter->activate();
// Server adapter creation and publication
Ice::ObjectAdapterPtr adapterobjectDetection = communicator()->createObjectAdapter("objectDetectionComp");
objectDetectionI *objectdetection = new objectDetectionI(worker);
adapterobjectDetection->add(objectdetection, communicator()->stringToIdentity("objectdetection"));
adapterobjectDetection->activate();
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int inversekinematicsAgentComp::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
int status=EXIT_SUCCESS;
// Remote server proxy access example
// RemoteComponentPrx remotecomponent_proxy;
BodyInverseKinematicsPrx bodyinversekinematics_proxy;
AGMAgentTopicPrx agmagenttopic_proxy;
string proxy;
// User variables
initialize();
// Remote server proxy creation example
// try
// {
// // Load the remote server proxy
// proxy = getProxyString("RemoteProxy");
// remotecomponent_proxy = RemotePrx::uncheckedCast( communicator()->stringToProxy( proxy ) );
// if( !remotecomponent_proxy )
// {
// rInfo(QString("Error loading proxy!"));
// return EXIT_FAILURE;
// }
//catch(const Ice::Exception& ex)
//{
// cout << "[" << PROGRAM_NAME << "]: Exception: " << ex << endl;
// return EXIT_FAILURE;
//}
//rInfo("RemoteProxy initialized Ok!");
// // Now you can use remote server proxy (remotecomponent_proxy) as local object
//Remote server proxy creation example
try
{
bodyinversekinematics_proxy = BodyInverseKinematicsPrx::uncheckedCast( communicator()->stringToProxy( getProxyString("BodyInverseKinematicsProxy") ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("BodyInverseKinematicsProxy initialized Ok!");
mprx["BodyInverseKinematicsProxy"] = (::IceProxy::Ice::Object*)(&bodyinversekinematics_proxy);
IceStorm::TopicManagerPrx topicManager = IceStorm::TopicManagerPrx::checkedCast(communicator()->propertyToProxy("TopicManager.Proxy"));
IceStorm::TopicPrx agmagenttopic_topic;
while(!agmagenttopic_topic){
try {
agmagenttopic_topic = topicManager->retrieve("AGMAgentTopic");
}catch (const IceStorm::NoSuchTopic&){
try{
agmagenttopic_topic = topicManager->create("AGMAgentTopic");
}catch (const IceStorm::TopicExists&){
// Another client created the topic.
}
}
}
Ice::ObjectPrx agmagenttopic_pub = agmagenttopic_topic->getPublisher()->ice_oneway();
AGMAgentTopicPrx agmagenttopic = AGMAgentTopicPrx::uncheckedCast(agmagenttopic_pub);
mprx["AGMAgentTopicPub"] = (::IceProxy::Ice::Object*)(&agmagenttopic);
GenericWorker *worker = new SpecificWorker(mprx);
//Monitor thread
GenericMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor,SIGNAL(kill()),&a,SLOT(quit()));
QObject::connect(worker,SIGNAL(kill()),&a,SLOT(quit()));
monitor->start();
if ( !monitor->isRunning() )
return status;
try
{
// Server adapter creation and publication
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapter("CommonBehavior");
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
Ice::ObjectAdapterPtr AGMExecutiveTopic_adapter = communicator()->createObjectAdapter("AGMExecutiveTopicTopic");
AGMExecutiveTopicPtr agmexecutivetopicI_ = new AGMExecutiveTopicI(worker);
Ice::ObjectPrx agmexecutivetopic_proxy = AGMExecutiveTopic_adapter->addWithUUID(agmexecutivetopicI_)->ice_oneway();
IceStorm::TopicPrx agmexecutivetopic_topic;
while(!agmexecutivetopic_topic){
try {
agmexecutivetopic_topic = topicManager->retrieve("AGMExecutiveTopic");
IceStorm::QoS qos;
agmexecutivetopic_topic->subscribeAndGetPublisher(qos, agmexecutivetopic_proxy);
}
catch (const IceStorm::NoSuchTopic&) {
// Error! No topic found!
}
}
AGMExecutiveTopic_adapter->activate();
// Server adapter creation and publication
Ice::ObjectAdapterPtr adapterAGMCommonBehavior = communicator()->createObjectAdapter("AGMCommonBehaviorComp");
AGMCommonBehaviorI *agmcommonbehavior = new AGMCommonBehaviorI(worker);
adapterAGMCommonBehavior->add(agmcommonbehavior, communicator()->stringToIdentity("agmcommonbehavior"));
adapterAGMCommonBehavior->activate();
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
int AprilTagsComp::run(int argc, char* argv[])
{
#ifdef USE_QTGUI
QApplication a(argc, argv); // GUI application
#else
QCoreApplication a(argc, argv); // NON-GUI application
#endif
int status=EXIT_SUCCESS;
CameraPrx camera_proxy;
RGBDPrx rgbd_proxy;
RGBDBusPrx rgbdbus_proxy;
AprilTagsPrx apriltags_proxy;
string proxy;
initialize();
try
{
camera_proxy = CameraPrx::uncheckedCast( communicator()->stringToProxy( getProxyString("CameraProxy") ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("CameraProxy initialized Ok!");
mprx["CameraProxy"] = (::IceProxy::Ice::Object*)(&camera_proxy);//Remote server proxy creation example
try
{
rgbd_proxy = RGBDPrx::uncheckedCast( communicator()->stringToProxy( getProxyString("RGBDProxy") ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("RGBDProxy initialized Ok!");
mprx["RGBDProxy"] = (::IceProxy::Ice::Object*)(&rgbd_proxy);//Remote server proxy creation example
try
{
rgbdbus_proxy = RGBDBusPrx::uncheckedCast( communicator()->stringToProxy( getProxyString("RGBDBusProxy") ) );
}
catch(const Ice::Exception& ex)
{
cout << "[" << PROGRAM_NAME << "]: Exception: " << ex;
return EXIT_FAILURE;
}
rInfo("RGBDBusProxy initialized Ok!");
mprx["RGBDBusProxy"] = (::IceProxy::Ice::Object*)(&rgbdbus_proxy);
IceStorm::TopicManagerPrx topicManager = IceStorm::TopicManagerPrx::checkedCast(communicator()->propertyToProxy("TopicManager.Proxy"));
IceStorm::TopicPrx apriltags_topic;
while (!apriltags_topic)
{
try
{
apriltags_topic = topicManager->retrieve("AprilTags");
}
catch (const IceStorm::NoSuchTopic&)
{
try
{
apriltags_topic = topicManager->create("AprilTags");
}
catch (const IceStorm::TopicExists&){
// Another client created the topic.
}
}
}
Ice::ObjectPrx apriltags_pub = apriltags_topic->getPublisher()->ice_oneway();
AprilTagsPrx apriltags = AprilTagsPrx::uncheckedCast(apriltags_pub);
mprx["AprilTagsPub"] = (::IceProxy::Ice::Object*)(&apriltags);
GenericWorker *worker = new SpecificWorker(mprx);
//Monitor thread
GenericMonitor *monitor = new SpecificMonitor(worker,communicator());
QObject::connect(monitor, SIGNAL(kill()), &a, SLOT(quit()));
QObject::connect(worker, SIGNAL(kill()), &a, SLOT(quit()));
monitor->start();
worker->setPeriod(100);
if ( !monitor->isRunning() )
return status;
try
{
// Server adapter creation and publication
Ice::ObjectAdapterPtr adapterCommonBehavior = communicator()->createObjectAdapter("CommonBehavior");
CommonBehaviorI *commonbehaviorI = new CommonBehaviorI(monitor );
adapterCommonBehavior->add(commonbehaviorI, communicator()->stringToIdentity("commonbehavior"));
adapterCommonBehavior->activate();
// Server adapter creation and publication
Ice::ObjectAdapterPtr adapterGetAprilTags = communicator()->createObjectAdapter("GetAprilTagsComp");
GetAprilTagsI *getapriltags = new GetAprilTagsI(worker);
adapterGetAprilTags->add(getapriltags, communicator()->stringToIdentity("getapriltags"));
adapterGetAprilTags->activate();
cout << SERVER_FULL_NAME " started" << endl;
// User defined QtGui elements ( main window, dialogs, etc )
#ifdef USE_QTGUI
//ignoreInterrupt(); // Uncomment if you want the component to ignore console SIGINT signal (ctrl+c).
a.setQuitOnLastWindowClosed( true );
#endif
// Run QT Application Event Loop
a.exec();
status = EXIT_SUCCESS;
}
catch(const Ice::Exception& ex)
{
status = EXIT_FAILURE;
cout << "[" << PROGRAM_NAME << "]: Exception raised on main thread: " << endl;
cout << ex;
#ifdef USE_QTGUI
a.quit();
#endif
monitor->exit(0);
}
return status;
}
