void init_ipc() {
carmen_localize_subscribe_globalpos_message(NULL,
(carmen_handler_t)localize_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_roomnav_subscribe_room_message(NULL, (carmen_handler_t)room_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_roomnav_subscribe_path_message(NULL, (carmen_handler_t)path_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_roomnav_subscribe_goal_changed_message(NULL,
(carmen_handler_t)
goal_changed_handler,
CARMEN_SUBSCRIBE_LATEST);
}
int main(int argc, char **argv)
{
char filename[1024];
char key;
carmen_ipc_initialize(argc, argv);
carmen_param_check_version(argv[0]);
if(argc < 2)
carmen_die("usage: %s <logfile>\n", argv[0]);
sprintf(filename, "%s", argv[1]);
outfile = carmen_fopen(filename, "r");
if (outfile != NULL) {
fprintf(stderr, "Overwrite %s? ", filename);
scanf("%c", &key);
if (toupper(key) != 'Y')
exit(-1);
carmen_fclose(outfile);
}
outfile = carmen_fopen(filename, "w");
if(outfile == NULL)
carmen_die("Error: Could not open file %s for writing.\n", filename);
carmen_logwrite_write_header(outfile);
carmen_robot_subscribe_frontlaser_message(NULL,
(carmen_handler_t)robot_frontlaser_handler,
CARMEN_SUBSCRIBE_ALL);
localize_msg = (carmen_localize_globalpos_message *)
calloc(1, sizeof(carmen_localize_globalpos_message));
carmen_test_alloc(localize_msg);
carmen_localize_subscribe_globalpos_message(localize_msg, NULL, CARMEN_SUBSCRIBE_ALL);
logger_starttime = carmen_get_time();
signal(SIGINT, shutdown_module);
carmen_ipc_dispatch();
return 0;
}
int main(int argc, char **argv)
{
char filename[1024];
char key;
int num_scanned;
/* initialize connection to IPC network */
carmen_ipc_initialize(argc, argv);
carmen_param_check_version(argv[0]);
/* open logfile, check if file overwrites something */
if(argc < 2)
carmen_die("usage: %s <logfile>\n", argv[0]);
sprintf(filename, "%s", argv[1]);
outfile = carmen_fopen(filename, "r");
if (outfile != NULL) {
fprintf(stderr, "Overwrite %s? ", filename);
num_scanned = scanf("%c", &key);
if (toupper(key) != 'Y')
exit(-1);
carmen_fclose(outfile);
}
outfile = carmen_fopen(filename, "w");
if(outfile == NULL)
carmen_die("Error: Could not open file %s for writing.\n", filename);
carmen_logwrite_write_header(outfile);
get_logger_params(argc, argv);
if ( !(log_odometry && log_laser && log_robot_laser ) )
carmen_warn("\nWARNING: You are neither logging laser nor odometry messages!\n");
if (log_params)
get_all_params();
register_ipc_messages();
if (log_odometry)
carmen_base_subscribe_odometry_message(NULL, (carmen_handler_t)
base_odometry_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_sonars)
carmen_base_subscribe_sonar_message(NULL, (carmen_handler_t)
base_sonar_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_bumpers)
carmen_base_subscribe_bumper_message(NULL, (carmen_handler_t)
base_bumper_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_arm)
carmen_arm_subscribe_state_message(NULL, (carmen_handler_t)
arm_state_handler,
CARMEN_SUBSCRIBE_ALL);
if (log_pantilt) {
carmen_pantilt_subscribe_scanmark_message (NULL, (carmen_handler_t)
pantilt_scanmark_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_pantilt_subscribe_laserpos_message (NULL, (carmen_handler_t)
pantilt_laserpos_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_robot_laser) {
carmen_robot_subscribe_frontlaser_message(NULL, (carmen_handler_t)
robot_frontlaser_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_robot_subscribe_rearlaser_message(NULL, (carmen_handler_t)
robot_rearlaser_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_laser) {
carmen_laser_subscribe_laser1_message(NULL, (carmen_handler_t)
laser_laser1_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser2_message(NULL, (carmen_handler_t)
laser_laser2_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser3_message(NULL, (carmen_handler_t)
laser_laser3_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser4_message(NULL, (carmen_handler_t)
laser_laser4_handler,
CARMEN_SUBSCRIBE_ALL);
carmen_laser_subscribe_laser5_message(NULL, (carmen_handler_t)
laser_laser5_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_localize) {
carmen_localize_subscribe_globalpos_message(NULL, (carmen_handler_t)
localize_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_simulator) {
carmen_simulator_subscribe_truepos_message(NULL, (carmen_handler_t)
carmen_simulator_truepos_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_imu) {
carmen_imu_subscribe_imu_message(NULL, (carmen_handler_t)
imu_handler,
CARMEN_SUBSCRIBE_ALL);
}
if (log_gps) {
carmen_gps_subscribe_nmea_message( NULL,
(carmen_handler_t) ipc_gps_gpgga_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_gps_subscribe_nmea_rmc_message( NULL,
(carmen_handler_t) ipc_gps_gprmc_handler,
CARMEN_SUBSCRIBE_ALL );
}
if (log_motioncmds) {
carmen_robot_subscribe_vector_move_message( NULL,
(carmen_handler_t) robot_vector_move_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_robot_subscribe_follow_trajectory_message( NULL,
(carmen_handler_t) robot_follow_trajectory_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_robot_subscribe_velocity_message( NULL,
(carmen_handler_t) robot_velocity_handler,
CARMEN_SUBSCRIBE_ALL );
carmen_base_subscribe_velocity_message( NULL,
(carmen_handler_t) base_velocity_handler,
CARMEN_SUBSCRIBE_ALL );
}
carmen_logger_subscribe_comment_message( NULL,
(carmen_handler_t) logger_comment_handler,
CARMEN_SUBSCRIBE_ALL );
signal(SIGINT, shutdown_module);
logger_starttime = carmen_get_time();
carmen_ipc_dispatch();
return 0;
}
void Carmen_Thread::register_handlers() {
carmen_map_t map;
carmen_map_get_gridmap(&map);
set_map(&map);
emit_map_changed_signal(map);
carmen_map_subscribe_gridmap_update_message(
NULL,
(carmen_handler_t)map_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_grid_mapping_subscribe_message(NULL,
(carmen_handler_t)grid_map_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_localize_ackerman_subscribe_globalpos_message(
NULL,
(carmen_handler_t)globalpos_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_simulator_ackerman_subscribe_truepos_message(
NULL,
(carmen_handler_t)truepos_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_simulator_subscribe_truepos_message(
NULL,
(carmen_handler_t)truepos_handler_diff,
CARMEN_SUBSCRIBE_LATEST);
carmen_localize_ackerman_subscribe_particle_message(
NULL,
(carmen_handler_t)particle_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_localize_subscribe_globalpos_message(
NULL,
(carmen_handler_t)globalpos_handler_diff,
CARMEN_SUBSCRIBE_LATEST);
carmen_laser_subscribe_frontlaser_message(
NULL,
(carmen_handler_t)laser_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_localize_ackerman_subscribe_sensor_message(
NULL,
(carmen_handler_t)localize_laser_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_navigator_ackerman_subscribe_plan_message(
NULL,
(carmen_handler_t)plan_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_navigator_subscribe_plan_message(
NULL,
(carmen_handler_t)plan_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_navigator_ackerman_subscribe_status_message(
NULL,
(carmen_handler_t) navigator_status_handler,
CARMEN_SUBSCRIBE_LATEST);
IPC_setMsgQueueLength(CARMEN_GRID_MAPPING_MESSAGE_NAME, 1);
carmen_rrt_planner_subscribe_robot_tree_message(
NULL,
(carmen_handler_t)rrt_planner_robot_tree_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_rrt_planner_subscribe_goal_tree_message(
NULL,
(carmen_handler_t)rrt_planner_goal_tree_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_rrt_planner_subscribe_status_message(
NULL,
(carmen_handler_t)rrt_status_handler,
CARMEN_SUBSCRIBE_LATEST);
}
static void ipc_init() {
carmen_localize_subscribe_globalpos_message(NULL, (carmen_handler_t) localize_handler,
CARMEN_SUBSCRIBE_LATEST);
carmen_map_subscribe_map_zone_message(NULL, (carmen_handler_t) map_zone_handler, CARMEN_SUBSCRIBE_LATEST);
}