int main(int argc, char **argv) {
if (!strcmp(argv[2], "write_g")) {
write_g(argv[1], argv[3], argv[4], argv[5]);
} else if (!strcmp(argv[2], "write")) {
if (argc == 4) {
write_msg(argv[1], argv[3]);
} else {
write_msg(argv[1], NULL);
}
} else if(!strcmp(argv[2], "read")) {
read_msg(argv[1]);
} else if(!strcmp(argv[2], "thread")){
pthread_t read_t;
int ret = 0;
ret = pthread_create(&read_t, NULL, read_canbus, NULL);
if (ret != 0){
fprintf(stderr, "Creat pthread error!\n");
exit(-EINVAL);
}
pthread_join(read_t, NULL);
} else if(!strcmp(argv[2], "wiki")){
wiki(argc, argv);
}
fprintf(stderr, "Main thread finished!\n");
return 0;
}
bool Color::write(yarp::os::idl::WireWriter& writer) {
if (!write_r(writer)) return false;
if (!write_g(writer)) return false;
if (!write_b(writer)) return false;
return !writer.isError();
}
