bool
ChatServer::start(int, char*[], int& status)
{
_timer = new IceUtil::Timer();
// Timeout for reaping polling sessions.
int timeout = communicator()->getProperties()->getPropertyAsIntWithDefault("ReaperTimeout", 10);
bool traceEnabled = communicator()->getProperties()->getPropertyAsIntWithDefault("Server.Trace", 0) != 0;
Ice::LoggerPtr logger = communicator()->getLogger();
ReaperTaskPtr reaper = new ReaperTask(timeout, traceEnabled, logger);
_timer->scheduleRepeated(reaper, IceUtil::Time::seconds(timeout));
try
{
_adapter = communicator()->createObjectAdapter("ChatServer");
ChatRoomPtr chatRoom = new ChatRoom(traceEnabled, logger);
if(traceEnabled)
{
ostringstream os;
os << "Chat room created ok.";
logger->trace("info", os.str());
}
_adapter->add(new ChatSessionManagerI(chatRoom, traceEnabled, logger),
communicator()->stringToIdentity("ChatSessionManager"));
if(traceEnabled)
{
ostringstream os;
os << "Chat session manager created ok.";
logger->trace("info", os.str());
}
_adapter->add(new PollingChatSessionFactoryI(chatRoom, reaper, traceEnabled, logger),
communicator()->stringToIdentity("PollingChatSessionFactory"));
if(traceEnabled)
{
ostringstream os;
os << "Polling chat session factory created ok.";
logger->trace("info", os.str());
}
_adapter->activate();
if(traceEnabled)
{
ostringstream os;
os << "Chat server started ok.";
logger->trace("info", os.str());
}
}
catch(const Ice::LocalException&)
{
status = EXIT_FAILURE;
_timer->destroy();
throw;
}
status = EXIT_SUCCESS;
return true;
}
void
ServoGroup::setStarted(bool started)
{
IceUtil::Mutex::Lock lock(this->hw_mutex);
if(this->is_started == false && started == true)
{// start
static const size_t servo_gpio = 11;
this->mem_fd = pwm_open_devmem();
if(this->mem_fd == -1)
{
Ice::LoggerPtr logger =
Ice::Service::instance()->communicator()->getLogger();
string msg = "Unable to open /dev/mem, are you root?";
logger->error(msg);
throw runtime_error(msg);
}
// Enable ICLK clock
pwm_iclken_clock(this->mem_fd, true, true);
// Enable FCLK clock
pwm_fclken_clock(this->mem_fd, true, true);
// Set instances 10 and 11 to use the 13 Mhz clock
pwm_config_clock(this->mem_fd, true, true);
this->gpio_timer = pwm_mmap_instance(mem_fd, servo_gpio);
// Get the resolution for 20ms period (50Hz) PWM
this->resolution = pwm_calc_resolution(50, PWM_FREQUENCY_13MHZ);
pwm_config_timer(this->gpio_timer,
this->resolution,
this->current_duty); // middle position
}
else if(this->is_started == true && started == false)
{// stop
pwm_munmap_instance(this->gpio_timer);
// Disable ICLK clock
pwm_iclken_clock(this->mem_fd, false, false);
// Disable FCLK clock
pwm_fclken_clock(this->mem_fd, false, false);
pwm_close_devmem(this->mem_fd);
this->mem_fd = -1;
}
this->is_started = started;
}
IceApp::sensorinfo_t
IceApp::connectToSensor(const std::string &sensor_name) const
{
Ice::PropertiesPtr props = this->communicator()->getProperties();
Ice::LoggerPtr log = this->communicator()->getLogger();
try
{
log->print(string("Connecting to ") + sensor_name + " sensor");
const string prop_name = sensor_name + ".proxy";
string sensor_str_proxy = props->getProperty(prop_name);
sensors::SensorGroupPrx sensor_prx;
if(sensor_str_proxy.empty())
log->warning(prop_name
+ string(" property is not set. No ")
+ sensor_name + ".");
else
{
Ice::ObjectPrx objprx =
this->communicator()->stringToProxy(sensor_str_proxy);
sensor_prx = sensors::SensorGroupPrx::checkedCast(objprx);
if(!sensor_prx)
log->warning(string("Can not connect to ")
+ sensor_name
+ string(" sensor. No ")
+ sensor_name + ".");
else
{
string msg = "Connected to sensor group ";
log->print(msg + sensor_name);
sensors::SensorDescriptionSeq descr =
sensor_prx->getSensorDescription();
for(sensors::SensorDescriptionSeq::const_iterator d = descr.begin();
d != descr.end(); ++d)
{
ostringstream os;
os << " Vendor id: " << d->vendorid << endl;
os << " Description: " << d->description << endl;
os << " Id: " << d->id << endl;
os << " Min value: " << d->minvalue << endl;
os << " Max value: " << d->maxvalue << endl;
os << " Recommended refresh rate, Hz: " << d->refreshrate;
log->print(os.str());
}
return make_pair(sensor_prx, descr);
}
}
}
catch(const Ice::Exception& ex)
{
ostringstream os;
os << "Can not connect to " << sensor_name << " sensor. No "
<< sensor_name + ".\n";
ex.ice_print(os);
log->warning(os.str());
}
return make_pair(sensors::SensorGroupPrx(),
sensors::SensorDescriptionSeq());
}
IceApp::actuatorinfo_t
IceApp::connectToActuator(const std::string &actuator_name) const
{
Ice::PropertiesPtr props = this->communicator()->getProperties();
Ice::LoggerPtr log = this->communicator()->getLogger();
try
{
log->print(string("Connecting to ") + actuator_name + " actuators");
const string prop_name = actuator_name + ".proxy";
string actuator_str_proxy = props->getProperty(prop_name);
actuators::ActuatorGroupPrx actuator_prx;
if(actuator_str_proxy.empty())
log->warning(prop_name
+ string(" property is not set. No ")
+ actuator_name + ".");
else
{
Ice::ObjectPrx objprx =
this->communicator()->stringToProxy(actuator_str_proxy);
actuator_prx =
actuators::ActuatorGroupPrx::checkedCast(objprx);
if(!actuator_prx)
log->warning(string("Can not connect to ")
+ actuator_name
+ string(" actuator. No ")
+ actuator_name + ".");
else
{
string msg = "Connected to actuator group ";
log->print(msg + actuator_name);
actuators::ActuatorDescriptionSeq descr =
actuator_prx->getActuatorDescription();
for(actuators::ActuatorDescriptionSeq::const_iterator d = descr.begin();
d != descr.end(); ++d)
{
ostringstream os;
os << " Vendor id: " << d->vendorid << endl;
os << " Description: " << d->description << endl;
os << " Id: " << d->id << endl;
log->print(os.str());
}
return make_pair(actuator_prx, descr);
}
}
}
catch(const Ice::Exception &ex)
{
std::ostringstream os;
os << "Can not connect to actuator " + actuator_name + ".\n";
ex.ice_print(os);
log->warning(os.str());
}
return make_pair(actuators::ActuatorGroupPrx(),
actuators::ActuatorDescriptionSeq());
}
IceInternal::ACMConfig::ACMConfig(const Ice::PropertiesPtr& p,
const Ice::LoggerPtr& l,
const string& prefix,
const ACMConfig& dflt)
{
string timeoutProperty;
if((prefix == "Ice.ACM.Client" || prefix == "Ice.ACM.Server") && p->getProperty(prefix + ".Timeout").empty())
{
timeoutProperty = prefix; // Deprecated property.
}
else
{
timeoutProperty = prefix + ".Timeout";
};
this->timeout = IceUtil::Time::seconds(p->getPropertyAsIntWithDefault(timeoutProperty,
static_cast<int>(dflt.timeout.toSeconds())));
int hb = p->getPropertyAsIntWithDefault(prefix + ".Heartbeat", static_cast<int>(dflt.heartbeat));
if(hb >= static_cast<int>(ICE_ENUM(ACMHeartbeat, HeartbeatOff)) &&
hb <= static_cast<int>(ICE_ENUM(ACMHeartbeat, HeartbeatAlways)))
{
this->heartbeat = static_cast<Ice::ACMHeartbeat>(hb);
}
else
{
l->warning("invalid value for property `" + prefix + ".Heartbeat" + "', default value will be used instead");
this->heartbeat = dflt.heartbeat;
}
int cl = p->getPropertyAsIntWithDefault(prefix + ".Close", static_cast<int>(dflt.close));
if(cl >= static_cast<int>(ICE_ENUM(ACMClose, CloseOff)) &&
cl <= static_cast<int>(ICE_ENUM(ACMClose, CloseOnIdleForceful)))
{
this->close = static_cast<Ice::ACMClose>(cl);
}
else
{
l->warning("invalid value for property `" + prefix + ".Close" + "', default value will be used instead");
this->close = dflt.close;
}
}
int
IceApp::run(int argc, char *argv[])
{
RouterHelperPtr rh;
Glacier2::RouterPrx defaultRouter;
Ice::PropertiesPtr props = this->communicator()->getProperties();
Ice::LoggerPtr log = this->communicator()->getLogger();
// Try to create router with firewall support using Glacier service
try
{
rh = new RouterHelper(this->communicator());
defaultRouter = rh->getRouter();
}
catch(const Ice::Exception& ex)
{
ostringstream os;
ex.ice_print(os);
log->warning(os.str());
}
// Create object adapter for sensor callback and keyboard sensor servants
Ice::ObjectAdapterPtr adapter;
if(defaultRouter)
adapter = communicator()->createObjectAdapterWithRouter("Cockpit",
defaultRouter);
else
adapter = communicator()->createObjectAdapter("Cockpit");
if(this->visuals.init(log, props))
{
log->error("Visuals initialization failed");
return EXIT_FAILURE;
}
Ice::ObjectPrx objprx;
// Initialize keyboard sensor (and admin) servants
KeyboardAdminIPtr keyboard_admin = new KeyboardAdminI();
objprx = adapter->add(keyboard_admin,
this->communicator()->stringToIdentity("keyboard-sensor-admin"));
admin::StatePrx keyboard_admin_prx =
admin::StatePrx::uncheckedCast(objprx);
this->keyboard_sensor = new KeyboardSensorI(keyboard_admin_prx);
keyboard_admin->setSensorGroup(this->keyboard_sensor);
objprx =
adapter->add(this->keyboard_sensor,
this->communicator()->stringToIdentity("keyboard-sensor"));
adapter->activate();
admin::StatePrx state_prx;
// Initialize actuators list
// Our chassis has two motors
actuatorinfo_t cactinfo = this->connectToActuator("Chassis");
actuators::ActuatorGroupPrx cactuator_prx = cactinfo.first;
//actuators::ActuatorDescriptionSeq cactdescr = actinfo.second;
// Servo motor to rotate the head with cameras and front sonar
actuatorinfo_t hactinfo = this->connectToActuator("Head");
actuators::ActuatorGroupPrx hactuator_prx = hactinfo.first;
//actuators::ActuatorDescriptionSeq hactdescr = actinfo.second;
// Initialize joystick callback servant
sensorinfo_t info = this->connectToSensor("Joystick");
sensors::SensorGroupPrx sensor_prx = info.first;
sensors::SensorDescriptionSeq descr = info.second;
ActuatorControllerPtr joy_chassis_ctl;
ActuatorControllerPtr joy_head_ctl;
if(sensor_prx && !descr.empty())
{
actctlkey_t key = std::make_pair(descr[0].id, descr[0].type);
if(cactuator_prx)
{
joy_chassis_ctl.reset(new JoystickChassisCtl(cactuator_prx));
this->actuator_map.insert(std::make_pair(key,
joy_chassis_ctl.get()));
this->chassis_state_prx = cactuator_prx->getStateInterface();
this->chassis_state_prx->start();
}
if(hactuator_prx)
{
joy_head_ctl.reset(new JoystickHeadCtl(hactuator_prx));
this->actuator_map.insert(std::make_pair(key,
joy_head_ctl.get()));
state_prx = hactuator_prx->getStateInterface();
state_prx->start();
}
SensorFrameReceiverIPtr joystick_callback =
new SensorFrameReceiverI(descr[0].type,
descr[0].minvalue,
descr[0].maxvalue,
&this->buffer_queue,
&this->visuals.tile_manager,
&this->visuals.sensor_animations_map,
&this->actuator_map);
objprx =
adapter->add(joystick_callback, rh->makeId("joystickcallback"));
sensors::SensorFrameReceiverPrx joystick_callback_prx =
sensors::SensorFrameReceiverPrx::uncheckedCast(objprx);
sensor_prx->setSensorReceiver(joystick_callback_prx);
state_prx = sensor_prx->getStateInterface();
state_prx->start();
}
// Initialize keyboard callback servant
info = this->connectToSensor("Keyboard");
sensor_prx = info.first;
descr = info.second;
ActuatorControllerPtr kbd_chassis_ctl;
ActuatorControllerPtr kbd_head_ctl;
if(sensor_prx && !descr.empty())
{
actctlkey_t key = std::make_pair(descr[0].id, descr[0].type);
if(cactuator_prx)
{
kbd_chassis_ctl.reset(new KeyboardChassisCtl(cactuator_prx));
this->actuator_map.insert(std::make_pair(key,
kbd_chassis_ctl.get()));
state_prx = cactuator_prx->getStateInterface();
state_prx->start();
}
if(hactuator_prx)
{
kbd_head_ctl.reset(new KeyboardHeadCtl(hactuator_prx));
this->actuator_map.insert(std::make_pair(key,
kbd_head_ctl.get()));
state_prx = hactuator_prx->getStateInterface();
state_prx->start();
}
SensorFrameReceiverIPtr kbd_callback =
new SensorFrameReceiverI(descr[0].type,
descr[0].minvalue,
descr[0].maxvalue,
&this->buffer_queue,
&this->visuals.tile_manager,
&this->visuals.sensor_animations_map,
&this->actuator_map);
objprx =
adapter->add(kbd_callback,
this->communicator()->stringToIdentity("kbdcallback"));
sensors::SensorFrameReceiverPrx kbd_callback_prx =
sensors::SensorFrameReceiverPrx::uncheckedCast(objprx);
sensor_prx->setSensorReceiver(kbd_callback_prx);
state_prx = sensor_prx->getStateInterface();
state_prx->start();
}
// Initialize sonars callback servant
info = this->connectToSensor("Sonars");
sensor_prx = info.first;
descr = info.second;
if(sensor_prx && !descr.empty())
{
SensorFrameReceiverIPtr sonars_callback =
new SensorFrameReceiverI(descr[0].type,
descr[0].minvalue,
descr[0].maxvalue,
&this->buffer_queue,
&this->visuals.tile_manager,
&this->visuals.sensor_animations_map,
NULL);
objprx =
adapter->add(sonars_callback, rh->makeId("sonarscallback"));
sensors::SensorFrameReceiverPrx sonars_callback_prx =
sensors::SensorFrameReceiverPrx::uncheckedCast(objprx);
sensor_prx->setSensorReceiver(sonars_callback_prx);
admin::StatePrx state_prx = sensor_prx->getStateInterface();
state_prx->start();
}
// Initialize compass callback servant
info = this->connectToSensor("Compass");
sensor_prx = info.first;
descr = info.second;
if(sensor_prx && !descr.empty())
{
SensorFrameReceiverIPtr compass_callback =
new SensorFrameReceiverI(descr[0].type,
descr[0].minvalue,
descr[0].maxvalue,
&this->buffer_queue,
&this->visuals.tile_manager,
&this->visuals.sensor_animations_map,
NULL);
objprx =
adapter->add(compass_callback, rh->makeId("compasscallback"));
sensors::SensorFrameReceiverPrx compass_callback_prx =
sensors::SensorFrameReceiverPrx::uncheckedCast(objprx);
sensor_prx->setSensorReceiver(compass_callback_prx);
admin::StatePrx state_prx = sensor_prx->getStateInterface();
state_prx->start();
}
// Initialize camera callback servant
info = this->connectToSensor("Camera");
sensor_prx = info.first;
descr = info.second;
if(sensor_prx && !descr.empty())
{
const std::string prop_name = "Decoding.Pipeline";
std::string dec_pipeline = props->getProperty(prop_name);
if(dec_pipeline.empty())
{
log->warning(prop_name + " property not set. No video.");
}
else
{
this->video_decoder.initAndStart(argc, argv,
dec_pipeline.c_str(),
this->visuals.video_painters,
&this->buffer_queue);
SensorFrameReceiverIPtr camera_callback =
new SensorFrameReceiverI(descr[0].type,
descr[0].minvalue,
descr[0].maxvalue,
&this->buffer_queue,
&this->visuals.tile_manager,
&this->visuals.sensor_animations_map,
NULL);
objprx =
adapter->add(camera_callback, rh->makeId("cameracallback"));
sensors::SensorFrameReceiverPrx camera_callback_prx =
sensors::SensorFrameReceiverPrx::uncheckedCast(objprx);
sensor_prx->setSensorReceiver(camera_callback_prx);
state_prx = sensor_prx->getStateInterface();
state_prx->start();
}
}
this->mainloop();
// Be nice and stop chassis motors on exit
if(this->chassis_state_prx)
{
this->chassis_state_prx->stop();
this->chassis_state_prx = 0;
}
return EXIT_SUCCESS;
}