[4941] | 1 | #include <concurrency/TimerManager.h>
|
---|
| 2 | #include <concurrency/PlatformThreadFactory.h>
|
---|
| 3 |
|
---|
| 4 | #include "Client.h"
|
---|
| 5 | #include "RtnetDataHandler.h"
|
---|
| 6 |
|
---|
| 7 | #include <cstdio>
|
---|
| 8 | #include <cstring>
|
---|
| 9 | extern "C" {
|
---|
| 10 | #include <strings.h>
|
---|
| 11 | #include <sys/signal.h>
|
---|
| 12 | #include <unistd.h>
|
---|
| 13 | }
|
---|
| 14 |
|
---|
| 15 | using namespace apache::thrift::concurrency;
|
---|
| 16 | using namespace com::gpssolutions::rtnet;
|
---|
| 17 |
|
---|
| 18 | volatile int STOP=0;
|
---|
| 19 | void catch_ctrlc(int /*sig_num*/)
|
---|
| 20 | {
|
---|
| 21 | static int once=0;
|
---|
| 22 | printf("Caught SIGINT signal, terminating rtnet_sdo_example\n");
|
---|
| 23 | if (once) exit(-1);
|
---|
| 24 | once=1;
|
---|
| 25 | STOP=1;
|
---|
| 26 | }
|
---|
| 27 |
|
---|
| 28 | void usage()
|
---|
| 29 | {
|
---|
| 30 | printf("rtnet_sdo_example -H (RTNet host default=localhost)\n");
|
---|
| 31 | printf(" -p (RTNet SDO port)\n");
|
---|
| 32 | printf(" [-h (show this usage information)]\n");
|
---|
| 33 | }
|
---|
| 34 |
|
---|
| 35 | int main(int argc, char** argv)
|
---|
| 36 | {
|
---|
| 37 | signal(SIGINT, catch_ctrlc);
|
---|
| 38 | int ii;
|
---|
| 39 | bool prevArgSet=false;
|
---|
| 40 | bool rtnetPortSet=false;
|
---|
| 41 | enum Argument
|
---|
| 42 | {
|
---|
| 43 | RtnetPort,
|
---|
| 44 | RtnetHost
|
---|
| 45 | };
|
---|
| 46 | Argument prevArg=RtnetPort;
|
---|
| 47 | std::string host;
|
---|
| 48 | long port=0;
|
---|
| 49 | long tmpval;
|
---|
| 50 | char *endptr;
|
---|
| 51 | for (ii=1; ii < argc; ++ii)
|
---|
| 52 | {
|
---|
| 53 | if (prevArgSet)
|
---|
| 54 | {
|
---|
| 55 | switch (prevArg)
|
---|
| 56 | {
|
---|
| 57 | case RtnetPort:
|
---|
| 58 | tmpval = strtol(argv[ii],&endptr,10);
|
---|
| 59 | if (endptr == argv[ii] || tmpval < 1) {
|
---|
| 60 | fprintf(stderr,"Invalid port '%s' given for rtnet port.\n",argv[ii]);
|
---|
| 61 | usage();
|
---|
| 62 | return 1;
|
---|
| 63 | }
|
---|
| 64 | port = tmpval;
|
---|
| 65 | rtnetPortSet=true;
|
---|
| 66 | break;
|
---|
| 67 | case RtnetHost:
|
---|
| 68 | host = argv[ii];
|
---|
| 69 | break;
|
---|
| 70 | }
|
---|
| 71 | prevArgSet=false;
|
---|
| 72 | } else {
|
---|
| 73 | if (!strcmp(argv[ii],"-p")) {
|
---|
| 74 | prevArgSet=true;
|
---|
| 75 | prevArg=RtnetPort;
|
---|
| 76 | } else if (!strcmp(argv[ii],"-H")) {
|
---|
| 77 | prevArgSet=true;
|
---|
| 78 | prevArg=RtnetHost;
|
---|
| 79 | } else if (!strcmp(argv[ii],"-h")) {
|
---|
| 80 | usage();
|
---|
| 81 | return 0;
|
---|
| 82 | } else {
|
---|
| 83 | fprintf(stderr,"Unknown argument %s\n",argv[ii]);
|
---|
| 84 | usage();
|
---|
| 85 | return 1;
|
---|
| 86 | }
|
---|
| 87 | }
|
---|
| 88 | }
|
---|
| 89 | if (!rtnetPortSet) {
|
---|
| 90 | fprintf(stderr,"RTNet port must be set.\n");
|
---|
| 91 | usage();
|
---|
| 92 | return 1;
|
---|
| 93 | }
|
---|
| 94 | boost::shared_ptr<TimerManager> timeMgr(new TimerManager);
|
---|
| 95 | boost::shared_ptr<ThreadFactory> thFactory(new PlatformThreadFactory);
|
---|
| 96 | timeMgr->threadFactory(thFactory);
|
---|
| 97 | timeMgr->start();
|
---|
| 98 | boost::shared_ptr<RtnetDataHandler> dataHandler(new RtnetDataHandler());
|
---|
| 99 | boost::shared_ptr<Client> clnt(new Client(host,port,timeMgr,dataHandler));
|
---|
| 100 |
|
---|
| 101 | while (!STOP)
|
---|
| 102 | usleep(100);
|
---|
| 103 |
|
---|
| 104 | // application cleanup
|
---|
| 105 | timeMgr->stop();
|
---|
| 106 | clnt->stop();
|
---|
| 107 | printf("Clean stop\n");
|
---|
| 108 | return 0;
|
---|
| 109 | }
|
---|
| 110 |
|
---|