Revision 4b075581
| server/src/main.cpp | ||
|---|---|---|
| 45 | 45 |
using namespace boost; |
| 46 | 46 |
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int main(int argc, char *argv[]) {
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if ((argc != 3) && (argc != 4)){
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printf("> ERROR: no base scope passed to server!\n\nusage: %s <mw> <base scopename> [<audio output>] (example: %s RSB /flobi1/ pulse )\n",argv[0],argv[0]);
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if ((argc != 4) && (argc != 5)){
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printf("> ERROR: invalid number of parameters passed to server!\n\nusage: %s <mw_hlrc> <mw_humotion> <base scopename> [<audio output>] (example: %s RSB RSB /flobi1/ pulse )\n",argv[0],argv[0]);
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printf(" audio output is optional and can be {pulse,oss,alsa,null,sndio,..}\n\n");
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exit(EXIT_FAILURE); |
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} |
| ... | ... | |
| 54 | 54 |
printf("> hlrc_server starting\n");
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//fetch scope from cmd line |
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std::string scope = argv[2];
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std::string scope = argv[3];
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//fetch middleware from cmd line |
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std::string mw = argv[1]; |
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to_upper(mw); //convert to uppercase |
| 62 | 62 |
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//fetch mw for humotion |
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std::string mw_humotion = argv[2]; |
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| 63 | 66 |
//arbiter |
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std::string sound_output = "pulse"; |
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if (argc == 4){
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sound_output = argv[3];
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if (argc == 5){
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sound_output = argv[4];
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} |
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arbiter = new Arbiter(sound_output); |
| 69 | 72 |
|
| ... | ... | |
| 77 | 80 |
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//human motion connection: |
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printf("> initializing humotion client\n");
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humotion::client::Client *client = new humotion::client::Client(scope, "ROS");
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humotion::client::Client *client = new humotion::client::Client(scope, mw_humotion);
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| 81 | 84 |
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printf("> all done. hlrc server ready\n");
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| 83 | 86 |
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