Revision 90fa4b4e server/src/main.cpp

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server/src/main.cpp
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#include <iostream>
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#include <stdlib.h>
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#include <math.h>
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#include <boost/date_time/posix_time/posix_time.hpp>
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#include <boost/thread/thread_time.hpp>
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#include <boost/thread/thread.hpp>
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#include <chrono>
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#include <thread>
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#include <boost/algorithm/string.hpp>
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Arbiter* arbiter;


  		




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using namespace std;


  		




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using namespace boost;


  		




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int main(int argc, char* argv[]) {


  		




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	if ((argc != 5) && (argc != 6)) {


  		




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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


  		




  
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	boost::algorithm::to_upper(mw); // convert to uppercase


  		




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	// fetch mw for humotion


  		




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	std::string mw_humotion = argv[2];


  		




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	printf("> all done. hlrc server ready\n");


  		




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	// send values to human motion server


  		




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	float loop_delay = 1000.0 / 50.0; // run with 50Hz


  		




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	boost::system_time timeout = get_system_time() + posix_time::milliseconds(loop_delay);


  		




  
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	// send values to human motion server with 50Hz


  		




  
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	const auto loop_period = std::chrono::duration_cast<std::chrono::milliseconds>(std::chrono::duration<float>(1.0 / 50));


  		




  
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	auto timeout = std::chrono::steady_clock::now() + loop_period;


  		




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	while (client->ok()) {


  		




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		middleware->tick();


  		




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		// debug:


  		




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		// arbiter->get_mouth_state().dump();


  		




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		thread::sleep(timeout);


  		




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		timeout = get_system_time() + posix_time::milliseconds(loop_delay);


  		




  
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		std::this_thread::sleep_until(timeout);


  		




  
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		timeout += loop_period;


  		




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	}


  		




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	return EXIT_SUCCESS;


  		












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