Revision 9cb381ec 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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}


  		




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