Revision d81c4f8b server/src/main.cpp

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server/src/main.cpp
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 *
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 */
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#include "MiddlewareRSB.h"


  		




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#include "MiddlewareROS.h"


  		




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#include "Arbiter.h"


  		




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  ......




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


  		




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


  		




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		printf("> ERROR: invalid number of parameters passed to server!\n\nusage: %s <mw_hlrc> <mw_humotion> <base scopename "


  		




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		       "hlrc> <base scopename humotion> [<audio output>]  (example: %s RSB RSB /flobi1/ pulse )\n",


  		




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		       argv[0], argv[0]);


  		




  
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		printf("> ERROR: invalid number of parameters passed to server!\n\n"


  		




  
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		"usage: %s <mw_hlrc> <mw_humotion> <base scopename hlrc> <base scopename humotion> [<audio output>]\n"


  		




  
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		"(example: %s ROS ROS /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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	}


  		




  ......




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		middleware = new MiddlewareROS(arbiter, scope_hlrc);


  		




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	}


  		




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	else {


  		




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		middleware = new MiddlewareRSB(arbiter, scope_hlrc);


  		




  
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      printf("> ERROR: invalid middleware! Only ROS supported)\n");


  		




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	}


  		




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	// human motion connection:


  		












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