Revision dc29b307 server/src/main.cpp

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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 != 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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    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 hlrc> <base scopename humotion> [<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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    }


  		




  ......




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    printf("> hlrc_server starting\n");


  		




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    //fetch scope from cmd line


  		




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    std::string scope = argv[3];


  		




  
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    std::string scope_hlrc = argv[3];


  		




  
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    std::string scope_humotion = argv[4];


  		




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    //fetch middleware from cmd line


  		




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    std::string mw = argv[1];


  		




  ......




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    //arbiter


  		




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    std::string sound_output = "pulse";


  		




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    if (argc == 5){


  		




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        sound_output = argv[4];


  		




  
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    if (argc == 6){


  		




  
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        sound_output = argv[5];


  		




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    }


  		




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    arbiter = new Arbiter(sound_output);


  		




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    //mw connection


  		




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    Middleware *middleware;


  		




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    if (mw == "ROS"){


  		




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        middleware = new MiddlewareROS(arbiter, scope);


  		




  
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        middleware = new MiddlewareROS(arbiter, scope_hlrc);


  		




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    }else{


  		




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        middleware = new MiddlewareRSB(arbiter, scope);


  		




  
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        middleware = new MiddlewareRSB(arbiter, scope_hlrc);


  		




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    }


  		




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    //human motion connection:


  		




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    humotion::client::Client *client = new humotion::client::Client(scope, mw_humotion);


  		




  
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    humotion::client::Client *client = new humotion::client::Client(scope_humotion, mw_humotion);


  		




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


  		




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