62 lines
1.5 KiB
C++
62 lines
1.5 KiB
C++
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#include "Aria.h"
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#include "ArNetworking.h"
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void forwarderAdded(ArCentralForwarder *forwarder)
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{
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printf("@ Forwarder added for %s\n",
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forwarder->getRobotName());
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}
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void forwarderRemoved(ArCentralForwarder *forwarder)
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{
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printf("@ Forwarder removed for %s\n",
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forwarder->getRobotName());
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}
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int main(int argc, char **argv)
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{
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Aria::init();
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ArServerBase robotServer;
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if (!robotServer.open(5000))
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{
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printf("Could not open robot server port\n");
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Aria::exit(1);
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}
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ArServerBase clientServer;
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if (!clientServer.open(7272))
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{
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printf("Could not open robot server port\n");
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Aria::exit(1);
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}
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ArCentralManager switchManager(&robotServer, &clientServer);
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switchManager.addForwarderAddedCallback(
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new ArGlobalFunctor1<ArCentralForwarder *>(&forwarderAdded),
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100);
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switchManager.addForwarderRemovedCallback(
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new ArGlobalFunctor1<ArCentralForwarder *>(&forwarderRemoved),
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100);
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// Start a small handler to monitor communication between the server and
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// client.
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ArServerHandlerCommMonitor commMonitor(&clientServer);
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ArServerHandlerCommands commands(&clientServer);
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commands.setPrefix("CentralServer");
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ArServerSimpleServerCommands serverCommands(&commands, &clientServer,
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false);
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commands.addCommand(
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"NetworkLogConnections", "Logs the connections to the central server, and to all the forwarded connections",
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new ArFunctorC<ArCentralManager>
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(&switchManager, &ArCentralManager::logConnections));
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clientServer.runAsync();
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robotServer.run();
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Aria::exit(0);
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}
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