utRobot

Classes
class	UTThread

Macros
#define	APP_EC_OK   0
	success exit code
#define	APP_EC_ARGS   2
	command-line options/arguments error exit code
#define	APP_EC_EXEC   4
	execution exit code
#define	APP_EC_OK   0
	success exit code
#define	APP_EC_ARGS   2
	command-line options/arguments error exit code
#define	APP_EC_EXEC   4
	execution exit code
#define	APP_EC_OK   0
	success exit code
#define	APP_EC_ARGS   2
	command-line options/arguments error exit code
#define	APP_EC_EXEC   4
	execution exit code
#define	APP_EC_OK   0
	success exit code
#define	APP_EC_ARGS   2
	command-line options/arguments error exit code
#define	APP_EC_EXEC   4
	execution exit code

Functions
static void	mainInit (int argc, char *argv[])
	Main initialization. More...
int	main (int argc, char *argv[])
	Main. More...
int	getch ()
int	kbhit ()

Variables
static char *	Argv0
	the command
static OptsPgmInfo_T	PgmInfo
	Program information. More...
static OptsInfo_T	OptsInfo []
	Command line options information. More...
static char *	Argv0
	the command
static double	OptsHz = 2
	thread hertz rate
static bool_t	OptsRand = false
	thread random jitter
static OptsPgmInfo_T	PgmInfo
	Program information. More...
static OptsInfo_T	OptsInfo []
	Command line options information.
UTThread	operator
static char *	Argv0
	the command
static char *	ArgFileName
	XML file name.
static OptsPgmInfo_T	PgmInfo
	Program information. More...
static OptsInfo_T	OptsInfo []
	Command line options information. More...
static char *	Argv0
	the command
static char *	ArgFileName
	XML file name.
static OptsPgmInfo_T	PgmInfo
	Program information. More...
static OptsInfo_T	OptsInfo []
	Command line options information. More...

Detailed Description

Function Documentation

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

Main.

Parameters

argc	Command-line argument count.
argv	Command-line argument list.

Returns

Returns 0 on succes, non-zero on failure.

Definition at line 138 of file utRobot.cxx.

References APP_EC_EXEC, APP_EC_OK, laelaps::LaeRobot::connect(), laelaps::LaeRobot::disconnect(), laelaps::LaeRobot::getLaelapsDesc(), laelaps::LaeRobot::isConnected(), laelaps::LaeXmlCfg::loadFile(), mainInit(), and laelaps::LaeDesc::markAsDescribed().

Referenced by mainInit().

{
  const char* const CfgFile = "/prj/pkg/Laelaps/share/etc/laelaps/laelaps.conf";

  LaeRobot     *pRobot;
  LaeXmlCfg     xml;
  uint_t        sec;
  int           rc;

  mainInit(argc, argv);

  printf("Creating robot.\n");
  pRobot = new LaeRobot;
  printf("Created.\n");

  sec = 1;
  printf("  sleeping %u seconds ...", sec); 
  sleep(sec);
  printf("\n");

  LaeDesc &desc = pRobot->getLaelapsDesc();

  printf("Parsing robot description.\n");
  if( (rc = xml.loadFile(desc, CfgFile)) == LAE_OK )
  {
    rc = desc.markAsDescribed();
  }

  if( rc != LAE_OK )
  {
    printf("Failed to load/parse description.\n");
    return APP_EC_EXEC;
  }

  printf("Connecting robot.\n");
  if( (rc = pRobot->connect()) == LAE_OK )
  {
    printf("Connected\n");
  }
  else
  {
    printf("Failed to connect.\n");
  }

  sec = 5;
  printf("  sleeping %u seconds ...", sec); 
  sleep(sec);
  printf("\n");

  if( pRobot->isConnected() )
  {
    printf("Disconnecting robot.\n");
    if( (rc = pRobot->disconnect()) == LAE_OK )
    {
      printf("Disconnected\n");
    }
    else
    {
      printf("Failed to disconnect.\n");
    }
  }

  printf("Deleting robot.\n");
  delete pRobot;
  printf("Deleted.\n");

  sec = 1;
  printf("  sleeping %u seconds ...", sec); 
  sleep(sec);
  printf("\n");

  return APP_EC_OK;
}

static void mainInit ( int  argc, char *  argv[]  )

static

Main initialization.

Parameters

argc	Command-line argument count.
argv	Command-line argument list.

Exits:

Program terminates on conversion error.

Definition at line 121 of file utRobot.cxx.

References Argv0, OptsInfo, PgmInfo, and PkgInfo.

Referenced by main().

{
  // name of this process
  Argv0 = basename(argv[0]);

  // parse input options
  argv = OptsGet(Argv0, &PkgInfo, &PgmInfo, OptsInfo, true, &argc, argv);
}

Variable Documentation

OptsInfo_T OptsInfo[]

static

Initial value:

=
{
  {NULL, }
}

Command line options information.

Definition at line 107 of file utRobot.cxx.

Referenced by mainInit().

OptsInfo_T OptsInfo[]

static

Initial value:

=
{
  {NULL, }
}

Command line options information.

Definition at line 109 of file utXmlTunes.cxx.

Referenced by mainInit().

OptsInfo_T OptsInfo[]

static

Initial value:

=
{
  {NULL, }
}

Command line options information.

Definition at line 109 of file utXmlCfg.cxx.

Referenced by mainInit().

OptsPgmInfo_T PgmInfo

static

Initial value:

=
{
  
  "<FILE>",

  
  "Unit test liblaelaps LaeRobot class.",

  
  "The %P command unit tests the liblaelap LaeRobot class basic operation.",

  
  NULL
}

Program information.

Definition at line 89 of file utRobot.cxx.

Referenced by mainInit().

OptsPgmInfo_T PgmInfo

static

Initial value:

=
{
  
  "<FILE>",

  
  "Unit test liblaelaps LaeDesc and LaeXmlCfg classes.",

  
  "The %P command unit tests the liblaelap LaeDesc and "
  "  LaeXmlCfg class operation.",

  
  NULL
}

Program information.

Definition at line 90 of file utXmlCfg.cxx.

Referenced by mainInit().

OptsPgmInfo_T PgmInfo

static

Initial value:

=
{
  
  "<FILE>",

  
  "Unit test liblaelaps LaeTune and LaeXmlTune classes.",

  
  "The %P command unit tests the liblaelap LaeTune and LaeXmlTune class "
  "operation.",

  
  NULL
}

Program information.

Definition at line 90 of file utXmlTunes.cxx.

Referenced by mainInit().

OptsPgmInfo_T PgmInfo

static

Initial value:

=
{
  
  NULL,

  
  "Unit test liblaelaps LaeThread base class.",

  
  "The %P command unit tests the liblaelap LaeThread base class operation.",

  
  NULL
}

Program information.

Definition at line 93 of file utThread.cxx.

Referenced by mainInit().