/* *  Stage : a multi-robot simulator. *  Copyright (C) 2001, 2002 Richard Vaughan, Andrew Howard and Brian Gerkey. * *  This program is free software; you can redistribute it and/or modify *  it under the terms of the GNU General Public License as published by *  the Free Software Foundation; either version 2 of the License, or *  (at your option) any later version. * *  This program is distributed in the hope that it will be useful, *  but WITHOUT ANY WARRANTY; without even the implied warranty of *  MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the *  GNU General Public License for more details. * *  You should have received a copy of the GNU General Public License *  along with this program; if not, write to the Free Software *  Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA * *//* * Desc: Program Entry point * Author: Andrew Howard, Richard Vaughan * Date: 12 Mar 2001 * CVS: $Id: main.cc,v 1.58 2002/11/11 04:46:06 inspectorg Exp $ */#if HAVE_CONFIG_H#  include <config.h>#endif#include <unistd.h>#include <signal.h>#include <sys/types.h>#include <sys/stat.h>#include <fcntl.h>#include <netdb.h> // for gethostbyname(3)#include "server.hh"#include "library.hh"// defined in library.ccextern Library model_library; //#define DEBUG///////////////////////////////////////////////////////////////////////////// Global vars// Quit signalbool quit = false;// Pointer to the one-and-only instance of the world// This really should be staticstatic CWorld *world = NULL;bool paused = false;// SIGUSR1 toggles pausevoid CatchSigUsr1( int signo ){  if( world )    {      world->m_enable = !world->m_enable;      world->m_enable ? puts( "\nCLOCK STARTED" ) : puts( "\nCLOCK STOPPED" );    }  else    puts( "PAUSE FAILED - NO WORLD" );}///////////////////////////////////////////////////////////////////////////// Print the usage stringvoid PrintUsage( void ){  printf("\nUsage: stage [options] <worldfile>\n"	 "Options: <argument> [default]\n"	 " -g\t\tDo not start the X11 GUI\n"	 " -n \t\tDo not start Player\n"	 " -o\t\tEnable console status output\n"	 " -v <float>\tSet the simulated time increment per cycle [0.1sec].\n"	 " -u <float>\tSet the desired real time per cycle [0.1 sec].\n"	 " -f \t\tRun as fast as possible; don't try to match real time\n"	 " -r <IP:port>\tSend sensor data to this address in RTP format\n"	 "\nSwitches for experimental/undocumented features:\n"	 " -p <portnum>\tSet the server port [6601]\n"	 " -c <hostname>\tRun as a client to a Stage server on hostname\n"	 " -cl\t\tRun as a client to a Stage server on localhost\n"	 " -l <filename>\tLog some timing and throughput statistics into <filename>.<incremental suffix>\n"	 "\nCommand-line options override any configuration file equivalents.\n"	 "See the Stage manual for details.\n"	 "\nPart of the Player/Stage Project [http://playerstage.sourceforge.net].\n"	 "Copyright 2000-2002 Richard Vaughan, Andrew Howard, Brian Gerkey and contributors\n"	 "Released under the GNU General Public License"	 " [http://www.gnu.org/copyleft/gpl.html].\n"	 "\n"	 );}///////////////////////////////////////////////////////////////////////////// Clean up and quitvoid StageQuit( void ){    puts( "\n** Stage quitting **" );    if( world )    {    world->Shutdown();  // Stop the world    delete world;       // Destroy the world  }  exit( 0 );}///////////////////////////////////////////////////////////////////////////// Handle quit signalsvoid sig_quit(int signum){  PRINT_DEBUG1( "SIGNAL %d\n", signum );  quit = true;}///////////////////////////////////////////////////////////////////////////// Program entry//int main(int argc, char **argv){    // hello world  printf("\n** Stage  v%s ** ", (char*) VERSION);  fflush( stdout );   world = NULL;    // CStageServer and CStageClient are subclasses of CStageIO and CWorld  // check the command line for the '-c' option that makes this a client  for( int a=1; a<argc; a++ )  {    PRINT_DEBUG2( "argv[%d] = %s\n", a, argv[a] );          if( strcmp( argv[a], "-c" ) == 0 ||  strcmp( argv[a], "-cl" ) == 0)      assert( world = new CStageClient( argc, argv, &model_library ) );  }    // if we're not a client, we must be a server  if( world == NULL )    assert( world = new CStageServer( argc, argv, &model_library ) );    // a world constructor may have raised the quit flag  // (this would be more elegantly implemented with an exception..)  if( quit )  {    puts( "Stage: failed to create a world. Quitting." );    exit( 0 );  }  // load the world model.  //  //  a server loads this from a world file; a client downloads it  // from a server  if( !world->Load() )  {    puts("Stage: failed to load world. Quitting.");    // Dont use StageQuit(): it calls world->ShutDown(), which    // bombs out because we havent yet called world->Startup().    //StageQuit();    delete world;    exit(0);  }  // startup is (externally) identical for client and server, but they  // do slightly different things inside.  // post-constructor startup is required to exploit object polymorphism  if (!world->Startup())  {    puts("Stage: failed to startup world. Quitting.");    StageQuit();  }    puts( "" ); // end the startup output line    // Register callback for quit (^C,^\) events  // - sig_quit function raises the quit flag   signal(SIGINT, sig_quit );  signal(SIGQUIT, sig_quit );  signal(SIGTERM, sig_quit );  signal(SIGHUP, sig_quit );  // catch clock start/stop commands  signal(SIGUSR1, CatchSigUsr1 );    // the main loop      // update the simulation - stop when the quit flag is raised  while( !quit ) world->Update();     //gtk_main();  // clean up and exit  StageQuit();}