/********************************************************************* Description: emcsvr.cc*   Network server for EMC NML**   Derived from a work by Fred Proctor & Will Shackleford** Author:* License: GPL Version 2* System: Linux*    * Copyright (c) 2004 All rights reserved.** Last change:* $Revision: 1.8 $* $Author: yabosukz $* $Date: 2005/07/08 14:11:16 $********************************************************************/#include <stdio.h>		// sscanf()#include <math.h>		// fabs()#include <stdlib.h>		// exit()#include <string.h>		// strncpy()#include "rcs.hh"		// EMC NML#include "emc.hh"		// EMC NML#include "emcglb.h"		// emcGetArgs(), EMC_NMLFILEstatic int iniLoad(const char *filename){    Inifile inifile;    const char *inistring;    // open it    if (inifile.open(filename) == false) {	return -1;    }    if (NULL != (inistring = inifile.find("DEBUG", "EMC"))) {	// copy to global	if (1 != sscanf(inistring, "%i", &EMC_DEBUG)) {	    EMC_DEBUG = 0;	}    } else {	// not found, use default	EMC_DEBUG = 0;    }    if (EMC_DEBUG & EMC_DEBUG_RCS) {	// set_rcs_print_flag(PRINT_EVERYTHING);	max_rcs_errors_to_print = -1;    }    if (NULL != (inistring = inifile.find("NML_FILE", "EMC"))) {	// copy to global	strcpy(EMC_NMLFILE, inistring);    } else {	// not found, use default    }    // close it    inifile.close();    return 0;}static RCS_CMD_CHANNEL *emcCommandChannel = NULL;static RCS_STAT_CHANNEL *emcStatusChannel = NULL;static NML *emcErrorChannel = NULL;static RCS_CMD_CHANNEL *toolCommandChannel = NULL;static RCS_STAT_CHANNEL *toolStatusChannel = NULL;static RCS_CMD_CHANNEL *auxCommandChannel = NULL;static RCS_STAT_CHANNEL *auxStatusChannel = NULL;static RCS_CMD_CHANNEL *lubeCommandChannel = NULL;static RCS_STAT_CHANNEL *lubeStatusChannel = NULL;static RCS_CMD_CHANNEL *spindleCommandChannel = NULL;static RCS_STAT_CHANNEL *spindleStatusChannel = NULL;static RCS_CMD_CHANNEL *coolantCommandChannel = NULL;static RCS_STAT_CHANNEL *coolantStatusChannel = NULL;int main(int argc, char *argv[]){    double start_time;    // process command line args    if (0 != emcGetArgs(argc, argv)) {	rcs_print_error("Error in argument list\n");	exit(1);    }    // get configuration information    iniLoad(EMC_INIFILE);    set_rcs_print_destination(RCS_PRINT_TO_NULL);    start_time = etime();    while (fabs(etime() - start_time) < 10.0 &&	   (emcCommandChannel == NULL || emcStatusChannel == NULL	    || toolCommandChannel == NULL || toolStatusChannel == NULL	    || emcErrorChannel == NULL)	) {	if (NULL == emcCommandChannel) {	    emcCommandChannel =		new RCS_CMD_CHANNEL(emcFormat, "emcCommand", "emcsvr",				    EMC_NMLFILE);	}	if (NULL == emcStatusChannel) {	    emcStatusChannel =		new RCS_STAT_CHANNEL(emcFormat, "emcStatus", "emcsvr",				     EMC_NMLFILE);	}	if (NULL == emcErrorChannel) {	    emcErrorChannel =		new NML(nmlErrorFormat, "emcError", "emcsvr", EMC_NMLFILE);	}	if (NULL == toolCommandChannel) {	    toolCommandChannel =		new RCS_CMD_CHANNEL(emcFormat, "toolCmd", "emcsvr",				    EMC_NMLFILE);	}	if (NULL == toolStatusChannel) {	    toolStatusChannel =		new RCS_STAT_CHANNEL(emcFormat, "toolSts", "emcsvr",				     EMC_NMLFILE);	}	if (NULL == spindleCommandChannel) {	    spindleCommandChannel =		new RCS_CMD_CHANNEL(emcFormat, "spindleCmd", "emcsvr",				    EMC_NMLFILE);	}	if (NULL == spindleStatusChannel) {	    spindleStatusChannel =		new RCS_STAT_CHANNEL(emcFormat, "spindleSts", "emcsvr",				     EMC_NMLFILE);	}	if (NULL == auxCommandChannel) {	    auxCommandChannel =		new RCS_CMD_CHANNEL(emcFormat, "auxCmd", "emcsvr",				    EMC_NMLFILE);	}	if (NULL == auxStatusChannel) {	    auxStatusChannel =		new RCS_STAT_CHANNEL(emcFormat, "auxSts", "emcsvr",				     EMC_NMLFILE);	}	if (NULL == coolantCommandChannel) {	    coolantCommandChannel =		new RCS_CMD_CHANNEL(emcFormat, "coolantCmd", "emcsvr",				    EMC_NMLFILE);	}	if (NULL == coolantStatusChannel) {	    coolantStatusChannel =		new RCS_STAT_CHANNEL(emcFormat, "coolantSts", "emcsvr",				     EMC_NMLFILE);	}	if (NULL == lubeCommandChannel) {	    lubeCommandChannel =		new RCS_CMD_CHANNEL(emcFormat, "lubeCmd", "emcsvr",				    EMC_NMLFILE);	}	if (NULL == lubeStatusChannel) {	    lubeStatusChannel =		new RCS_STAT_CHANNEL(emcFormat, "lubeSts", "emcsvr",				     EMC_NMLFILE);	}	if (!emcCommandChannel->valid()) {	    delete emcCommandChannel;	    emcCommandChannel = NULL;	}	if (!emcStatusChannel->valid()) {	    delete emcStatusChannel;	    emcStatusChannel = NULL;	}	if (!emcErrorChannel->valid()) {	    delete emcErrorChannel;	    emcErrorChannel = NULL;	}	if (!toolCommandChannel->valid()) {	    delete toolCommandChannel;	    toolCommandChannel = NULL;	}	if (!toolStatusChannel->valid()) {	    delete toolStatusChannel;	    toolStatusChannel = NULL;	}	if (!auxCommandChannel->valid()) {	    delete auxCommandChannel;	    auxCommandChannel = NULL;	}	if (!auxStatusChannel->valid()) {	    delete auxStatusChannel;	    auxStatusChannel = NULL;	}	if (!coolantCommandChannel->valid()) {	    delete coolantCommandChannel;	    coolantCommandChannel = NULL;	}	if (!coolantStatusChannel->valid()) {	    delete coolantStatusChannel;	    coolantStatusChannel = NULL;	}	if (!lubeCommandChannel->valid()) {	    delete lubeCommandChannel;	    lubeCommandChannel = NULL;	}	if (!lubeStatusChannel->valid()) {	    delete lubeStatusChannel;	    lubeStatusChannel = NULL;	}	if (!spindleCommandChannel->valid()) {	    delete spindleCommandChannel;	    spindleCommandChannel = NULL;	}	if (!spindleStatusChannel->valid()) {	    delete spindleStatusChannel;	    spindleStatusChannel = NULL;	}	esleep(0.200);    }    set_rcs_print_destination(RCS_PRINT_TO_STDERR);    if (NULL == emcCommandChannel) {	emcCommandChannel =	    new RCS_CMD_CHANNEL(emcFormat, "emcCommand", "emcsvr",				EMC_NMLFILE);    }    if (NULL == emcStatusChannel) {	emcStatusChannel =	    new RCS_STAT_CHANNEL(emcFormat, "emcStatus", "emcsvr",				 EMC_NMLFILE);    }    if (NULL == emcErrorChannel) {	emcErrorChannel =	    new NML(nmlErrorFormat, "emcError", "emcsvr", EMC_NMLFILE);    }    if (NULL == toolCommandChannel) {	toolCommandChannel =	    new RCS_CMD_CHANNEL(emcFormat, "toolCmd", "emcsvr",				EMC_NMLFILE);    }    if (NULL == toolStatusChannel) {	toolStatusChannel =	    new RCS_STAT_CHANNEL(emcFormat, "toolSts", "emcsvr",				 EMC_NMLFILE);    }    if (NULL == spindleCommandChannel) {	spindleCommandChannel =	    new RCS_CMD_CHANNEL(emcFormat, "spindleCmd", "emcsvr",				EMC_NMLFILE);    }    if (NULL == spindleStatusChannel) {	spindleStatusChannel =	    new RCS_STAT_CHANNEL(emcFormat, "spindleSts", "emcsvr",				 EMC_NMLFILE);    }    if (NULL == auxCommandChannel) {	auxCommandChannel =	    new RCS_CMD_CHANNEL(emcFormat, "auxCmd", "emcsvr",				EMC_NMLFILE);    }    if (NULL == auxStatusChannel) {	auxStatusChannel =	    new RCS_STAT_CHANNEL(emcFormat, "auxSts", "emcsvr",				 EMC_NMLFILE);    }    if (NULL == coolantCommandChannel) {	coolantCommandChannel =	    new RCS_CMD_CHANNEL(emcFormat, "coolantCmd", "emcsvr",				EMC_NMLFILE);    }    if (NULL == coolantStatusChannel) {	coolantStatusChannel =	    new RCS_STAT_CHANNEL(emcFormat, "coolantSts", "emcsvr",				 EMC_NMLFILE);    }    if (NULL == lubeCommandChannel) {	lubeCommandChannel =	    new RCS_CMD_CHANNEL(emcFormat, "lubeCmd", "emcsvr",				EMC_NMLFILE);    }    if (NULL == lubeStatusChannel) {	lubeStatusChannel =	    new RCS_STAT_CHANNEL(emcFormat, "lubeSts", "emcsvr",				 EMC_NMLFILE);    }    run_nml_servers();    return 0;}