77 lines
2.0 KiB
C
77 lines
2.0 KiB
C
// Copyright 2017-present Proyectos y Sistemas de Mantenimiento SL (eProsima).
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//
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// Licensed under the Apache License, Version 2.0 (the "License");
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// you may not use this file except in compliance with the License.
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// You may obtain a copy of the License at
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//
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// http://www.apache.org/licenses/LICENSE-2.0
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//
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// Unless required by applicable law or agreed to in writing, software
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// distributed under the License is distributed on an "AS IS" BASIS,
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// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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// See the License for the specific language governing permissions and
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// limitations under the License.
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#include <uxr/client/client.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <inttypes.h>
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#ifdef WIN32
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#include <windows.h>
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#else
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#include <unistd.h>
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#endif
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int main(int args, char** argv)
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{
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// CLI
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if(3 > args || 0 == atoi(argv[2]))
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{
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printf("usage: program [-h | --help] | ip port\n");
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return 0;
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}
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char* ip = argv[1];
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uint16_t port = (uint16_t)atoi(argv[2]);
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// Transport
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uxrUDPTransport transport;
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uxrUDPPlatform udp_platform;
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if(!uxr_init_udp_transport(&transport, &udp_platform, ip, port))
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{
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printf("Error at create transport.\n");
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return 1;
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}
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// Session
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uxrSession session;
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uxr_init_session(&session, &transport.comm, 0xCCCCDDDD);
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if(!uxr_create_session(&session))
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{
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printf("Error at create session.\n");
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return 1;
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}
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// Synchronize with the Agent
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bool synchronized = false;
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do
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{
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synchronized = uxr_sync_session(&session, 1000);
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#ifdef WIN32
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printf("synchronized with time offset %-4I64d us\n", session.time_offset / 1000);
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Sleep(1);
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#else
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printf("synchronized with time offset %-4" PRId64 "us\n", session.time_offset / 1000);
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sleep(1);
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#endif
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} while (synchronized);
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// Delete resources
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uxr_delete_session(&session);
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uxr_close_udp_transport(&transport);
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return 0;
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}
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