82 lines
2.1 KiB
C
82 lines
2.1 KiB
C
// Copyright 2020 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 <uxr/client/util/ping.h>
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#include <fcntl.h> // O_RDWR, O_NOCTTY, O_NONBLOCK
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#include <stdio.h>
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int main(
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int argc,
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char** argv)
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{
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#ifdef WIN32
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printf("Sorry, this example is not available for Windows platforms.");
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return 0;
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#else
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// CLI
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if (2 != argc)
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{
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printf("usage: %s <dev>\n", argv[0]);
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return 1;
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}
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char* dev = argv[1];
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uxrSerialTransport transport;
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int fd = open(dev, O_RDWR | O_NOCTTY | O_NONBLOCK);
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if (!uxr_init_serial_transport(&transport, fd, 0, 1))
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{
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printf("Error during transport creation\n");
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return 1;
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}
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// Sending ping without initing a XRCE session
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if (uxr_ping_agent_attempts(&transport.comm, 1000, 10))
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{
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printf("Success! Agent is up on device '%s' without a session\n", dev);
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}
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else
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{
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printf("Sorry, no agent available at device '%s'\n", dev);
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return 1;
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}
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// Sending ping with initing a XRCE session
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uxrSession session;
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uxr_init_session(&session, &transport.comm, 0xAAAABBBB);
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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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if (uxr_ping_agent_session(&session, 1000, 1))
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{
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printf("Success! Agent is up on device '%s' within a session\n", dev);
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}
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else
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{
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printf("Sorry, no agent available at device '%s'\n", dev);
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}
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uxr_close_serial_transport(&transport);
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return 0;
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#endif // WIN32
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}
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