static int Main(string[] args)
{
bool shouldShowHelp = false;
string robot_info_file = null;
var options = new OptionSet {
{ "robot-info-file=", n => robot_info_file = n },
{ "h|help", "show this message and exit", h => shouldShowHelp = h != null }
};
List <string> extra;
try
{
// parse the command line
extra = options.Parse(args);
}
catch (OptionException e)
{
// output some error message
Console.Write("MotomanHSCRobotRaconteurDriver: ");
Console.WriteLine(e.Message);
Console.WriteLine("Try `MotomanHSCRobotRaconteurDriver --help' for more information.");
return(1);
}
if (shouldShowHelp)
{
Console.WriteLine("Usage: MotomanHSCRobotRaconteurDriver [Options+]");
Console.WriteLine();
Console.WriteLine("Options:");
options.WriteOptionDescriptions(Console.Out);
return(0);
}
if (robot_info_file == null)
{
Console.WriteLine("error: robot-info-file must be specified");
return(1);
}
var robot_info = RobotInfoParser.LoadRobotInfoYamlWithIdentifierLocks(robot_info_file);
using (robot_info.Item2)
{
using (var robot = new MotomanHSCRobot(robot_info.Item1))
{
robot._start_robot();
using (var node_setup = new ServerNodeSetup("Motoman_robot", 58651, args))
{
RobotRaconteurNode.s.RegisterService("robot", "com.robotraconteur.robotics.robot", robot);
Console.WriteLine("Press enter to exit");
Console.ReadKey();
}
}
}
return(0);
}
static int Main(string[] args)
{
bool shouldShowHelp = false;
string robot_info_file = null;
bool wait_signal = false;
string robot_name = null;
var options = new OptionSet {
{ "robot-info-file=", n => robot_info_file = n },
{ "robot-name=", "override the robot device name", n => robot_name = n },
{ "h|help", "show this message and exit", h => shouldShowHelp = h != null },
{ "wait-signal", "wait for POSIX sigint or sigkill to exit", n => wait_signal = n != null }
};
List <string> extra;
try
{
// parse the command line
extra = options.Parse(args);
}
catch (OptionException e)
{
// output some error message
Console.Write("ABBRobotRaconteurDriver: ");
Console.WriteLine(e.Message);
Console.WriteLine("Try `ABBRobotRaconteurDriver --help' for more information.");
return(1);
}
if (shouldShowHelp)
{
Console.WriteLine("Usage: ABBRobotRaconteurDriver [Options+]");
Console.WriteLine();
Console.WriteLine("Options:");
options.WriteOptionDescriptions(Console.Out);
return(0);
}
if (robot_info_file == null)
{
Console.WriteLine("error: robot-info-file must be specified");
return(1);
}
var robot_info = RobotInfoParser.LoadRobotInfoYamlWithIdentifierLocks(robot_info_file, robot_name);
using (robot_info.Item2)
{
using (var robot = new ABBRobot(robot_info.Item1))
{
robot._start_robot();
using (var node_setup = new ServerNodeSetup("ABB_robot", 58651, args))
{
var service_ctx = RobotRaconteurNode.s.RegisterService("robot", "com.robotraconteur.robotics.robot", robot);
service_ctx.SetServiceAttributes(RobotRaconteur.Companion.Util.AttributesUtil.GetDefaultServiceAtributesFromDeviceInfo(robot_info.Item1.device_info));
if (!wait_signal)
{
Console.WriteLine("Press enter to exit");
Console.ReadKey();
}
else
{
UnixSignal[] signals = new UnixSignal[] {
new UnixSignal(Mono.Unix.Native.Signum.SIGINT),
new UnixSignal(Mono.Unix.Native.Signum.SIGTERM),
};
Console.WriteLine("Press Ctrl-C to exit");
// block until a SIGINT or SIGTERM signal is generated.
int which = UnixSignal.WaitAny(signals, -1);
Console.WriteLine("Got a {0} signal, exiting", signals[which].Signum);
}
}
}
}
return(0);
}
