26#include <blackboard/bbconfig.h>
27#include <blackboard/exceptions.h>
28#include <blackboard/local.h>
29#include <blackboard/remote.h>
30#include <core/exceptions/system.h>
31#include <interfaces/ObjectPositionInterface.h>
32#include <logging/liblogger.h>
33#include <netcomm/fawkes/server_thread.h>
34#include <utils/time/tracker.h>
47handle_signal(
int signum)
53main(
int argc,
char **argv)
55 signal(SIGINT, handle_signal);
65 std::list<ObjectPositionInterface *> interfaces;
67 cout <<
"Opening interfaces" << endl;
68 for (
int i = 1; i <= 15; ++i) {
70 sprintf(tmp,
"legtracker Leg %i", i);
73 interfaces.push_back(iface);
79 unsigned int ttc_write = tt.add_class(
"Write");
83 for (std::list<ObjectPositionInterface *>::iterator i = interfaces.begin();
84 i != interfaces.end();
86 int r = rand() % 1000000;
87 (*i)->set_world_x((
float)r);
88 (*i)->set_world_y((
float)r + 1);
89 (*i)->set_world_z((
float)r + 2);
90 tt.ping_start(ttc_write);
92 tt.ping_end(ttc_write);
102 for (std::list<ObjectPositionInterface *>::iterator i = interfaces.begin(); i != interfaces.end();
108 LibLogger::finalize();
The BlackBoard abstract class.
virtual Interface * open_for_writing(const char *interface_type, const char *identifier, const char *owner=NULL)=0
Open interface for writing.
virtual void close(Interface *interface)=0
Close interface.
virtual void start_nethandler(FawkesNetworkHub *hub)
Start network handler.
ObjectPositionInterface Fawkes BlackBoard Interface.
void start(bool wait=true)
Call this method to start the thread.
Fawkes library namespace.