short_multiple_delay_heavy.cpp

Go to the documentation of this file.

/*
 * Copyright 2012, 2013 Instituto de Sistemas e Robotica, Instituto Superior Tecnico
 *
 * This file is part of SocRob Multicast.
 *
 * SocRob Multicast is free software: you can redistribute it and/or modify
 * it under the terms of the GNU Lesser General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * SocRob Multicast is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU Lesser General Public License for more details.
 *
 * You should have received a copy of the GNU Lesser General Public License
 * along with SocRob Multicast.  If not, see <http://www.gnu.org/licenses/>.
 */

#include <iostream>

#include <ros/console.h>

#include <socrob/multicast.h>

#include "TestShortMultipleDelay.h"
#include "ShortHeavyLoader.h"



using namespace std;
using namespace ros;
using namespace socrob::multicast;



void
short_handler (TestShortMultipleDelay& test_short,
               ShortHeavyLoader& heavy_loader,
               vector<uint8_t>& answer,
               id_type from,
               vector<uint8_t> & question)
{
  if (test_short.is_question (question)) {
    test_short.short_handler (answer, from, question);
  }
  else if (heavy_loader.is_question (question)) {
    heavy_loader.short_handler (answer, from, question);
  }
  else {
    ROS_FATAL ("Neither tester nor loader claimed the question");
    abort();
  }
}



int main (int argc, char** argv)
{
  init (argc, argv, "short_multiple_delay_heavy");
  
  ros::NodeHandle nh;
  
  int sid;
  if (! ros::param::getCached ("robot_number", sid)) {
    ROS_FATAL ("Could not get robot_number param");
    abort();
  }
  sid -= 1;
  
  TestShortMultipleDelay test_short (sid, "Heavy");
  ShortHeavyLoader heavy_loader (sid);
  
  {
    Manager srmm (ManagerOptions (sid, 5, "239.255.1.1")
                  .bandwidth_bps (57671) // 2.2*1024*1024/8/5
                  .ports (2000, 2001)
                  .tup_ms (100)
                  .short_handler (boost::bind (&short_handler, boost::ref (test_short), boost::ref (heavy_loader), _1, _2, _3)));
                  
    ros::Rate loop_rate (10);
    while (ros::ok()) {
      test_short.timer (srmm);
      heavy_loader.timer (srmm);
      loop_rate.sleep();
    }
  }
  
  test_short.statistics();
  heavy_loader.statistics();
}