ServerTracker.cpp

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/*
 * ServerTracker.cpp
 *
 *  Created on: Jan 9, 2012
 *      Author: mriedel
 */

#include <telekyb_base/TeleKyb.hpp>

#include <telekyb_vrpn/VRPNTrackerServer.hpp>
#include <telekyb_vrpn/VRPNTrackerServerOptions.hpp>

#include <vrpn_Connection.h>

using namespace TELEKYB_NAMESPACE;

int main(int argc, char **argv) {
        TeleKyb::init(argc,argv,"VRPNClientServer");

        VRPNTrackerServerOptions* options = new VRPNTrackerServerOptions();

        std::vector<std::string> serverTopicNames = options->tVRPNTopicNames->getValue();
        std::vector<VRPNTrackerServer*> servers(serverTopicNames.size());

        vrpn_Connection *c = vrpn_create_server_connection();

        for (unsigned int i = 0; i < serverTopicNames.size(); ++i) {
                servers[i] = new VRPNTrackerServer(serverTopicNames[i], c);
        }

        while(ros::ok()) {
                for (unsigned int i = 0; i < serverTopicNames.size(); ++i) {
                        servers[i]->spin();
                }

                usleep(10);
        }

        // wait for shutdown.
        ros::waitForShutdown();

        for (unsigned int i = 0; i < serverTopicNames.size(); ++i) {
                delete servers[i];
        }

        delete options;

        TeleKyb::shutdown();
        return EXIT_SUCCESS;
}