mvsim-cli-server.cpp

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/*+-------------------------------------------------------------------------+
  |                       MultiVehicle simulator (libmvsim)                 |
  |                                                                         |
  | Copyright (C) 2014-2024  Jose Luis Blanco Claraco                       |
  | Copyright (C) 2017  Borys Tymchenko (Odessa Polytechnic University)     |
  | Distributed under 3-clause BSD License                                  |
  |   See COPYING                                                           |
  +-------------------------------------------------------------------------+ */
 
#include <mrpt/core/exceptions.h>
 
#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
#include <mvsim/Comms/Server.h>
#include <mvsim/Comms/ports.h>  // MVSIM_PORTNO_MAIN_REP
#endif
 
#include "mvsim-cli.h"
 
#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
std::shared_ptr<mvsim::Server> server;
#endif
 
void commonLaunchServer()
{
#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
        ASSERT_(!server);
 
        // Start network server:
        server = std::make_shared<mvsim::Server>();
 
        if (cli->argPort.isSet()) server->listenningPort(cli->argPort.getValue());
 
        server->setMinLoggingLevel(mrpt::typemeta::TEnumType<mrpt::system::VerbosityLevel>::name2value(
                cli->argVerbosity.getValue()));
 
        server->start();
#endif
}
 
int launchStandAloneServer()
{
#if defined(MVSIM_HAS_ZMQ) && defined(MVSIM_HAS_PROTOBUF)
        if (cli->argHelp.isSet())
        {
                fprintf(
                        stdout,
                        R"XXX(Usage: mvsim server
 
Available options:
  -p %5u, --port %5u   Listen on given TCP port.
  -v, --verbosity      Set verbosity level: DEBUG, INFO (default), WARN, ERROR
)XXX",
                        mvsim::MVSIM_PORTNO_MAIN_REP, mvsim::MVSIM_PORTNO_MAIN_REP);
                return 0;
        }
#endif
 
        commonLaunchServer();
        return 0;
}