src/arch/posix/main.cpp

/*******************************************************************************
 * Copyright (c) 2006 - 2014 ACIN, Profactor GmbH, AIT, fortiss GmbH
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Contributors:
 *  Alois Zoitl, Gerhard Ebenhofer, Thomas Strasser, Rene Smodic,
 *  Martin Melik Merkumians, Ingo Hegny, Filip Andren - initial API and implementation and/or initial documentation
 *******************************************************************************/
#include <fortenew.h>
#include <stdio.h>
#include <signal.h>
#include "../../stdfblib/ita/RMT_DEV.h"

#ifdef FORTE_ROS
#include <ros/ros.h>
#endif //FORTE_ROS

#ifdef CONFIG_POWERLINK_USERSTACK
#include <EplWrapper.h>
#endif

/*!\brief Check if the correct endianess has been configured.
 *
 * If the right endianess is not set this function will end FORTE.
 */
void checkEndianess();

//this keeps away a lot of rtti and exception handling stuff
extern "C" void __cxa_pure_virtual(void){
  //TODO maybe add some reporting here
  //Although we should never get here
  //if we are here something very very bad has happened e.g., stack overflow or other memory corruption

}

RMT_DEV *poDev = 0;

void endForte(int pa_nSig){
  (void) pa_nSig;
  if(0 != poDev){
    poDev->changeFBExecutionState(cg_nMGM_CMD_Kill);
  }
}

/*!\brief Creates the Device-Object
 * \param pa_acMGRID A string containing IP and Port like [IP]:[Port]
 */
void createDev(const char *pa_acMGRID){

  signal(SIGINT, endForte);
  signal(SIGTERM, endForte);
  signal(SIGHUP, endForte);

#ifdef CONFIG_POWERLINK_USERSTACK
  CEplStackWrapper::eplMainInit();
#endif

  poDev = new RMT_DEV;

  poDev->setMGR_ID(pa_acMGRID);
  poDev->startDevice();
  DEVLOG_INFO("FORTE is up and running\n");
  poDev->MGR.joinResourceThread();
  DEVLOG_INFO("FORTE finished\n");
  delete poDev;
}

/*!\brief Lists the help for FORTE
 *
 */
void listHelp(){
  printf("\nUsage of FORTE:\n");
  printf("   -h\t lists this help.\n");
  printf("\n");
  printf("   -c\t sets the destination for the connection.\n");
  printf("     \t Usage: forte -c <IP>:<Port>");
  printf("\n");
}

int main(int argc, char *arg[]){

  checkEndianess();

  if(argc <= 1){ //! Default Value (localhost:61499)
#ifdef FORTE_ROS
    std::string rosdistro = "indigo";
    if (rosdistro == (std::string)std::getenv("ROS_DISTRO")){
      DEVLOG_INFO("path to forte.exe: %s \n", arg[0]);
      ros::init(argc, arg, "ros_Functionblocks_in_FORTE");
    }
#endif //FORTE_ROS
    createDev("localhost:61499");
  }
  else{
    if(strcmp("-c", arg[1]) == 0){ //! sets the destination for the connection
      createDev(arg[2]);
    }
    else{ //! Lists the help for FORTE
      listHelp();
    }
  }
  return 0;
}

void checkEndianess(){
  int i = 1;
  char *p = (char *) &i;
  if(p[0] == 1){
    //we are on a little endian platform
#ifdef FORTE_BIG_ENDIAN
    DEVLOG_ERROR("Wrong endianess configured! You are on a little endian platform and have configured big endian!\n");
    exit(-1);
#endif
  }
  else{
    //we are on a big endian platform
#ifdef FORTE_LITTLE_ENDIAN
    DEVLOG_ERROR("Wrong endianess configured! You are on a big endian platform and have configured little endian!\n");
    exit(-1);
#endif
  }
}