main.c

在LINUX下运行的仿真机器人服务器源代码

// -*-c++-*-

/***************************************************************************
                                  main.cc 
                           Main for rcssserver
                             -------------------
    begin                : 1996
    copyright            : (C) 1996-2000 Electrotechnical Laboratory. 
                           Itsuki Noda, Yasuo Kuniyoshi and Hitoshi Matsubara.
                           (C) 2001-2002 by The RoboCup Soccer Server 
                           Maintenance Group.
    email                : [e-mail]
 ***************************************************************************/

/***************************************************************************
 *                                                                         *
 *   This program is free software; you can redistribute it and/or modify  *
 *   it under the terms of the GNU LGPL as published by the Free Software  *
 *   Foundation; either version 2 of the License, or (at your option) any  *
 *   later version.                                                        *
 *                                                                         *
 ***************************************************************************/

#include <iostream>
#include <cmath>

#include "param.h"
#include "types.h"
#include "utility.h"
#include "object.h"
#include "field.h"
#include "version.h"

#ifdef HAVE_CONFIG_H
#include "config.h"
#endif

#include "timer.h"
#include <rcssbase/lib/loader.hpp>
#include <rcssbase/version.hpp>


#include <dirent.h>

#include <sys/types.h>
#include <sys/stat.h>
#include <unistd.h>


Stadium Std ;

#include <rcssbase/lib/loader.hpp>
    

int main(int argc, char *argv[])
{
    std::cout << PACKAGE << "-" << VERSION << std::endl << std::endl 
              << Copyright << std::endl;
    std::cout << "Using rcssbase-" << rcss::base::version() << std::endl << std::endl;

#if defined(_WIN32) || defined(__WIN32__) || defined (WIN32) || defined (__CYGWIN__)
    std::string config_dir_name = tildeExpand( "~\\.rcssserver" );
#else
    std::string config_dir_name = tildeExpand( "~/.rcssserver" );
#endif
    DIR* config_dir = opendir( config_dir_name.c_str() );
    if( config_dir == NULL )
    {
        int err = mkdir( config_dir_name.c_str(), 0777 );
        if( err != 0 )
        {
            std::cerr << "Could not read or create config directory '" << config_dir_name << "': " 
                      << strerror( errno ) << std::endl;
        }
    }

    ServerParam::init( argc, argv );

    Std.init( argc, (const char**)argv );
    	    
    std::string timername;
    if( ServerParam::instance().synch_mode )
    {  
        timername = "sync";
    }
    else
    {
        timername = "std";
    }
    
    Timer::Creator creator;
    if( Timer::factory().getCreator( creator, timername.c_str() ) )
    {
	Timer::Ptr timer = creator( Std );
	std::cout << "\nHit CTRL-C to exit\n";
	timer->run();
    }
    else
    {
	std::cerr << "Error: Could not find \"" << timername << "\" timer\n";
    }
    
    Std.clean ();

    Std.exit( EXIT_SUCCESS );
   
    return 0;
}