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#include "Aria.h"
#include "ArNetworking.h"
void forwarderAdded(ArCentralForwarder *forwarder)
{
printf("@ Forwarder added for %s\n",
forwarder->getRobotName());
}
void forwarderRemoved(ArCentralForwarder *forwarder)
{
printf("@ Forwarder removed for %s\n",
forwarder->getRobotName());
}
int main(int argc, char **argv)
{
Aria::init();
ArServerBase robotServer;
if (!robotServer.open(5000))
{
printf("Could not open robot server port\n");
Aria::exit(1);
}
ArServerBase clientServer;
if (!clientServer.open(7272))
{
printf("Could not open robot server port\n");
Aria::exit(1);
}
ArCentralManager switchManager(&robotServer, &clientServer);
switchManager.addForwarderAddedCallback(
new ArGlobalFunctor1<ArCentralForwarder *>(&forwarderAdded),
100);
switchManager.addForwarderRemovedCallback(
new ArGlobalFunctor1<ArCentralForwarder *>(&forwarderRemoved),
100);
// Start a small handler to monitor communication between the server and
// client.
ArServerHandlerCommMonitor commMonitor(&clientServer);
ArServerHandlerCommands commands(&clientServer);
commands.setPrefix("CentralServer");
ArServerSimpleServerCommands serverCommands(&commands, &clientServer,
false);
commands.addCommand(
"NetworkLogConnections", "Logs the connections to the central server, and to all the forwarded connections",
new ArFunctorC<ArCentralManager>
(&switchManager, &ArCentralManager::logConnections));
clientServer.runAsync();
robotServer.run();
Aria::exit(0);
}
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