include/barrett/standard_main_function.h

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/*
        Copyright 2009-2014 Barrett Technology <support@barrett.com>

        This file is part of libbarrett.

        This version of libbarrett is free software: you can redistribute it
        and/or modify it under the terms of the GNU General Public License as
        published by the Free Software Foundation, either version 3 of the
        License, or (at your option) any later version.

        This version of libbarrett is distributed in the hope that it will be
        useful, but WITHOUT ANY WARRANTY; without even the implied warranty of
        MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
        GNU General Public License for more details.

        You should have received a copy of the GNU General Public License along
        with this version of libbarrett.  If not, see
        <http://www.gnu.org/licenses/>.

*/

#ifndef BARRETT_STANDARD_MAIN_FUNCTION_H_
#define BARRETT_STANDARD_MAIN_FUNCTION_H_


#include <barrett/exception.h>
#include <barrett/products/product_manager.h>
#include <barrett/systems/wam.h>


#ifdef BARRETT_SMF_VALIDATE_ARGS
        bool validate_args(int argc, char** argv);
#endif

#ifdef BARRETT_SMF_CONFIGURE_PM
        bool configure_pm(int argc, char** argv, ::barrett::ProductManager& pm);
#endif

#ifndef BARRETT_SMF_NO_DECLARE
        template<size_t DOF> int wam_main(int argc, char** argv, ::barrett::ProductManager& pm, ::barrett::systems::Wam<DOF>& wam);
#endif

#ifndef BARRETT_SMF_DONT_WAIT_FOR_SHIFT_ACTIVATE
#  define BARRETT_SMF_WAIT_FOR_SHIFT_ACTIVATE true
#else
#  define BARRETT_SMF_WAIT_FOR_SHIFT_ACTIVATE false
#endif

#ifndef BARRETT_SMF_DONT_PROMPT_ON_ZEROING
#  define BARRETT_SMF_PROMPT_ON_ZEROING true
#else
#  define BARRETT_SMF_PROMPT_ON_ZEROING false
#endif

#ifndef BARRETT_SMF_WAM_CONFIG_PATH
#  define BARRETT_SMF_WAM_CONFIG_PATH NULL
#endif


int main(int argc, char** argv) {
        // Give us pretty stack-traces when things die
        ::barrett::installExceptionHandler();


#ifdef BARRETT_SMF_VALIDATE_ARGS
        if ( !validate_args(argc, argv) ) {
                return 1;
        }
#endif


        ::barrett::ProductManager pm;
#ifdef BARRETT_SMF_CONFIGURE_PM
        if ( !configure_pm(argc, argv, pm) ) {
                return 1;
        }
#endif

        pm.waitForWam(BARRETT_SMF_PROMPT_ON_ZEROING);
        pm.wakeAllPucks();
        // TODO(JH): Rehab Update implement and test
        if (pm.foundWam3()) {
                return wam_main(argc, argv, pm, *pm.getWam3(BARRETT_SMF_WAIT_FOR_SHIFT_ACTIVATE, BARRETT_SMF_WAM_CONFIG_PATH));
        } else if (pm.foundWam4()) {
                return wam_main(argc, argv, pm, *pm.getWam4(BARRETT_SMF_WAIT_FOR_SHIFT_ACTIVATE, BARRETT_SMF_WAM_CONFIG_PATH));
        } else if (pm.foundWam7()) {
                return wam_main(argc, argv, pm, *pm.getWam7(BARRETT_SMF_WAIT_FOR_SHIFT_ACTIVATE, BARRETT_SMF_WAM_CONFIG_PATH));
        } else {
                printf(">>> ERROR: No WAM was found. Perhaps you have found a bug in ProductManager::waitForWam().\n");
                return 1;
        }
}


#endif /* BARRETT_STANDARD_MAIN_FUNCTION_H_ */