uraxisdaemon/src/main/java/at/acdp/urweb/Main.java

package at.acdp.urweb;

import at.acdp.urweb.fhpp.FHMasterSim;
import at.acdp.urweb.fhpp.IFHMaster;
import at.acdp.urweb.rtde.RTDEClient;
import at.acdp.urweb.rtde.packets.*;
import at.acdp.urweb.web.FestoXRServer;
import com.nmote.nanohttp.NanoServer;
import com.nmote.xr.HTTPServerEndpoint;
import com.nmote.xr.XR;
import org.slf4j.LoggerFactory;

public class Main {
    private final static org.slf4j.Logger logger = LoggerFactory.getLogger(Main.class);
    public static IFHMaster fhm=new FHMasterSim();
    public static void main(String[] args) {
        Params app = null;
        try {
            app = picocli.CommandLine.populateCommand(new Params(), args);
            if(app==null) {
                System.exit(1);
            }
            NanoServer server = new NanoServer("http://0.0.0.0:" + app.port);

            RTDEClient r=new RTDEClient("127.0.0.1", 30004);
            r.start();
            var so=new RtdeSetupOutputs()
                    .addVariable("timestamp")
                    .addVariable("robot_mode")
                    .addVariable("safety_mode")
                    .addVariable("safety_status")
                    .addVariable("target_speed_fraction")
                    .addVariable("speed_scaling");
            r.request(so);
            var start=new RtdeControlStart();
            r.request(start);

            PosThread p=new PosThread(r, fhm);
            p.start();

            FestoXRServer fxrs = new FestoXRServer(r);
            HTTPServerEndpoint xrs = XR.server(fxrs, FestoXRServer.class);
            server.add(xrs);
            server.start();
        } catch (Exception e) {
            logger.error("Server exited", e);
        }
        try {
            fhm.start(app);
        } catch (Exception e) {
            logger.error("failed.", e);
            picocli.CommandLine.usage(new Params(), System.out);
            System.exit(1);
        }
    }
}