AGV/controller.cpp

//
// Created by zx on 23-4-11.
//
#include "define/timedlockdata.hpp"
#include "MPC/navigation_main.h"
#include "define/TimerRecord.h"
#include <glog/logging.h>
#include "tool/pathcreator.h"
#include "tool/proto_tool.h"
#include "nav_server.h"
#include <grpcpp/grpcpp.h>

int main(int argc,char* argv[])
{
  if(argc<2)
  {
    printf(" argc must == 2, exe parameter_file\n");
    return -1;
  }
  std::string parameter_file=argv[1];

  NavParameter::Navigation_parameter parameter;

  if(proto_tool::get_instance_pointer()->read_proto_param(parameter_file,parameter)==false)
  {
    printf(" read proto parameter failed:%s\n",parameter_file.c_str());
    return -2;
  }
  Navigation* g_navigator= nullptr;
  if(parameter.main_agv()==true)
    g_navigator=new NavigationMain();
  else
    g_navigator=new Navigation();

  if(g_navigator->Init(parameter))
    printf(" navigation inited\n");
  else{
    printf(" navigation init failed");
    return -1;
  }
  //启动rpc server
  grpc::ServerBuilder builder;
  NavServer service(g_navigator);
  builder.AddListeningPort(parameter.rpc_ipport(), grpc::InsecureServerCredentials());
  builder.RegisterService(&service);

  std::unique_ptr<grpc::Server> server(builder.BuildAndStart());
  std::cout << "Server Listening on port: "  << std::endl;

  server->Wait();

  delete g_navigator;
  return 0;
}