[136] | 1 | /* 3dv-client/utils.cc
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| 2 | *
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| 3 | * Copyright (C) 2013 VisLab
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| 4 | *
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| 5 | * This file is part of lib3dv; you can redistribute it and/or modify
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| 6 | * it under the terms of the GNU Lesser General Public License as published by
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| 7 | * the Free Software Foundation; either version 3 of the License, or (at
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| 8 | * your option) any later version.
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| 9 | *
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| 10 | * This program is distributed in the hope that it will be useful, but
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| 11 | * WITHOUT ANY WARRANTY; without even the implied warranty of
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| 12 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
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| 13 | * General Public License for more details.
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| 14 | *
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| 15 | * You should have received a copy of the GNU Lesser General Public License
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| 16 | * along with this program; if not, see <http://www.gnu.org/licenses/>.
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| 17 | */
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| 18 |
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| 19 | #include "utils.h"
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| 20 |
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| 21 | #ifdef __GNUC__
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| 22 |
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| 23 | #include <errno.h>
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| 24 | #include <arpa/inet.h>
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| 25 | #include <sys/socket.h>
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| 26 | #include <netdb.h>
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| 27 | #include <ifaddrs.h>
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| 28 | #include <string.h>
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| 29 | #include <stdlib.h>
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| 30 | #include <unistd.h>
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| 31 |
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| 32 | #include <iostream>
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| 33 |
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| 34 | std::vector<boost::asio::ip::address> list_interface_addresses()
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| 35 | {
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| 36 | std::vector<boost::asio::ip::address> result;
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| 37 |
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| 38 | ifaddrs* ifaddr;
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| 39 |
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| 40 | if(getifaddrs(&ifaddr) == -1)
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| 41 | {
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| 42 | std::cerr << "[EE] 3dv-client: " << strerror(errno) << std::endl;
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| 43 | return result;
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| 44 | }
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| 45 |
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| 46 | for(ifaddrs* ifa = ifaddr; ifa != NULL; ifa = ifa->ifa_next)
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| 47 | {
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| 48 | if(ifa->ifa_addr == NULL)
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| 49 | continue;
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| 50 |
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| 51 | int family = ifa->ifa_addr->sa_family;
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| 52 |
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| 53 | if(family == AF_INET /*|| family == AF_INET6*/)
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| 54 | {
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| 55 | char host[NI_MAXHOST];
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| 56 |
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| 57 | int s = getnameinfo(ifa->ifa_addr, (family == AF_INET) ? sizeof(struct sockaddr_in) : sizeof(struct sockaddr_in6), host, NI_MAXHOST, NULL, 0, NI_NUMERICHOST);
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| 58 |
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| 59 | if(s)
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| 60 | {
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| 61 | std::cerr << "[EE] 3dv-client: " << gai_strerror(s) << std::endl;
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| 62 | continue;
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| 63 | }
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| 64 |
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| 65 | boost::asio::ip::address address = boost::asio::ip::address::from_string(host);
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| 66 |
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| 67 | if(!address.is_loopback())
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| 68 | result.push_back(boost::asio::ip::address::from_string(host));
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| 69 | }
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| 70 | }
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| 71 |
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| 72 | freeifaddrs(ifaddr);
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| 73 |
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| 74 | return result;
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| 75 | }
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| 76 |
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| 77 | #elif _WIN32
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| 78 |
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| 79 | #include <winsock2.h>
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| 80 | #include <iphlpapi.h>
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| 81 |
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| 82 | std::vector<boost::asio::ip::address> list_interface_addresses()
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| 83 | {
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| 84 | std::vector<boost::asio::ip::address> result;
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| 85 | IP_ADAPTER_ADDRESSES* adapter_addresses(NULL);
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| 86 | IP_ADAPTER_ADDRESSES* adapter(NULL);
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| 87 |
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| 88 | // Start with a 16 KB buffer and resize if needed -
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| 89 | // multiple attempts in case interfaces change while
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| 90 | // we are in the middle of querying them.
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| 91 | DWORD adapter_addresses_buffer_size = 16 * 1024;
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| 92 | for(int attempts = 0; attempts != 3; ++attempts)
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| 93 | {
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| 94 | adapter_addresses = (IP_ADAPTER_ADDRESSES*)malloc(adapter_addresses_buffer_size);
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| 95 | assert(adapter_addresses);
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| 96 |
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| 97 | DWORD error = ::GetAdaptersAddresses(AF_UNSPEC, GAA_FLAG_SKIP_ANYCAST | GAA_FLAG_SKIP_MULTICAST | GAA_FLAG_SKIP_DNS_SERVER | GAA_FLAG_SKIP_FRIENDLY_NAME, NULL, adapter_addresses, &adapter_addresses_buffer_size);
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| 98 |
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| 99 | if(error == ERROR_SUCCESS)
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| 100 | break;
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| 101 | else if(error == ERROR_BUFFER_OVERFLOW)
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| 102 | {
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| 103 | // Try again with the new size
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| 104 | free(adapter_addresses);
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| 105 | adapter_addresses = NULL;
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| 106 | continue;
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| 107 | }
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| 108 | }
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| 109 |
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| 110 | // Iterate through all of the adapters
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| 111 | for(adapter = adapter_addresses; NULL != adapter; adapter = adapter->Next)
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| 112 | {
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| 113 | // Skip loopback adapters
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| 114 | if (IF_TYPE_SOFTWARE_LOOPBACK == adapter->IfType)
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| 115 | continue;
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| 116 |
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| 117 | // Parse all IPv4 addresses
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| 118 | for(IP_ADAPTER_UNICAST_ADDRESS* address = adapter->FirstUnicastAddress; address != NULL; address = address->Next)
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| 119 | {
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| 120 | if(address->Address.lpSockaddr->sa_family == AF_INET)
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| 121 | {
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| 122 | SOCKADDR_IN* ipv4 = reinterpret_cast<SOCKADDR_IN*>(address->Address.lpSockaddr);
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| 123 | result.push_back(boost::asio::ip::address_v4(ntohl(ipv4->sin_addr.s_addr)));
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| 124 | }
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| 125 | }
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| 126 | }
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| 127 |
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| 128 | free(adapter_addresses);
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| 129 | adapter_addresses = NULL;
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| 130 |
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| 131 | return result;
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| 132 | }
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| 133 |
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| 134 | #endif
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| 135 |
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| 136 | #ifdef PCL
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| 137 |
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| 138 | #include "display.h"
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| 139 |
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| 140 | void image_callback_display(boost::shared_ptr<const lib3dv::image> image, uint32_t guid, display& display, uint8_t log_level)
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| 141 | {
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| 142 | display.update(image);
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| 143 | }
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| 144 |
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| 145 | void terrain_callback_display(boost::shared_ptr<const lib3dv::terrain> terrain, uint32_t guid, display& display, uint8_t log_level)
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| 146 | {
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| 147 | display.update(terrain);
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| 148 | }
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| 149 |
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| 150 | void obstacles_callback_display(boost::shared_ptr<const std::vector<lib3dv::obstacle> > obstacles, uint32_t guid, display& display, uint8_t log_level)
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| 151 | {
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| 152 | display.update(obstacles);
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| 153 | }
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| 154 |
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| 155 | void motion_callback_display(boost::shared_ptr<const lib3dv::motion> motion, uint32_t guid, display& display, uint8_t log_level)
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| 156 | {
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| 157 | display.update(motion);
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| 158 | }
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| 159 |
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| 160 | void classification_callback_display(boost::shared_ptr<const lib3dv::classification> classificat, uint32_t guid, display& display, uint8_t log_level)
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| 161 | {
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| 162 | display.update(classificat);
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| 163 | }
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| 164 |
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| 165 | #endif
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| 166 |
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| 167 | #include "disk_writer.h"
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| 168 | #include "display.h"
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| 169 |
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| 170 | #ifdef PCL
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| 171 | void signal_handler(const boost::system::error_code& error, int signal_number, boost::shared_ptr<disk_writer>& disk_writer, boost::shared_ptr<display>& display, boost::asio::io_service& sighandler)
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| 172 | {
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| 173 | std::cout << std::endl;
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| 174 |
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| 175 | sighandler.stop();
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| 176 | }
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| 177 |
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| 178 | void timeout_callback(boost::shared_ptr<disk_writer>& disk_writer, boost::shared_ptr<display>& display, boost::asio::io_service& sighandler)
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| 179 | {
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| 180 | std::cout << std::endl << "[EE] 3dv-client: device error NETWORK_TIMEOUT" << std::endl;
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| 181 |
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| 182 | sighandler.stop();
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| 183 | }
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| 184 | #else
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| 185 | void signal_handler(const boost::system::error_code& error, int signal_number, boost::shared_ptr<disk_writer>& disk_writer, boost::asio::io_service& sighandler)
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| 186 | {
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| 187 | std::cout << std::endl;
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| 188 |
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| 189 | sighandler.stop();
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| 190 | }
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| 191 |
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| 192 | void timeout_callback(boost::shared_ptr<disk_writer>& disk_writer, boost::asio::io_service& sighandler)
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| 193 | {
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| 194 | std::cout << std::endl << "[EE] 3dv-client: device error NETWORK_TIMEOUT" << std::endl;
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| 195 |
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| 196 | sighandler.stop();
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| 197 | }
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| 198 | #endif
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