add hako master for sample program

CMakeLists.txt

@@ -14,6 +14,7 @@ set(HAKO_CMD_SOURCE_DIR "${PROJECT_SOURCE_DIR}/src/cmd")
 set(HAKO_LIB_SOURCE_DIR "${PROJECT_SOURCE_DIR}/src/lib")
 set(HAKO_PROXY_SOURCE_DIR "${PROJECT_SOURCE_DIR}/src/proxy")
 set(HAKO_INC_DIR "${PROJECT_SOURCE_DIR}/src/include")
+set(HAKOC_SOURCE_DIR "${PROJECT_SOURCE_DIR}/src/hakoc/src")
 
 if (DEFINED HAKO_CLIENT_OPTION_FILEPATH)
     include(${HAKO_CLIENT_OPTION_FILEPATH})

examples/hello_world/src/hello_world.c

@@ -61,13 +61,15 @@ int main(int argc, const char* argv[])
     else {
         my_callback.on_manual_timing_control = my_on_manual_timing_control;
     }
-
+    hako_master_start(delta_time_usec, delta_time_usec);
     int ret = hako_asset_register(asset_name, config_path, &my_callback, delta_time_usec);
     if (ret != 0) {
         printf("ERORR: hako_asset_register() returns %d.", ret);
         return 1;
     }
     ret = hako_asset_start();
     printf("INFO: hako_asset_start() returns %d\n", ret);
+
+    hako_master_stop();
     return 0;
 }

src/assets/src/hako_asset.cpp

@@ -127,3 +127,15 @@ int hako_asset_usleep(hako_time_t sleep_time_usec) {
     }
     return EINTR;
 }
+
+int hako_master_start(hako_time_t delta_usec, hako_time_t max_delay_usec)
+{
+    if (hako_master_impl_start(delta_usec, max_delay_usec)) {
+        return 0;
+    }
+    return EIO;
+}
+void hako_master_stop(void)
+{
+    hako_master_impl_stop();
+}

src/assets/src/hako_asset_impl.cpp

@@ -353,3 +353,56 @@ hako_time_t hako_asset_impl_get_world_time()
 {
     return hako_asset_instance.hako_asset->get_worldtime();
 }
+std::shared_ptr<hako::IHakoMasterController> hako_master = nullptr;
+static bool hako_master_cmd_stop = false;
+static void* hako_master_impl_thread_run(void* arg)
+{
+    std::cout << "INFO: hako_master thread start" << std::endl;
+    if (arg) {
+        //nothing to do
+    }
+    while (hako_master_cmd_stop == false) {
+        try {
+            hako_master->execute();
+        } catch (std::exception *e) {
+            std::cerr << "ERROR: hako_master.execute() Failed" << std::endl;
+            return nullptr;
+        }
+    }
+    hako_master = nullptr;
+    return nullptr;
+}
+
+bool hako_master_impl_start(hako_time_t delta_usec, hako_time_t max_delay_usec)
+{
+    if (hako_master != nullptr) {
+        return false;
+    }
+    pthread_t thread;
+    try {
+        hako::init();
+        hako_master = hako::create_master();
+        if (hako_master == nullptr) {
+            std::cout << "INFO: hako::create_master() Failed" << std::endl;
+            return false;
+        }
+        hako_master->set_config_simtime(max_delay_usec, delta_usec);
+    } catch (std::exception *e) {
+        std::cout << "INFO: hako::create_master() Failed" << std::endl;
+        return false;
+    }
+
+    if (pthread_create(&thread, NULL, hako_master_impl_thread_run, nullptr) != 0) {
+        std::cerr << "ERROR: Failed to create hako_master_impl_thread_run thread!" << std::endl;
+        return false;
+    }
+    return true;
+}
+void hako_master_impl_stop(void)
+{
+    hako_master_cmd_stop = true;
+    while (hako_master != nullptr) {
+        usleep(WAIT_TIME_USEC);
+    }
+    return;
+}

src/assets/src/hako_asset_impl.hpp

@@ -67,4 +67,10 @@ extern hako_time_t hako_asset_impl_get_world_time();
 extern bool hako_asset_impl_pdu_read(const char* robo_name, HakoPduChannelIdType lchannel, char* buffer, size_t buffer_len);
 extern bool hako_asset_impl_pdu_write(const char* robo_name, HakoPduChannelIdType lchannel, const char* buffer, size_t buffer_len);
 
+/*
+ * for master api for test
+ */
+extern bool hako_master_impl_start(hako_time_t delta_usec, hako_time_t max_delay_usec);
+extern void hako_master_impl_stop(void);
+
 #endif /* _HAKO_ASSET_IMPL_HPP_ */

src/include/hako_asset.h

@@ -23,6 +23,8 @@ extern int hako_asset_pdu_read(const char *robo_name, HakoPduChannelIdType lchan
 extern int hako_asset_pdu_write(const char *robo_name, HakoPduChannelIdType lchannel, const char *buffer, size_t buffer_len);
 extern hako_time_t hako_asset_simulation_time(void);
 extern int hako_asset_usleep(hako_time_t sleep_time_usec);
+extern int hako_master_start(hako_time_t delta_usec, hako_time_t max_delay_usec);
+extern void hako_master_stop(void);
 
 #ifdef __cplusplus
 }