sharedmemory.c

This example can be found in examples\c\sharedmemory\sharedmemory.c.

This example shows how to activate the shared memory communication pipeline that enables communication of the PST Client application through the PST SDK. Note that for the shared memory pipeline to function, the application has to run with elevated access (administrator rights). After enabling shared memory, the PST Client application can be used to download calibration information and manage tracking targets.

When compiling and running this example, please make sure that the required dependencies can be found by the executable (e.g. by copying the Redist directory into the build directory. When the PST SDK has been installed through the PST Software Suite installer the Redist folder can be found in the Development folder.).

 
#ifdef WIN32
#include <windows.h>
#else
#include <unistd.h>
#endif
 
/*
 * Define handler functions required to ensure a clean shutdown of the PST Tracker
 * when the application is terminated.
 */
 
static void Exithandler(int sig);
 
#ifdef WIN32
BOOL WINAPI ConsoleHandler(DWORD CEvent)
{
    Exithandler(CEvent);
    return TRUE;
}
#endif
 
/* End of handler functions */
 
#include "pstsdk_c.h"
#include <stdio.h>
#include <stdlib.h>
#include <signal.h>
 
/*
* Implement the exit handler to shut-down the PST Tracker connection on application termination.
*/
static void Exithandler(int sig)
{
    pst_sdk_disable_shared_memory();
    pst_sdk_shutdown();
    exit(0);
}
 
// Print the last error message.
void PrintLastErrorMessage()
{
    char* last_error_message = NULL;
    EPstErrorStatus error_status = pst_alloc_and_get_last_error_message(&last_error_message);
    if (error_status != PST_ERROR_STATUS_OK)
    {
        last_error_message = "Failed to allocate memory error.";
    }
    printf("last error message: %s \n", last_error_message);
    pst_free(last_error_message);
}
 
// Check error status and shutdown tracker upon error.
void CheckErrorCode(EPstErrorStatus status)
{
    if (status != PST_ERROR_STATUS_OK)
    {
        PrintLastErrorMessage();
        pst_sdk_shutdown();
        exit(status);
    }
}
 
int main(int argc, char *argv[])
{
    // Register the exit handler with the application
#ifdef WIN32
    SetConsoleCtrlHandler((PHANDLER_ROUTINE)ConsoleHandler, TRUE);
#else
    signal(SIGTERM, Exithandler);
    signal(SIGKILL, Exithandler);
    signal(SIGQUIT, Exithandler);
    signal(SIGINT, Exithandler);
#endif
 
    PstTracker ctracker;
    
#ifdef WIN32
    // Create an instance of the Tracker object using the default configuration path and file names.
    CheckErrorCode(pst_tracker_init(&ctracker));
#else
    // On Linux, specify the type of grabber that needs to be used as the last parameter:
    // "basler_ace" for PST HD or "basler_dart" for PST Pico
    CheckErrorCode(pst_tracker_init4(&ctracker, "", "config.cfg", "models.db", argv[1]));
#endif
 
    // Start the tracker server.
    CheckErrorCode(pst_tracker_start(&ctracker));
 
    // Enable the shared memory pipeline to enable client connections.
    CheckErrorCode(pst_sdk_enable_shared_memory());
 
    printf("Shared memory server initialized. Start the PST Client application to create a connection.\n");
 
    // Wait for one minute before terminating this application.
#ifdef WIN32
    Sleep(60000);
#else
    sleep(60);
#endif
 
    // Disable the shared memory pipeline. If the PST Client is still connected at this point,
    // it will try to reconnect and otherwise exit.
    pst_sdk_disable_shared_memory();
 
    // Make sure that the connection to the PST Tracker is shut down properly.
    pst_tracker_destroy(&ctracker);
 
    return 0;
}