创建自己的主函数main


                int main (int argc, char *argv[])
                {
                [...] // variable declaration
                
                // create a broker that contain module. 
                // Create broker will automaticaly load network dynamic library and run server
                ALPtr<ALBroker> broker = ALBroker::createBroker(brokerName, brokerIp, brokerPort, "",  0);
                    
                    // ALBrokerManager is the only singleton. 
                    // Warning depending on plateform posix or win32 singleton 
                    // (or static variable) are duplicated in every dynamic library
                    broker->setBrokerManagerInstance(ALBrokerManager::getInstance());
                    
                    // if listen on 0.0.0.0, get an IP (ethernet or wifi)
                    // to allow client/server communication
                    if (brokerIp == "0.0.0.0")
                    broker->updateIPFromOS();
                    
                    try
                    {
                    brokerPort = broker->getPort();
                    }
                    catch(ALError & /*e*/)
                    {
                    std::cout << "Network error. Wait a little and retry." << std::endl;
                    exit(AL_ERROR_EXIT_CODE_NETWORK_BUSY);
                    }
                    
                    try
                    {
                    // Waiting for the broker to be initialized (server is in another thread)
                    SleepMs( 500 );
                    
                    // launcher will manage autoload.ini
                    broker->getLibraryManager()->loadLibrary("launcher");  
                    // launcher will run the autolaod.ini file
                    }
                    AL_CATCH_ERR( printf( "\nException caught by NAOqi. System may be unstable...\n" ); ); 
                    
                    
                    #ifndef WIN32
                    struct sigaction new_action;
                    /* Set up the structure to specify the new action. */
                    new_action.sa_handler = ALTools::_termination_handler;
                    sigemptyset (&new_action.sa_mask);
                    new_action.sa_flags = 0;
                    
                    sigaction (SIGINT, &new_action, NULL);
                    sigaction (SIGTERM, &new_action, NULL);
                    # else
                    signal( SIGINT,  ALTools::_termination_handler );
                    #endif
                    
                    #ifdef WIN32
                    
                    
                    #endif // WIN32
                    
                    // smart pointer is in ALBrokerManager, we can reset this one
                    broker.reset();
                    
                    
                    while(true)
                    {
                    SleepMs(1000);
                    }
                    
                    #ifdef _WIN32
                    ALTools::_termination_handler(0);
                    #endif
                    }

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