Заложил основание для UNet2

extensions/UNet2/Makefile.am

+bin_PROGRAMS =  @PACKAGE@-unet-sender @PACKAGE@-unet-receiver
+#@PACKAGE@-unetexchange
+
+lib_LTLIBRARIES 			= libUniSetUNet2.la
+libUniSetUNet2_la_LIBADD		= $(top_builddir)/lib/libUniSet.la \
+								$(top_builddir)/extensions/SharedMemory/libUniSetSharedMemory.la \
+								$(top_builddir)/extensions/lib/libUniSetExtensions.la \
+								$(SIGC_LIBS) $(COMCPP_LIBS)
+libUniSetUNet2_la_CXXFLAGS	= -I$(top_builddir)/extensions/include -I$(top_builddir)/extensions/SharedMemory $(SIGC_CFLAGS) $(COMCPP_CFLAGS)
+libUniSetUNet2_la_SOURCES 	= UNetPacket.cc UNetSender.cc UNetReceiver.cc
+#UNetExchange.cc
+
+#UNetSender.cc
+
+#@PACKAGE@_unetexchange_SOURCES 	= unetexchange.cc
+#@PACKAGE@_unetexchange_LDADD 	= libUniSetUNet.la $(top_builddir)/lib/libUniSet.la \
+#									$(top_builddir)/extensions/SharedMemory/libUniSetSharedMemory.la \
+#									$(top_builddir)/extensions/lib/libUniSetExtensions.la \
+#									$(SIGC_LIBS) $(COMCPP_LIBS)
+#@PACKAGE@_unetexchange_CXXFLAGS	= -I$(top_builddir)/extensions/include -I$(top_builddir)/extensions/SharedMemory $(SIGC_CFLAGS) $(COMCPP_CFLAGS)
+
+@PACKAGE@_unet_sender_SOURCES 	= unetsender.cc
+@PACKAGE@_unet_sender_LDADD 		= libUniSetUNet2.la $(top_builddir)/lib/libUniSet.la \
+									$(top_builddir)/extensions/SharedMemory/libUniSetSharedMemory.la \
+									$(top_builddir)/extensions/lib/libUniSetExtensions.la \
+									$(SIGC_LIBS) $(COMCPP_LIBS)
+@PACKAGE@_unet_sender_CXXFLAGS	= -I$(top_builddir)/extensions/include -I$(top_builddir)/extensions/SharedMemory $(SIGC_CFLAGS) $(COMCPP_CFLAGS)
+
+@PACKAGE@_unet_receiver_SOURCES 		= unetreceiver.cc
+@PACKAGE@_unet_receiver_LDADD 		= libUniSetUNet2.la $(top_builddir)/lib/libUniSet.la \
+									$(top_builddir)/extensions/SharedMemory/libUniSetSharedMemory.la \
+									$(top_builddir)/extensions/lib/libUniSetExtensions.la \
+									$(SIGC_LIBS) $(COMCPP_LIBS)
+@PACKAGE@_unet_receiver_CXXFLAGS	= -I$(top_builddir)/extensions/include -I$(top_builddir)/extensions/SharedMemory $(SIGC_CFLAGS) $(COMCPP_CFLAGS)
+
+
+# install
+#devel_include_HEADERS = *.h
+#devel_includedir = $(pkgincludedir)/extensions
+
+#pkgconfigdir 	= $(libdir)/pkgconfig
+#pkgconfig_DATA 	= libUniSetUNet.pc
+
+all-local:
+	ln -sf ../UNetExchange/$(devel_include_HEADERS) ../include

extensions/UNet2/UNetExchange.h

+#ifndef UNetExchange_H_
+#define UNetExchange_H_
+// -----------------------------------------------------------------------------
+#include <ostream>
+#include <string>
+#include <vector>
+#include <cc++/socket.h>
+#include "UniSetObject_LT.h"
+#include "Trigger.h"
+#include "Mutex.h"
+#include "SMInterface.h"
+#include "SharedMemory.h"
+#include "ThreadCreator.h"
+#include "UNetPacket.h"
+#include "UNetNReceiver.h"
+// -----------------------------------------------------------------------------
+class UNetExchange:
+	public UniSetObject_LT
+{
+	public:
+		UNetExchange( UniSetTypes::ObjectId objId, UniSetTypes::ObjectId shmID, SharedMemory* ic=0 );
+		virtual ~UNetExchange();
+
+		/*! глобальная функция для инициализации объекта */
+		static UNetExchange* init_UNetexchange( int argc, char* argv[],
+											UniSetTypes::ObjectId shmID, SharedMemory* ic=0 );
+
+		/*! глобальная функция для вывода help-а */
+		static void help_print( int argc, char* argv[] );
+
+		struct UItem
+		{
+			UItem():
+				val(0)
+			{}
+
+			IOController_i::SensorInfo si;
+			IOController::AIOStateList::iterator ait;
+			IOController::DIOStateList::iterator dit;
+			UniSetTypes::uniset_spin_mutex val_lock;
+			UniSetUNet::UNetMessage::UNetDataList::iterator pack_it;
+			long val;
+
+			friend std::ostream& operator<<( std::ostream& os, UItem& p );
+		};
+
+	protected:
+
+		xmlNode* cnode;
+		std::string s_field;
+		std::string s_fvalue;
+
+		SMInterface* shm;
+
+		void poll();
+		void recv();
+		void send();
+
+		void step();
+
+		virtual void processingMessage( UniSetTypes::VoidMessage *msg );
+		void sysCommand( UniSetTypes::SystemMessage *msg );
+		void sensorInfo( UniSetTypes::SensorMessage*sm );
+		void askSensors( UniversalIO::UIOCommand cmd );
+		void waitSMReady();
+
+		virtual bool activateObject();
+
+		// действия при завершении работы
+		virtual void sigterm( int signo );
+
+		void initIterators();
+		bool initItem( UniXML_iterator& it );
+		bool readItem( UniXML& xml, UniXML_iterator& it, xmlNode* sec );
+
+		void readConfiguration();
+		bool check_item( UniXML_iterator& it );
+		void buildReceiverList();
+
+	private:
+		UNetExchange();
+		bool initPause;
+		UniSetTypes::uniset_mutex mutex_start;
+
+		PassiveTimer ptHeartBeat;
+		UniSetTypes::ObjectId sidHeartBeat;
+		int maxHeartBeat;
+		IOController::AIOStateList::iterator aitHeartBeat;
+		UniSetTypes::ObjectId test_id;
+
+		int polltime;	/*!< переодичность обновления данных, [мсек] */
+
+		ost::UNetBroadcast* UNet;
+		ost::IPV4Host host;
+		ost::tpport_t port;
+		std::string s_host;
+
+		UniSetTypes::uniset_mutex pollMutex;
+		Trigger trTimeout;
+		int recvTimeout;
+		int sendTimeout;
+
+		bool activated;
+		int activateTimeout;
+
+		UniSetUNet::UNetMessage mypack;
+		typedef std::vector<UItem> DMap;
+		DMap dlist;
+		int maxItem;
+
+
+		typedef std::list<UNetNReceiver*> ReceiverList;
+		ReceiverList rlist;
+
+		ThreadCreator<UNetExchange>* thr;
+};
+// -----------------------------------------------------------------------------
+#endif // UNetExchange_H_
+// -----------------------------------------------------------------------------

extensions/UNet2/UNetPacket.cc

+#include "UNetPacket.h"
+// -----------------------------------------------------------------------------
+using namespace std;
+using namespace UniSetUNet;
+// -----------------------------------------------------------------------------
+std::ostream& UniSetUNet::operator<<( std::ostream& os, UniSetUNet::UNetHeader& p )
+{
+	return os << "nodeID=" << p.nodeID
+				<< " procID=" << p.procID
+				<< " dcount=" << p.dcount;
+}
+// -----------------------------------------------------------------------------
+std::ostream& UniSetUNet::operator<<( std::ostream& os, UniSetUNet::UNetData& p )
+{
+	return os << "id=" << p.id << " val=" << p.val;
+}
+// -----------------------------------------------------------------------------
+std::ostream& UniSetUNet::operator<<( std::ostream& os, UniSetUNet::UNetMessage& p )
+{
+	return os;
+}
+// -----------------------------------------------------------------------------
+UNetMessage::UNetMessage()
+{
+
+}
+// -----------------------------------------------------------------------------
+void UNetMessage::addData( const UniSetUNet::UNetData& dat )
+{
+	dlist.push_back(dat);
+}
+// -----------------------------------------------------------------------------
+void UNetMessage::addData( long id, long val)
+{
+	UNetData d(id,val);
+	addData(d);
+}
+// -----------------------------------------------------------------------------

extensions/UNet2/UNetPacket.h

+// $Id: UNetPacket.h,v 1.1 2009/02/10 20:38:27 vpashka Exp $
+// -----------------------------------------------------------------------------
+#ifndef UNetPacket_H_
+#define UNetPacket_H_
+// -----------------------------------------------------------------------------
+#include <list>
+#include <ostream>
+#include "UniSetTypes.h"
+// -----------------------------------------------------------------------------
+namespace UniSetUNet
+{
+	struct UNetHeader
+	{
+		long nodeID;
+		long procID;
+		long dcount;
+
+		friend std::ostream& operator<<( std::ostream& os, UNetHeader& p );
+	}__attribute__((packed));
+
+	struct UNetData
+	{
+		UNetData():id(UniSetTypes::DefaultObjectId),val(0){}
+		UNetData(long id, long val):id(id),val(val){}
+
+		long id;
+		long val;
+
+		friend std::ostream& operator<<( std::ostream& os, UNetData& p );
+	}__attribute__((packed));
+
+	struct UNetMessage:
+		public UNetHeader
+	{
+		UNetMessage();
+
+		void addData( const UNetData& dat );
+		void addData( long id, long val );
+
+		inline int size(){ return dlist.size(); }
+
+		typedef std::list<UNetData> UNetDataList;
+		UNetDataList dlist;
+
+		friend std::ostream& operator<<( std::ostream& os, UNetMessage& p );
+	};
+}
+// -----------------------------------------------------------------------------
+#endif // UNetPacket_H_
+// -----------------------------------------------------------------------------

extensions/UNet2/UNetReceiver.h

+#ifndef UNetReceiver_H_
+#define UNetReceiver_H_
+// -----------------------------------------------------------------------------
+#include <ostream>
+#include <string>
+#include <vector>
+#include <cc++/socket.h>
+#include "UniSetObject_LT.h"
+#include "Trigger.h"
+#include "Mutex.h"
+#include "SMInterface.h"
+#include "SharedMemory.h"
+#include "ThreadCreator.h"
+#include "UNetPacket.h"
+// -----------------------------------------------------------------------------
+class UNetReceiver:
+	public UniSetObject_LT
+{
+	public:
+		UNetReceiver( UniSetTypes::ObjectId objId, UniSetTypes::ObjectId shmID, SharedMemory* ic=0 );
+		virtual ~UNetReceiver();
+
+		/*! глобальная функция для инициализации объекта */
+		static UNetReceiver* init_udpreceiver( int argc, char* argv[],
+											UniSetTypes::ObjectId shmID, SharedMemory* ic=0 );
+
+		/*! глобальная функция для вывода help-а */
+		static void help_print( int argc, char* argv[] );
+
+	protected:
+
+		xmlNode* cnode;
+		std::string s_field;
+		std::string s_fvalue;
+
+		SMInterface* shm;
+
+		void poll();
+		void recv();
+		void step();
+
+		virtual void processingMessage( UniSetTypes::VoidMessage *msg );
+		void sysCommand( UniSetTypes::SystemMessage *msg );
+		void sensorInfo( UniSetTypes::SensorMessage*sm );
+		void askSensors( UniversalIO::UIOCommand cmd );
+		void waitSMReady();
+
+		virtual bool activateObject();
+
+		// действия при завершении работы
+		virtual void sigterm( int signo );
+
+		void initIterators();
+
+	private:
+		UNetReceiver();
+		bool initPause;
+		UniSetTypes::uniset_mutex mutex_start;
+
+		PassiveTimer ptHeartBeat;
+		UniSetTypes::ObjectId sidHeartBeat;
+		int maxHeartBeat;
+		IOController::AIOStateList::iterator aitHeartBeat;
+		UniSetTypes::ObjectId test_id;
+
+		int polltime;	/*!< переодичность обновления данных, [мсек] */
+
+		ost::UNetDuplex* udp;
+		ost::IPV4Host host;
+		ost::tpport_t port;
+
+		UniSetTypes::uniset_mutex pollMutex;
+		Trigger trTimeout;
+		int recvTimeout;
+
+		bool activated;
+		int activateTimeout;
+
+		ThreadCreator<UNetReceiver>* thr;
+};
+// -----------------------------------------------------------------------------
+#endif // UNetReceiver_H_
+// -----------------------------------------------------------------------------

extensions/UNet2/UNetSender.h

+#ifndef UNetSender_H_
+#define UNetSender_H_
+// -----------------------------------------------------------------------------
+#include <ostream>
+#include <string>
+#include <vector>
+#include <cc++/socket.h>
+#include "UniSetObject_LT.h"
+#include "Trigger.h"
+#include "Mutex.h"
+#include "SMInterface.h"
+#include "SharedMemory.h"
+#include "ThreadCreator.h"
+#include "UNetPacket.h"
+// -----------------------------------------------------------------------------
+class UNetSender:
+	public UniSetObject_LT
+{
+	public:
+		UNetSender( UniSetTypes::ObjectId objId, UniSetTypes::ObjectId shmID, SharedMemory* ic=0 );
+		virtual ~UNetSender();
+
+		/*! глобальная функция для инициализации объекта */
+		static UNetSender* init_udpsender( int argc, char* argv[],
+											UniSetTypes::ObjectId shmID, SharedMemory* ic=0 );
+
+		/*! глобальная функция для вывода help-а */
+		static void help_print( int argc, char* argv[] );
+
+		struct UItem
+		{
+			UItem():
+				val(0)
+			{}
+
+			IOController_i::SensorInfo si;
+			IOController::AIOStateList::iterator ait;
+			IOController::DIOStateList::iterator dit;
+			UniSetTypes::uniset_spin_mutex val_lock;
+			UniSetUNet::UNetMessage::UNetDataList::iterator pack_it;
+			long val;
+
+			friend std::ostream& operator<<( std::ostream& os, UItem& p );
+		};
+
+	protected:
+
+		xmlNode* cnode;
+		std::string s_field;
+		std::string s_fvalue;
+
+		SMInterface* shm;
+
+		void poll();
+		void recv();
+		void send();
+
+		void step();
+
+		virtual void processingMessage( UniSetTypes::VoidMessage *msg );
+		void sysCommand( UniSetTypes::SystemMessage *msg );
+		void sensorInfo( UniSetTypes::SensorMessage*sm );
+		void askSensors( UniversalIO::UIOCommand cmd );
+		void waitSMReady();
+
+		virtual bool activateObject();
+
+		// действия при завершении работы
+		virtual void sigterm( int signo );
+
+		void initIterators();
+		bool initItem( UniXML_iterator& it );
+		bool readItem( UniXML& xml, UniXML_iterator& it, xmlNode* sec );
+
+		void readConfiguration();
+		bool check_item( UniXML_iterator& it );
+
+	private:
+		UNetSender();
+		bool initPause;
+		UniSetTypes::uniset_mutex mutex_start;
+
+		PassiveTimer ptHeartBeat;
+		UniSetTypes::ObjectId sidHeartBeat;
+		int maxHeartBeat;
+		IOController::AIOStateList::iterator aitHeartBeat;
+		UniSetTypes::ObjectId test_id;
+
+		int sendtime;	/*!< переодичность посылки данных, [мсек] */
+
+		ost::TCPStream* tcp;
+//		ost::TCPSocket* tcp;
+		ost::IPV4Host host;
+		ost::tpport_t port;
+
+		UniSetTypes::uniset_mutex sendMutex;
+		Trigger trTimeout;
+		int sendTimeout;
+
+		bool activated;
+		int activateTimeout;
+
+		UniSetUNet::UNetMessage mypack;
+		typedef std::vector<UItem> DMap;
+		DMap dlist;
+		int maxItem;
+
+
+		ThreadCreator<UNetSender>* thr;
+};
+// -----------------------------------------------------------------------------
+#endif // UNetSender_H_
+// -----------------------------------------------------------------------------

extensions/UNet2/create_links.sh

+#!/bin/sh
+
+ln -s -f ../../Utilities/scripts/uniset-start.sh
+ln -s -f ../../Utilities/scripts/uniset-stop.sh stop.sh
+ln -s -f ../../Utilities/scripts/uniset-functions.sh
+ln -s -f ../../conf/test.xml test.xml

extensions/UNet2/start_fg.sh

+#!/bin/sh
+
+uniset-start.sh -f ./uniset-udpexchange --udp-name UDPExchange --udp-host 192.168.56.255 \
+	--udp-broadcast 1 --udp-polltime 1000 \
+	--confile test.xml \
+	--dlog-add-levels info,crit,warn
+#	--udp-filter-field udp --udp-filter-value 1 \

extensions/UNet2/unetexchange.cc

+#include <sstream>
+#include "ObjectsActivator.h"
+#include "Extensions.h"
+#include "UDPExchange.h"
+// -----------------------------------------------------------------------------
+using namespace std;
+using namespace UniSetTypes;
+using namespace UniSetExtensions;
+// -----------------------------------------------------------------------------
+int main( int argc, char** argv )
+{
+	try
+	{
+		if( argc>1 && (!strcmp(argv[1],"--help") || !strcmp(argv[1],"-h")) )
+		{
+			cout << "--smemory-id objectName  - SharedMemory objectID. Default: read from <SharedMemory>" << endl;
+			cout << "--confile filename       - configuration file. Default: configure.xml" << endl;
+			cout << "--udp-logfile filename    - logfilename. Default: udpexchange.log" << endl;
+			cout << endl;
+			UDPExchange::help_print(argc,argv);
+			return 0;
+		}
+
+		string confile=UniSetTypes::getArgParam("--confile",argc,argv,"configure.xml");
+		conf = new Configuration( argc, argv, confile );
+
+		string logfilename(conf->getArgParam("--udp-logfile"));
+		if( logfilename.empty() )
+			logfilename = "udpexchange.log";
+
+		conf->initDebug(dlog,"dlog");
+
+		std::ostringstream logname;
+		string dir(conf->getLogDir());
+		logname << dir << logfilename;
+		unideb.logFile( logname.str() );
+		dlog.logFile( logname.str() );
+
+		ObjectId shmID = DefaultObjectId;
+		string sID = conf->getArgParam("--smemory-id");
+		if( !sID.empty() )
+			shmID = conf->getControllerID(sID);
+		else
+			shmID = getSharedMemoryID();
+
+		if( shmID == DefaultObjectId )
+		{
+			cerr << sID << "? SharedMemoryID not found in " << conf->getControllersSection() << " section" << endl;
+			return 1;
+		}
+
+		UDPExchange* rs = UDPExchange::init_udpexchange(argc,argv,shmID);
+		if( !rs )
+		{
+			dlog[Debug::CRIT] << "(udpexchange): init не прошёл..." << endl;
+			return 1;
+		}
+
+		ObjectsActivator act;
+		act.addObject(static_cast<class UniSetObject*>(rs));
+
+		SystemMessage sm(SystemMessage::StartUp);
+		act.broadcast( sm.transport_msg() );
+
+		unideb(Debug::ANY) << "\n\n\n";
+		unideb[Debug::ANY] << "(main): -------------- UDP Exchange START -------------------------\n\n";
+		dlog(Debug::ANY) << "\n\n\n";
+		dlog[Debug::ANY] << "(main): -------------- UDP Exchange START -------------------------\n\n";
+
+		act.run(false);
+//		msleep(500);
+//		rs->execute();
+	}
+	catch( Exception& ex )
+	{
+		dlog[Debug::CRIT] << "(udpexchange): " << ex << std::endl;
+	}
+	catch(...)
+	{
+		dlog[Debug::CRIT] << "(udpexchange): catch ..." << std::endl;
+	}
+
+	return 0;
+}

extensions/UNet2/unetreceiver.cc

+#include <sstream>
+#include "ObjectsActivator.h"
+#include "Extensions.h"
+#include "UDPReceiver.h"
+// -----------------------------------------------------------------------------
+using namespace std;
+using namespace UniSetTypes;
+using namespace UniSetExtensions;
+// -----------------------------------------------------------------------------
+int main( int argc, char** argv )
+{
+	try
+	{
+		if( argc>1 && (!strcmp(argv[1],"--help") || !strcmp(argv[1],"-h")) )
+		{
+			cout << "--smemory-id objectName  - SharedMemory objectID. Default: read from <SharedMemory>" << endl;
+			cout << "--confile filename       - configuration file. Default: configure.xml" << endl;
+			cout << "--udp-logfile filename    - logfilename. Default: udpexchange.log" << endl;
+			cout << endl;
+			UDPReceiver::help_print(argc,argv);
+			return 0;
+		}
+
+		string confile=UniSetTypes::getArgParam("--confile",argc,argv,"configure.xml");
+		conf = new Configuration( argc, argv, confile );
+
+		string logfilename(conf->getArgParam("--udp-logfile"));
+		if( logfilename.empty() )
+			logfilename = "udpexchange.log";
+
+		conf->initDebug(dlog,"dlog");
+
+		std::ostringstream logname;
+		string dir(conf->getLogDir());
+		logname << dir << logfilename;
+		unideb.logFile( logname.str() );
+		dlog.logFile( logname.str() );
+
+		ObjectId shmID = DefaultObjectId;
+		string sID = conf->getArgParam("--smemory-id");
+		if( !sID.empty() )
+			shmID = conf->getControllerID(sID);
+		else
+			shmID = getSharedMemoryID();
+
+		if( shmID == DefaultObjectId )
+		{
+			cerr << sID << "? SharedMemoryID not found in " << conf->getControllersSection() << " section" << endl;
+			return 1;
+		}
+
+		UDPReceiver* udp = UDPReceiver::init_udpreceiver(argc,argv,shmID);
+		if( !udp )
+		{
+			dlog[Debug::CRIT] << "(udpreceiver): init не прошёл..." << endl;
+			return 1;
+		}
+
+		ObjectsActivator act;
+		act.addObject(static_cast<class UniSetObject*>(udp));
+
+		SystemMessage sm(SystemMessage::StartUp);
+		act.broadcast( sm.transport_msg() );
+
+		unideb(Debug::ANY) << "\n\n\n";
+		unideb[Debug::ANY] << "(main): -------------- UDPRecevier START -------------------------\n\n";
+		dlog(Debug::ANY) << "\n\n\n";
+		dlog[Debug::ANY] << "(main): -------------- UDPReceiver START -------------------------\n\n";
+
+		act.run(false);
+//		msleep(500);
+//		rs->execute();
+	}
+	catch( Exception& ex )
+	{
+		dlog[Debug::CRIT] << "(udpexchange): " << ex << std::endl;
+	}
+	catch( ost::SockException& e )
+	{
+		ostringstream s;
+		s << e.getString() << ": " << e.getSystemErrorString();
+		dlog[Debug::CRIT] << s.str() << endl;
+	}
+	catch(...)
+	{
+		dlog[Debug::CRIT] << "(udpexchange): catch ..." << std::endl;
+	}
+
+	return 0;
+}

extensions/UNet2/unetsender.cc

+#include <sstream>
+#include "ObjectsActivator.h"
+#include "Extensions.h"
+#include "UDPSender.h"
+// -----------------------------------------------------------------------------
+using namespace std;
+using namespace UniSetTypes;
+using namespace UniSetExtensions;
+// -----------------------------------------------------------------------------
+int main( int argc, char** argv )
+{
+	try
+	{
+		if( argc>1 && (!strcmp(argv[1],"--help") || !strcmp(argv[1],"-h")) )
+		{
+			cout << "--smemory-id objectName  - SharedMemory objectID. Default: read from <SharedMemory>" << endl;
+			cout << "--confile filename       - configuration file. Default: configure.xml" << endl;
+			cout << "--udp-logfile filename    - logfilename. Default: udpexchange.log" << endl;
+			cout << endl;
+			UDPSender::help_print(argc,argv);
+			return 0;
+		}
+
+		string confile=UniSetTypes::getArgParam("--confile",argc,argv,"configure.xml");
+		conf = new Configuration( argc, argv, confile );
+
+		string logfilename(conf->getArgParam("--udp-logfile"));
+		if( logfilename.empty() )
+			logfilename = "udpexchange.log";
+
+		conf->initDebug(dlog,"dlog");
+
+		std::ostringstream logname;
+		string dir(conf->getLogDir());
+		logname << dir << logfilename;
+		unideb.logFile( logname.str() );
+		dlog.logFile( logname.str() );
+
+		ObjectId shmID = DefaultObjectId;
+		string sID = conf->getArgParam("--smemory-id");
+		if( !sID.empty() )
+			shmID = conf->getControllerID(sID);
+		else
+			shmID = getSharedMemoryID();
+
+		if( shmID == DefaultObjectId )
+		{
+			cerr << sID << "? SharedMemoryID not found in " << conf->getControllersSection() << " section" << endl;
+			return 1;
+		}
+
+		UDPSender* udp = UDPSender::init_udpsender(argc,argv,shmID);
+		if( !udp )
+		{
+			dlog[Debug::CRIT] << "(udpsender): init не прошёл..." << endl;
+			return 1;
+		}
+
+		ObjectsActivator act;
+		act.addObject(static_cast<class UniSetObject*>(udp));
+
+		SystemMessage sm(SystemMessage::StartUp);
+		act.broadcast( sm.transport_msg() );
+
+		unideb(Debug::ANY) << "\n\n\n";
+		unideb[Debug::ANY] << "(main): -------------- UDPSender START -------------------------\n\n";
+		dlog(Debug::ANY) << "\n\n\n";
+		dlog[Debug::ANY] << "(main): -------------- UDPSender START -------------------------\n\n";
+
+		act.run(false);
+//		msleep(500);
+//		rs->execute();
+	}
+	catch( Exception& ex )
+	{
+		dlog[Debug::CRIT] << "(udpsender): " << ex << std::endl;
+	}
+	catch( ost::SockException& e )
+	{
+        dlog[Debug::CRIT] << "(udpsender): " << e.getSystemErrorString() << endl;
+    }
+	catch(...)
+	{
+		dlog[Debug::CRIT] << "(udpsender): catch ..." << std::endl;
+	}
+
+	return 0;
+}