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#include "tool.h"
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#include "query.h"
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#include "log.h"
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#include <unistd.h>
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#include <signal.h>
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#include <strings.h>
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#include <stdio.h>
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#define SLEEP_MS 10//250
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static struct tool_t tools[] = {
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  TOOL_DECL("test1", 1),
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  TOOL_DECL("test2", 2),
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  TOOL_DECL("test3", 3),
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  TOOL_DECL("test4", 4),
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  TOOL_DECL("test5", 5),
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  TOOL_DECL("test6", 6),
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  TOOL_DECL("test7", 7),
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  TOOL_DECL("test8", 8),
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  TOOL_DECL("test9", 9)
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};
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#define N_TOOLS (sizeof(tools)/sizeof(struct tool_t))
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volatile int run = 1;
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void sigint(int sig) {
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  run = 0;
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}
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void print_usage(const char *name) {
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  printf("Usage: %s [-h] [-d serial_device] [-s db_server[:port]]\n", name);
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  printf("       -h prints this message\n");
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  printf("       -d specifies the serial port for Modbus\n");
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  printf("          defaults to /dev/ttyUSB0\n");
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  printf("       -s specifies the server where the CRM is running\n");
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  printf("          defaults to roboticsclub.org\n");
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}
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int main(int argc, char **argv) {
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  int i, opt;
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  struct sigaction sigact;
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  const char *device = "/dev/ttyUSB0";
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  const char *server = "roboticsclub.org";
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  while ((opt = getopt(argc, argv, "hd:s:")) != -1) {
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    switch (opt) {
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      case 'h':
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        print_usage(argv[0]);
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        return 0;
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      case 'd':
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        device = optarg;
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        break;
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      case 's':
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        server = optarg;
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        break;
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      default:
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        print_usage(argv[0]);
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        return 1;
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    }
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  }
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  log_print("Serial device: %s", device);
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  log_print("CRM server: http://%s/", server);
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  bzero(&sigact, sizeof(sigact));
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  sigact.sa_handler = sigint;
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  sigact.sa_flags = SA_RESTART;
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  sigemptyset(&sigact.sa_mask);
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  sigaction(SIGINT, &sigact, NULL);
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  if (query_init(server)) {
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    return 1;
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  }
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  if (tool_init_mb(device)) {
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    return 1;
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  }
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  log_print("Modbus initialized; polling tools...");
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  i = 0;
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  while (run) {
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    tool_poll(&tools[i]);
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    event_q_process();
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    usleep(SLEEP_MS * (useconds_t)1000);
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    i = (i+1) % N_TOOLS;
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  }
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  log_print("Disabling tools");
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  for (i = 0; i < N_TOOLS; i++) {
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    tool_request_disable(&tools[i]);
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  }
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  log_print("Closing modbus connection");
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  tool_close_mb();
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  log_print("Exiting");
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  return 0;
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}