Tooltron

#include "tool.h"

#include "query.h"

#include "log.h"

#include <unistd.h>

#include <signal.h>

#include <strings.h>

#include <stdio.h>

#define SLEEP_MS 10//250

static struct tool_t tools[] = {

  TOOL_DECL("test1", 1),

  TOOL_DECL("test2", 2),

  TOOL_DECL("test3", 3),

  TOOL_DECL("test4", 4),

  TOOL_DECL("test5", 5),

  TOOL_DECL("test6", 6),

  TOOL_DECL("test7", 7),

  TOOL_DECL("test8", 8),

  TOOL_DECL("test9", 9)

};

#define N_TOOLS (sizeof(tools)/sizeof(struct tool_t))

volatile int run = 1;

void sigint(int sig) {

  run = 0;

}

void print_usage(const char *name) {

  printf("Usage: %s [-h] [-d serial_device] [-s db_server[:port]]\n", name);

  printf("       -h prints this message\n");

  printf("       -d specifies the serial port for Modbus\n");

  printf("          defaults to /dev/ttyUSB0\n");

  printf("       -s specifies the server where the CRM is running\n");

  printf("          defaults to roboticsclub.org\n");

}

int main(int argc, char **argv) {

  int i, opt;

  struct sigaction sigact;

  const char *device = "/dev/ttyUSB0";

  const char *server = "roboticsclub.org";

  while ((opt = getopt(argc, argv, "hd:s:")) != -1) {

    switch (opt) {

      case 'h':

        print_usage(argv[0]);

        return 0;

      case 'd':

        device = optarg;

        break;

      case 's':

        server = optarg;

        break;

      default:

        print_usage(argv[0]);

        return 1;

    }

  }

  log_print("Serial device: %s", device);

  log_print("CRM server: http://%s/", server);

  bzero(&sigact, sizeof(sigact));

  sigact.sa_handler = sigint;

  sigact.sa_flags = SA_RESTART;

  sigemptyset(&sigact.sa_mask);

  sigaction(SIGINT, &sigact, NULL);

  if (query_init(server)) {

    return 1;

  }

  if (tool_init_mb(device)) {

    return 1;

  }

  log_print("Modbus initialized; polling tools...");

  i = 0;

  while (run) {

    tool_poll(&tools[i]);

    event_q_process();

    usleep(SLEEP_MS * (useconds_t)1000);

    i = (i+1) % N_TOOLS;

  }

  log_print("Disabling tools");

  for (i = 0; i < N_TOOLS; i++) {

    tool_request_disable(&tools[i]);

  }

  log_print("Closing modbus connection");

  tool_close_mb();

  log_print("Exiting");

  return 0;

}