Tooltron

#include "tool.h"

#include <unistd.h>

#include <signal.h>

#include <strings.h>

#include <stdio.h>

#define SLEEP_MS 250

struct tool_t tools[] = {

  {4, "test", TS_INIT}

};

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

volatile int run = 1;

void sigint(int sig) {

  run = 0;

}

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

  int i;

  struct sigaction sigact;

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

  // TODO getopts to get device name

  bzero(&sigact, sizeof(sigact));

  sigact.sa_handler = sigint;

  sigact.sa_flags = SA_RESTART;

  sigemptyset(&sigact.sa_mask);

  sigaction(SIGINT, &sigact, NULL);

  if (tool_init_mb(device)) {

    return 1;

  }

  printf("Modbus initialized; polling tools...\n");

  i = 0;

  while (run) {

    tool_poll(&tools[i]);

    usleep(SLEEP_MS * (useconds_t)1000);

    i = (i+1) % N_TOOLS;

  }

  printf("\nDisabling tools\n");

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

    tool_request_disable(&tools[i]);

  }

  printf("Closing modbus connection\n");

  tool_close_mb();

  printf("Exiting\n");

  return 0;

}