int/main.cpp

   1 #define _DEFAULT_SOURCE
   2 #include <stdint.h>
   3 #include <stdlib.h>
   4 #include <string.h>
   5
   6 #ifdef ARDUINO
   7 #include <Arduino.h>
   8 #include <HardwareSerial.h>
   9 #else
  10 #include <stdbool.h>
  11 #include <netdb.h>
  12 #include <netinet/in.h>
  13 #include <signal.h>
  14 #include <stdio.h>
  15 #include <sys/socket.h>
  16 #include <sys/time.h>
  17 #include <sys/types.h>
  18 #include <unistd.h>
  19 #endif
  20
  21 #include "interpret.h"
  22 #include "mTaskSymbols.h"
  23 #include "sds.h"
  24 #include "task.h"
  25 #include "misc.h"
  26
  27 #define MAXSDS 50
  28
  29 #define MSG_GET_TASK 't'
  30 #define MSG_DEL_TASK 'd'
  31 #define MSG_SDS_SPEC 's'
  32 #define MSG_SDS_UPD 'u'
  33
  34 //Globals
  35 #ifndef ARDUINO
  36 struct timeval tv1;
  37 int sock_fd = -1;
  38 int fd = -1;
  39 int *argc;
  40 char **argv;
  41 char bt;
  42 #endif
  43
  44 #ifndef ARDUINO
  45 long millis() {
  46         if (gettimeofday(&tv1, NULL) == -1)
  47                 pdie("gettimeofday");
  48         return tv1.tv_sec*1000 + tv1.tv_usec/1000;
  49 }
  50 #endif
  51
  52 bool input_available(){
  53 #ifdef ARDUINO
  54         return Serial.available();
  55 #else
  56         struct timeval tv;
  57         fd_set fds;
  58         tv.tv_sec = 0;
  59         tv.tv_usec = 0;
  60         FD_ZERO(&fds);
  61         FD_SET(fd, &fds);
  62         if (select(fd+1, &fds, NULL, NULL, &tv) == -1)
  63                 pdie("select");
  64         return FD_ISSET(fd, &fds);
  65 #endif
  66 }
  67
  68 uint8_t read_byte()
  69 {
  70 #ifdef ARDUINO
  71         return Serial.read();
  72 #else
  73         read(fd, &bt, 1);
  74         return bt;
  75 #endif
  76 }
  77
  78 void write_byte(uint8_t b)
  79 {
  80 #ifdef ARDUINO
  81         Serial.write(b);
  82 #else
  83         write(fd, &b, 1);
  84 #endif
  85 }
  86
  87 void sleep(int ms)
  88 {
  89 #ifdef ARDUINO
  90         delay(ms);
  91 #else
  92         usleep(ms*1000);
  93 #endif
  94 }
  95
  96 #ifndef ARDUINO
  97 void killHandler(int i)
  98 {
  99         printf("%i caught, Bye...\n", i);
 100         exit(1);
 101 }
 102 #endif
 103
 104 void read_message()
 105 {
 106         //Find next task
 107         uint8_t c = read_byte();
 108         debug("Receiving input: %c\n", c);
 109         switch(c){
 110         case MSG_SDS_SPEC:
 111                 debug("Receiving an sds\n");
 112                 sds_register();
 113                 break;
 114         case MSG_SDS_UPD:
 115                 debug("Receiving an sds\n");
 116                 //TODO do something with the return value
 117                 sds_update();
 118                 break;
 119         case MSG_DEL_TASK:
 120                 debug("Receiving a delete task request\n");
 121                 task_delete();
 122                 break;
 123         case MSG_GET_TASK:
 124                 debug("Receiving a task\n");
 125                 c = task_register();
 126 //              write(fd_out, &c, 1);
 127 //              write(fd_out,
 128                 break;
 129         case '\n':
 130                 break;
 131 //      case '\0':
 132 //              debug("iTasks server shut down\n");
 133 //              exit(EXIT_SUCCESS);
 134         default:
 135                 debug("Unknown message: %X\n", c);
 136         }
 137 }
 138
 139 void open_filedescriptors()
 140 {
 141 }
 142
 143 void usage(FILE *o, char *arg0){
 144         fprintf(o,
 145                 "Usage: %s [opts]\n"
 146                 "\n"
 147                 "Options\n"
 148                 "-p PORT  Custom port number, default: 8123\n"
 149                 , arg0);
 150 }
 151
 152 void setup()
 153 {
 154 #ifdef ARDUINO
 155         Serial.begin(9600);
 156 #else
 157         int port = 8123, opti = 1;
 158         //Register signal handler
 159         if(signal(SIGINT, killHandler) == SIG_ERR){
 160                 die("Couldn't register signal handler...\n");
 161         }
 162         if(signal(SIGTERM, killHandler) == SIG_ERR){
 163                 die("Couldn't register signal handler...\n");
 164         }
 165         //Command line arguments
 166         while(opti < *argc){
 167                 if(strcmp((*argv)+opti, "-h") == 0){
 168                         usage(stdout, argv[0]);
 169                         exit(EXIT_SUCCESS);
 170                 } else if(strcmp(argv[opti], "-p") == 0 && opti+1<*argc){
 171                         port = atoi(argv[++opti]);
 172                         if(port < 1)
 173                                 die("Port numbers are > 1\n");
 174                 } else {
 175                         usage(stderr, argv[0]);
 176                         exit(EXIT_FAILURE);
 177                 }
 178                 opti++;
 179         }
 180
 181         //Open file descriptors
 182         struct sockaddr_in sa;
 183
 184         memset(&sa, 0, sizeof(sa));
 185         sa.sin_family = AF_INET;
 186         sa.sin_addr.s_addr = INADDR_ANY;
 187         sa.sin_port = htons(port);
 188
 189         if((sock_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
 190                 pdie("socket");
 191         if(bind(sock_fd, (struct sockaddr*)&sa, sizeof(sa)) == -1)
 192                 pdie("bind");
 193         if(listen(sock_fd, 10) == -1)
 194                 pdie("listen");
 195
 196         printf("Listening on %d\n", port);
 197         fflush(stdout);
 198         if((fd = accept(sock_fd, (struct sockaddr*)NULL, NULL)) == -1)
 199                 pdie("accept");
 200 #endif
 201
 202         //Initialize systems
 203         sds_init();
 204         task_init();
 205 }
 206
 207 void loop()
 208 {
 209         int ct;
 210         long cyclestart;
 211         struct task *curtask;
 212         if(input_available())
 213                 read_message();
 214         //Run tasks
 215         cyclestart = millis();
 216         for(ct = 0; ct<MAXTASKS; ct++){
 217                 //See whether the task is even in use
 218                 if((curtask = task_get(ct)) == NULL){
 219 //                      debug("Task %d not implemented\n", ct);
 220                         continue;
 221                 }
 222                 //See whether the task interval has passed
 223                 if(cyclestart-curtask->lastrun < curtask->interval){
 224 //                      debug("Task %d not scheduled\n", ct);
 225                         continue;
 226                 }
 227 #ifdef DEBUG
 228                 printf("Current task to run: %d\n", ct);
 229                 getchar();
 230 #endif
 231                 run_task(curtask);
 232         }
 233         debug("Waiting for 500ms\n");
 234         sleep(500);
 235         debug("done waiting\n");
 236         write_byte('\n');
 237 }
 238
 239 int main(int ac, char *av[])
 240 {
 241 #ifndef ARDUINO
 242         argc = &ac;
 243         argv = av;
 244 #endif
 245         setup();
 246
 247         write_byte('\n');
 248
 249         while(true){
 250                 //Check for new tasks
 251         }
 252         return 0;
 253 }