-#define _BSD_SOURCE
-#include <netdb.h>
-#include <netinet/in.h>
-#include <signal.h>
#include <stdbool.h>
#include <stdint.h>
-#include <stdio.h>
#include <stdlib.h>
#include <string.h>
-#include <strings.h>
-#include <sys/socket.h>
-#include <sys/types.h>
-#include <sys/time.h>
-#include <unistd.h>
+
+#ifdef STM
+#else
+#include <stdio.h>
+#endif
#include "interpret.h"
#include "mTaskSymbols.h"
#include "sds.h"
#include "task.h"
-#include "misc.h"
-
-#define MAXSDS 50
+#include "interface.h"
#define MSG_GET_TASK 't'
#define MSG_DEL_TASK 'd'
#define MSG_SDS_SPEC 's'
#define MSG_SDS_UPD 'u'
-struct timeval tv1;
-int sock_fd = -1;
-int fd = -1;
-int port = 8123;
-
-void killHandler(int i)
+void read_message(void)
{
- printf("%i caught, Bye...\n", i);
- exit(1);
-}
-
-bool input_available(int fd){
- struct timeval tv;
- fd_set fds;
- tv.tv_sec = 0;
- tv.tv_usec = 0;
- FD_ZERO(&fds);
- FD_SET(fd, &fds);
- if (select(fd+1, &fds, NULL, NULL, &tv) == -1)
- pdie("select");
- return FD_ISSET(fd, &fds);
-}
-
-long millis() {
- if (gettimeofday(&tv1, NULL) == -1)
- pdie("gettimeofday");
- return tv1.tv_sec*1000 + tv1.tv_usec/1000;
-}
-
-void read_message(int fd_in, int fd_out)
-{
- uint8_t c;
//Find next task
-
- read(fd_in, &c, 1);
- debug("Receiving input: %c\n", c);
- switch(c){
- case MSG_SDS_SPEC:
- debug("Receiving an sds\n");
- sds_register(fd_in);
- break;
- case MSG_SDS_UPD:
- debug("Receiving an sds\n");
- //TODO do something with the return value
- sds_update(fd_in);
- break;
- case MSG_DEL_TASK:
- debug("Receiving a delete task request\n");
- task_delete(fd);
- break;
- case MSG_GET_TASK:
- debug("Receiving a task\n");
- c = task_register(fd_in);
-// write(fd_out, &c, 1);
-// write(fd_out,
- break;
- case '\n':
- break;
-// case '\0':
-// debug("iTasks server shut down\n");
-// exit(EXIT_SUCCESS);
- default:
- debug("Unknown message: %X\n", c);
+ if(input_available()){
+ uint8_t c = read_byte();
+ debug("Receiving input: %c %02x\n", c, c);
+ switch(c){
+ case MSG_SDS_SPEC:
+ debug("Receiving an sds");
+ sds_register();
+ break;
+ case MSG_SDS_UPD:
+ debug("Receiving an sds update");
+ //TODO do something with the return value
+ sds_update();
+ break;
+ case MSG_DEL_TASK:
+ debug("Receiving a delete task request");
+ task_delete();
+ break;
+ case MSG_GET_TASK:
+ debug("Receiving a task");
+ // write_dpin(0, true);
+ task_register();
+ // write_dpin(0, false);
+ break;
+ case '\0':
+ break;
+ case '\n':
+ break;
+ default:
+ debug("Unknown message: %X", c);
+ }
}
- (void) fd_out;
-}
-
-void open_filedescriptors()
-{
- struct sockaddr_in sa;
-
- bzero((char *) &sa, sizeof(sa));
- sa.sin_family = AF_INET;
- sa.sin_addr.s_addr = INADDR_ANY;
- sa.sin_port = htons(port);
-
- if((sock_fd = socket(AF_INET, SOCK_STREAM, 0)) == -1)
- pdie("socket");
- if(bind(sock_fd, (struct sockaddr*)&sa, sizeof(sa)) == -1)
- pdie("bind");
- if(listen(sock_fd, 10) == -1)
- pdie("listen");
-
- printf("Listening on %d\n", port);
- fflush(stdout);
- if((fd = accept(sock_fd, (struct sockaddr*)NULL, NULL)) == -1)
- pdie("accept");
}
-void usage(FILE *o, char *arg0){
- fprintf(o,
- "Usage: %s [opts]\n"
- "\n"
- "Options\n"
- "-p PORT Custom port number, default: 8123\n"
- , arg0);
-}
-
-int main(int argc, char *argv[])
+void loop(void)
{
int ct;
+ long cyclestart;
+ struct task *curtask;
- //Register signal handler
- if(signal(SIGINT, killHandler) == SIG_ERR){
- die("Couldn't register signal handler...\n");
- }
- if(signal(SIGTERM, killHandler) == SIG_ERR){
- die("Couldn't register signal handler...\n");
- }
+ read_message();
- //Command line arguments
- int opti = 1;
- while(opti < argc){
- if(strcmp(argv[opti], "-h") == 0){
- usage(stdout, argv[0]);
- exit(EXIT_SUCCESS);
- } else if(strcmp(argv[opti], "-p") == 0 && opti+1<argc){
- port = atoi(argv[++opti]);
- if(port < 1)
- die("Port numbers are > 1\n");
- } else {
- usage(stderr, argv[0]);
- exit(EXIT_FAILURE);
+ //Run tasks
+ cyclestart = millis();
+ for(ct = 0; ct<MAXTASKS; ct++){
+ //See whether the task is even in use
+ if((curtask = task_get(ct)) == NULL){
+// debug("Task %d not implemented\n", ct);
+ continue;
+ }
+ //See whether the task interval has passed
+ if(cyclestart-curtask->lastrun < curtask->interval){
+// debug("Task %d not scheduled\n", ct);
+ continue;
}
- opti++;
+ debug("Current task to run: %d", ct);
+ run_task(curtask);
+ curtask->lastrun = cyclestart;
}
+}
- open_filedescriptors();
- write(fd, "\n", 1);
+#ifdef STM
+int main(void){
+#else
+int main(int argc, char *argv[]){
+ gargc = argc;
+ gargv = argv;
+#endif
- long cyclestart;
- struct task *curtask;
+ //Initialize systems
+ setup();
+ sds_init();
+ task_init();
+ //debug("booting up");
while(true){
- //Check for new tasks
- if(input_available(fd))
- read_message(fd, fd);
- //Run tasks
- cyclestart = millis();
- for(ct = 0; ct<MAXTASKS; ct++){
- //See whether the task is even in use
- if((curtask = task_get(ct)) == NULL){
-// debug("Task %d not implemented\n", ct);
- continue;
- }
- //See whether the task interval has passed
- if(cyclestart-curtask->lastrun < curtask->interval){
-// debug("Task %d not scheduled\n", ct);
- continue;
- }
-#ifdef DEBUG
- printf("Current task to run: %d\n", ct);
- getchar();
-#endif
- run_task(curtask, fd);
- }
- debug("Waiting for 500ms\n");
- usleep(500000);
- debug("done waiting\n");
- write(fd, "\n", 1);
+ //Check for newetasks
+// debug("loop");
+ loop();
+ delay(50);
}
return 0;
}
repositories / mTask.git / blobdiff