Gestion des signaux

chef/src/ihm.c

@@ -23,7 +23,6 @@ void startIHM()
 {
     configureButtons();
     pthread_create(&tIHM, NULL, TaskIHM, NULL);
-    pthread_join(tIHM, NULL);
 }
 
 // t1 - t2
@@ -203,6 +202,7 @@ void* TaskIHM(void* pdata)
 
 void deconfigureIHM()
 {
+    pthread_cancel(tIHM);
     clearLCD();
     printToLCD(LCD_LINE_1, "Bye bye!");
 }

chef/src/movement.c

@@ -71,13 +71,14 @@ int freewheel()
     sendCF(C2FD_PWM, &msgFree, sizeof(struct C2FD_PWMs));
 }
 
-void deconfigureMovement()
-{
-
-}
-
 int stop()
 {
     brake();
     // TODO Actionneurs
 }
+
+void deconfigureMovement()
+{
+    stop();
+}
+

chef/src/premier.c

@@ -1,4 +1,5 @@
 #include <pthread.h>
+#include <signal.h>
 #include <stdio.h>
 #include <stdlib.h>
 #include <time.h>   // random seed
@@ -7,34 +8,51 @@
 
 #include "CF.h"
 #include "debug.h"
+#include "i2c.h"
 #include "ihm.h"
 #include "movement.h"
 #include "position.h"
 
+pthread_mutex_t sRunning;
+
+void endRunning(int signal)
+{
+    (void)signal;
+    printf("21\n");
+    pthread_mutex_unlock(&sRunning);
+}
+
 int main()
 {
 
-    printf("Démarrage...\n");
     if (wiringPiSetup() < 0) {
         fprintf(stderr, "Impossible d'initialiser WiringPi\n");
         exit(EXIT_FAILURE);
     }
     initI2C();
-    configureIHM();
-
     srand(time(NULL));
+
+    configureIHM();
     configureDebug();
     configureCF();
     configureMovement();
     configurePosition();
     startDebug();
-
     startIHM();
 
+    // Bloque jusqu'à l'arrivée d'un signal
+    pthread_mutex_init(&sRunning, NULL);
+    signal(SIGINT, endRunning);
+    signal(SIGTERM, endRunning);
+    signal(SIGQUIT, endRunning);
+    pthread_mutex_lock(&sRunning);
+    pthread_mutex_lock(&sRunning);
+
+    deconfigureMovement();
     deconfigureMovement();
     deconfigurePosition();
     deconfigureCF();
-    deconfigureIHM();
     deconfigureDebug();
+    deconfigureIHM();
     return EXIT_SUCCESS;
 }