mirror of
https://github.com/RobotechLille/cdf2018-principal
synced 2024-05-13 08:48:06 +00:00
78 lines
1.5 KiB
C
78 lines
1.5 KiB
C
#include <pthread.h>
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#include <signal.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <time.h> // random seed
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#include <unistd.h> // sleep
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#include <wiringPi.h>
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#include "CF.h"
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#include "actionneurs.h"
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#include "debug.h"
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#include "i2c.h"
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#include "ihm.h"
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#include "imu.h"
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#include "movement.h"
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#include "motor.h"
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#include "position.h"
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pthread_mutex_t sRunning;
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void endRunning(int signal)
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{
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(void)signal;
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pthread_mutex_unlock(&sRunning);
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}
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int main()
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{
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if (wiringPiSetup() < 0) {
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fprintf(stderr, "Impossible d'initialiser WiringPi\n");
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exit(EXIT_FAILURE);
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}
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initI2C();
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srand(time(NULL));
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configureDebug();
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configureCF();
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configureIMU();
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printf("40\n");
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configureActionneurs();
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printf("41\n");
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configurePosition();
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printf("44\n");
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configureMovement();
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printf("46\n");
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startDebug();
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printf("48\n");
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debugSetActive(true);
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sleep(1);
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printf("46\n");
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struct position pos = { 0, 0, M_PI_2 };
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setDestination(&pos);
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printf("50\n");
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waitDestination();
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printf("52\n");
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printf("54\n");
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brake();
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printf("Done\n");
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// Bloque jusqu'à l'arrivée d'un signal
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pthread_mutex_init(&sRunning, NULL);
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signal(SIGINT, endRunning);
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signal(SIGTERM, endRunning);
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signal(SIGQUIT, endRunning);
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pthread_mutex_lock(&sRunning);
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pthread_mutex_lock(&sRunning);
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deconfigureMovement();
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deconfigurePosition();
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deconfigureActionneurs();
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deconfigureIMU();
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deconfigureCF();
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deconfigureDebug();
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return EXIT_SUCCESS;
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}
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