/****************************** Main function ***************************/
void main()
{
init_devices();
xbee_reset();
xbee();
while(1)
{
if(DATA_RECEIVED == 1)
{
int val;
val=RECEIVE();
xbee_I_RECEIVE(val);
}
xbee_I_FRONT_IR_VALUE(FRONT_IR);
xbee();
}
}
static void* main_loop_routine(void* arg) {
int rc;
Notification notification;
while (loop_count--) {
rc = SEND(request_queue, request);
CHECK_QUEUE(rc);
if (rc == QREMOVED) {
fprintf(stderr, "%s\n", queue_removed);
break;
} else {
CHECK_VALUE(rc, QSUCCESS, rc);
}
pthread_cleanup_push(cancel_server_thread, NULL);
rc = RECEIVE(notify_client_queue, notification, (long) getpid());
CHECK_QUEUE(rc);
if (rc == QREMOVED) {
fprintf(stderr, "%s\n", queue_removed);
break;
} else {
CHECK_VALUE(rc, QSUCCESS, rc);
}
sleep(sleep_time);
rc = SEND(notify_server_queue, notification);
CHECK_QUEUE(rc);
if (rc == QREMOVED) {
fprintf(stderr, "%s\n", queue_removed);
break;
} else {
CHECK_VALUE(rc, QSUCCESS, rc);
}
pthread_cleanup_pop(false);
}
synchronized_cancel(&signal_handler);
return NULL;
}
// rv=1 == got a line, 0= call me again
unsigned char getline_mc(unsigned char* buf, uint8_t len)
{
static uint8_t i=0;
unsigned char v;
if (i==0) memset(buf,0,len);
for(; i<len; i++) {
if (uart_isdata()) {
v = RECEIVE();
if (((v == BS)||(v == DEL))&&(i)) { SEND(BS); SEND(SPACE); SEND(BS); i = i-2; continue; }; // Understand BS or DEL
if (v == CR) { SEND(CR); SEND(LF); buf[i] = 0; i=0; return 1; }; // Understand CR
if ((v < 32)||(v == DEL)) { i--; continue; }; // Filter ASCII control codes
buf[i] = v;
SEND(v);
} else {
return 0;
}
}
buf[len-1] = 0;
i=0;
return 1;
}
