static gboolean
fire_synapse(crm_graph_t * graph, synapse_t * synapse)
{
GListPtr lpc = NULL;
CRM_CHECK(synapse != NULL, return FALSE);
CRM_CHECK(synapse->ready, return FALSE);
CRM_CHECK(synapse->confirmed == FALSE, return TRUE);
crm_trace("Synapse %d fired", synapse->id);
synapse->executed = TRUE;
for (lpc = synapse->actions; lpc != NULL; lpc = lpc->next) {
crm_action_t *action = (crm_action_t *) lpc->data;
/* allow some leeway */
gboolean passed = FALSE;
/* Invoke the action and start the timer */
passed = initiate_action(graph, action);
if (passed == FALSE) {
crm_err("Failed initiating <%s id=%d> in synapse %d",
crm_element_name(action->xml), action->id, synapse->id);
synapse->confirmed = TRUE;
action->confirmed = TRUE;
action->failed = TRUE;
return FALSE;
}
}
return TRUE;
}
int main(int argc, char **argv)
{
ROBOT_SPECIFICATIONS robot_specifications_data;
PROGRAM_STATE program_state_data;
ROBOT_STATE robot_state_data;
ACTION action_data;
SENSATION sensation_data;
ROBOT_SPECIFICATIONS_PTR robot_specifications = &robot_specifications_data;
PROGRAM_STATE_PTR program_state = &program_state_data;
ROBOT_STATE_PTR robot_state = &robot_state_data;
ACTION_PTR action = &action_data;
SENSATION_PTR sensation = &sensation_data;
struct timeval TCX_waiting_time = {0, 0};
robot_specifications->is_initialized = 0;
program_state->is_initialized = 0;
robot_state->is_initialized = 0;
action->is_initialized = 0;
sensation->is_initialized = 0;
allGlobal.is_initialized = 0;
signal(SIGTERM, &interrupt_handler); /* kill interupt handler */
signal(SIGINT, &interrupt_handler); /* control-C interupt handler */
#if 0
signal(SIGALRM, &alarm_handler); /* handler for regular interrupts */
#endif
bParamList = bParametersAddEntry(bParamList, "robot", "name", "B21");
bParamList = bParametersAddEntry(bParamList, "", "TCXHOST", "localhost");
bParamList = bParametersAddEntry(bParamList, "", "fork", "yes");
/* add some parameter files */
bParamList = bParametersAddFile (bParamList, "etc/beeSoft.ini");
/* add some enviroment variables */
bParamList = bParametersAddEnv(bParamList, "", "TCXHOST");
bParamList = bParametersAddArray(bParamList, "", argc, argv);
bParametersFillParams(bParamList);
check_commandline_parameters(argc, argv, ALL);
init_program(ALL);
if (!load_parameters(RHINO_INIT_NAME, ALL))
exit(-1);
allocate_memory(ALL);
/*save_parameters(RHINO_INIT_NAME, ALL);*/
init_graphics(ALL);
connect_to_tcx(ALL);
G_display_switch(TITLE_BUTTON, 1);
#if 0
alarm((unsigned) robot_specifications->alarm_interval); /* set up alarm */
#endif
tcx_reset_joystick(ALL);
for (;!program_state->quit;){
program_state->something_happened = 0;
if (program_state->tcx_autoconnect)
connect_to_tcx(ALL);
if (test_mouse(ALL)) program_state->something_happened = 1;
if (refresh_action(ALL)) program_state->something_happened = 1;
if (initiate_action(ALL)) program_state->something_happened = 1;
/* if (terminate_action(ALL)) program_state->something_happened = 1; */
if (program_state->tcx_initialized){
TCX_waiting_time.tv_sec = 0;
TCX_waiting_time.tv_usec = 0;
tcxRecvLoop((void *) &TCX_waiting_time);
}
if (!program_state->something_happened){
block_waiting_time.tv_sec = 1;
block_waiting_time.tv_usec = 0;
block_wait(&block_waiting_time, program_state->tcx_initialized,
program_state->graphics_initialized);
}
#ifdef TOURGUIDE_VERSION
tourguide_check_for_timeout(ALL);
#endif /* TOURGUIDE_VERSION */
}
/* close_log_file(ALL);*/
/* if (program_state->tcx_initialized)
tcxCloseAll();*/
G_display_switch(TITLE_BUTTON, 2);
fprintf(stderr, "\nGood-bye.\n");
sleep(1);
exit(0);
}
