int main(int argc, char* argv[]) {
/* int write_buf;
char read_buf;*/
// Initialization
initDevices();
#ifndef WITHOUT_NETWORK
// initPeerSocket();
#endif
usleep(3000000); // delay 3sec
#ifdef SERVERMODE
#ifndef WITHOUT_NETWORK
// Wait for arrival
sendStopSignal();
#endif
#endif
// Strart linetracing
int thr_id[4];
pthread_t p_threads[4];
thr_id[3] = pthread_create(&p_threads[3], NULL, videoFrame, (void *)NULL);
if (thr_id[3] < 0)
{
perror("thread1 create error : ");
exit(0);
}
confirm_Response();
usleep(1000000);
waitThreeAxisChange();
thr_id[0] = pthread_create(&p_threads[0], NULL, traceLine, (void *)NULL);
if (thr_id[0] < 0)
{
perror("thread1 create error : ");
exit(0);
}
thr_id[1] = pthread_create(&p_threads[1], NULL, writeCommand, (void *)NULL);
if (thr_id[1] < 0) {
perror("command thread create error : ");
exit(0);
}
/*
#ifdef CLIENTMODE
#ifndef WITHOUT_NETWORK
thr_id[2] = pthread_create(&p_threads[2], NULL, recieveStopSignal, (void *)NULL);
if (thr_id[2] < 0) {
perror("command thread create error : ");
exit(0);
}
#endif
#endif
*/
int status;
#ifdef CLIENTMODE
// pthread_join(p_threads[2], (void **)&status);
#endif
pthread_join(p_threads[0], (void **)&status);
pthread_join(p_threads[1], (void **)&status);
pthread_join(p_threads[3], (void **)&status);
endProgram();
return 0;
}
void Inotify::stop()
{
mStopped = true;
sendStopSignal();
}
