int main(int argc, char** argv){
int sd;
sd=0;
if(argc != 2)
{
printf("Please enter the name of the machine running the server process as a command line argument.\n");
exit(1);
}
/*try to connect to the server every three seconds*/
while((sd = serverconnect(argv[1], "36963")) == -1)
{
sleep(3);
}
/*Section 8, requirement 1 - announce completion of connection to server*/
printf("Success! Client connected to server.\n");
/*spawn threads*/
/*lmao now what*/
spawn_threads(sd);
close(sd);
/*Disconnect from server*/
printf("Client has disconnected from the server.\n");
return 0; /*success*/
}
void knh_checkSecurityAlert(void)
{
char path[BUF_LEN] = {'\0'};
unsigned int clock = getclock();
unsigned int mem = getmem();
int ncpu = getncpu();
knh_snprintf(path, 512, UPDATE_PATH,
K_DIST, K_VERSION, K_PLATFORM,
CPU_NAME, K_REVISION, clock, mem, ncpu);
DBG_P("Path == [%s] \n", path);
serverconnect(path);
}
int main()
{
//=====================================================================
// Initialize variables
//=====================================================================
int running,n=0,arg,time=0;
double dist=0,angle=0;
count = 1;
reg_k = 0.35;
//=====================================================================
// Establish connection to robot sensors and actuators.
//=====================================================================
if (rhdConnect('w',"localhost",ROBOTPORT)!='w'){
printf("Can't connect to rhd \n");
exit(EXIT_FAILURE);
}
printf("connected to robot \n");
if ((inputtable=getSymbolTable('r'))== NULL){
printf("Can't connect to rhd \n");
exit(EXIT_FAILURE);
}
if ((outputtable=getSymbolTable('w'))== NULL){
printf("Can't connect to rhd \n");
exit(EXIT_FAILURE);
}
// connect to robot I/O variables
lenc=getinputref("encl",inputtable);
renc=getinputref("encr",inputtable);
linesensor=getinputref("linesensor",inputtable);
irsensor=getinputref("irsensor",inputtable);
speedl=getoutputref("speedl",outputtable);
speedr=getoutputref("speedr",outputtable);
resetmotorr=getoutputref("resetmotorr",outputtable);
resetmotorl=getoutputref("resetmotorl",outputtable);
//=====================================================================
// Camera server code initialization
//=====================================================================
/* Create endpoint */
lmssrv.port=24919;
strcpy(lmssrv.host,"127.0.0.1");
strcpy(lmssrv.name,"laserserver");
lmssrv.status=1;
camsrv.port=24920;
strcpy(camsrv.host,"127.0.0.1");
camsrv.config=1;
strcpy(camsrv.name,"cameraserver");
camsrv.status=1;
if (camsrv.config) {
int errno = 0;
camsrv.sockfd = socket(AF_INET, SOCK_STREAM, 0);
if ( camsrv.sockfd < 0 )
{
perror(strerror(errno));
fprintf(stderr," Can not make socket\n");
exit(errno);
}
serverconnect(&camsrv);
xmldata=xml_in_init(4096,32);
printf(" camera server xml initialized \n");
}
//=====================================================================
// LMS server code initialization
//=====================================================================
/* Create endpoint */
lmssrv.config=1;
if (lmssrv.config) {
char buf[256];
int errno = 0,len;
lmssrv.sockfd = socket(AF_INET, SOCK_STREAM, 0);
if ( lmssrv.sockfd < 0 )
{
perror(strerror(errno));
fprintf(stderr," Can not make socket\n");
exit(errno);
}
serverconnect(&lmssrv);
if (lmssrv.connected){
xmllaser=xml_in_init(4096,32);
printf(" laserserver xml initialized \n");
len=sprintf(buf,"scanpush cmd='zoneobst'\n");
send(lmssrv.sockfd,buf,len,0);
}
}
/* Read sensors and zero our position.
*/
rhdSync();
odo.w=WHEEL_SEPARATION;
odo.cr=DELTA_M;
odo.cl=odo.cr;
odo.left_enc=lenc->data[0];
odo.right_enc=renc->data[0];
reset_odo(&odo);
running=1;
mission.state=ms_init;
mission.oldstate=-1;
reset_sen(&sen);
//=====================================================================
// Main program loop
//=====================================================================
while (running){
if (lmssrv.config && lmssrv.status && lmssrv.connected){
while ( (xml_in_fd(xmllaser,lmssrv.sockfd) >0))
xml_proca(xmllaser);
}
if (camsrv.config && camsrv.status && camsrv.connected){
while ( (xml_in_fd(xmldata,camsrv.sockfd) >0))
xml_proc(xmldata);
}
rhdSync();
odo.left_enc=lenc->data[0];
odo.right_enc=renc->data[0];
update_odo(&odo);
update_sen(&sen);
//=====================================================================
// Mission reading function !!!!!!MAKE!!!!!
//=====================================================================
if(turn(-M_PI,0.5,time,&mot) == 1)
running = 0;
//printf("%f %f %f %f %f %d %d %d\n",sen.irarr[0],sen.irarr[1],sen.irarr[2],sen.irarr[3],sen.irarr[4]);
mot.left_pos=odo.left_pos;
mot.right_pos=odo.right_pos;
//update_motcon(&mot);
speedl->data[0]=100*mot.motorspeed_l;
speedl->updated=1;
speedr->data[0]=100*mot.motorspeed_r;
speedr->updated=1;
if (time % 100 ==0)
time++;
/* stop if keyboard is activated
*
*/
ioctl(0, FIONREAD, &arg);
if (arg!=0) running=0;
}/* end of main control loop */
speedl->data[0]=0;
speedl->updated=1;
speedr->data[0]=0;
speedr->updated=1;
rhdSync();
rhdDisconnect();
exit(0);
}
