static void
on_session_over (GDBusProxy *proxy,
gchar *sender_name,
gchar *signal_name,
GVariant *parameters,
gpointer user_data)
{
if (g_strcmp0 (signal_name, "SessionOver") == 0) {
g_debug ("Got a SessionOver signal - stopping");
stop_manager (manager);
}
}
void
quit(int exitcode)
{
printf("Signal %d received\n", exitcode);
// Stop server thread
stop_server();
// Stop CLI server thread
cli_server_stop();
// Stop manager thread
stop_manager();
// Remove all loaded modules. They should unregister their apps
unload_modules();
// if requested to restart
//if (sig == SIGHUP) execvp(_argv[0], _argv);
// Exit the program!
exit(exitcode);
}
static void
client_proxy_signal_cb (GDBusProxy *proxy,
gchar *sender_name,
gchar *signal_name,
GVariant *parameters,
gpointer user_data)
{
if (g_strcmp0 (signal_name, "QueryEndSession") == 0) {
g_debug ("Got QueryEndSession signal");
respond_to_end_session (proxy);
} else if (g_strcmp0 (signal_name, "EndSession") == 0) {
g_debug ("Got EndSession signal");
respond_to_end_session (proxy);
} else if (g_strcmp0 (signal_name, "Stop") == 0) {
g_debug ("Got Stop signal");
stop_manager (manager);
}
}
void trace() //一週目
{
short start_frag=0;
short trace_roop_frag=0;
short i=0;
short permit_goal=0;
circl_count=1;
LED1=ON;
TIMER_WAIT(1000);
LED1=OFF;
ch_para();
//ch_para2(0);
select_P();
// select_sub();
select_I();
// select_D();
// select_G();
select_goal();
// select_corner();
select_speed();
while(trace_roop_frag==0){
init_thre();
calc_senc();
if(cari_SEN[1] > 20.0){
if(Dispermit_goal==1){
start_frag=1;
LED2=ON;
TIMER_WAIT(500);
}
else{
LED2=ON;
permit_goal=1;
}
}
if(cari_SEN[6] > 20.0 && permit_goal==1){
start_frag=1;
LED3=ON;
TIMER_WAIT(500);
}
else if(cari_SEN[6] > 20.0 && permit_goal==0){ //ゴールさせない
LED3=ON;
Dispermit_goal=1;
}
if(start_frag==1){
countdown();
TIMER_WAIT(1000);
for(i=0; i<201; i++){
ENC_dis[i]=0.0;
ENC_check[i]=0;
RL_check[i]=3;
}
for(i=0; i<5; i++)
SC_box[i]=ST;
zero_gyro=get_gyro();
ENC_R=15000;
ENC_sub_R=0;
ENC_L=15000;
ENC_sub_L=0;
EncTimeCount=0;
ENC_count=0;
dis_count=0;
mot_STB(START_A);
start0=1;
mot_frag=1;
LED1=OFF;
while(stop_frag==0){
if(PORTE.PORT.BIT.B0 == 0){
stop_frag=1;
TIMER_WAIT(500);
}
}
stop_manager();
trace_roop_frag=1;
}
else{}
}
}
void trace2() //二週目
{
short start_frag=0;
short trace_roop_frag=0;
short permit_goal=0;
circl_count=2;
LED2=ON;
TIMER_WAIT(1000);
LED2=OFF;
// ch_para2(0);
ch_para();
select_P();
select_I();
// select_D();
// select_G();
select_goal();
// select_corner();
select_speed();
while(trace_roop_frag==0){
init_thre();
calc_senc();
if(cari_SEN[1] > 20.0){
if(Dispermit_goal==1){
start_frag=1;
LED2=ON;
TIMER_WAIT(500);
}
else{
LED2=ON;
permit_goal=1;
}
}
if(cari_SEN[6] > 20.0 && permit_goal==1){
start_frag=1;
LED3=ON;
TIMER_WAIT(500);
}
else if(cari_SEN[6] > 20.0 && permit_goal==0){ //ゴールさせない
LED3=ON;
Dispermit_goal=1;
}
if(start_frag==1){
countdown();
TIMER_WAIT(1000);
zero_gyro=get_gyro();
ENC_R=15000;
ENC_sub_R=0;
ENC_L=15000;
ENC_sub_L=0;
EncTimeCount=0;
ENC_count=0;
dis_count=0;
mot_STB(START_A);
start0=1;
mot_frag=1;
while(stop_frag==0){}
stop_manager();
trace_roop_frag=1;
}
else{}
}
}
void trace3() //3週目
{
int start_frag[3];
int trace_roop_frag=0;
int roop_frag=0;
short para_frag=0;
circl_count=3;
LED3=ON;
TIMER_WAIT(1000);
LED3=OFF;
while(trace_roop_frag==0){
if(PORTE.PORT.BIT.B0 == 0){
LED1=OFF;
TIMER_WAIT(500);
while(roop_frag==0){
if(para_frag==0){
select_P();
ch_para();
para_frag=1;
}
calc_senc();
if(cari_SEN[1] > 40){
start_frag[1]=1;
LED2=ON;
}
if(start_frag[1]==1){
if(cari_SEN[6] > 40){
start_frag[2]=1;
LED3=ON;
TIMER_WAIT(500);
}
}
if(start_frag[2]==1){
countdown();
TIMER_WAIT(1000);
mot_STB(START_A);
zero_gyro=get_gyro();
ENC_R=0;
ENC_sub_R=0;
ENC_L=0;
ENC_sub_L=0;
start0=1;
while(stop_frag==0){}
stop_manager();
trace_roop_frag=1;
roop_frag=1;
}
else{}
}
}
else{}
}
}
