/*
* Program args: num_threads, num_pthread_exit.
*/
int
main(int argc, char **argv)
{
pthread_t td;
long i;
if (argc < 2 || sscanf(argv[1], "%d", &num_threads) < 1)
num_threads = NUM_THREADS;
if (argc < 3 || sscanf(argv[2], "%d", &num_pthread_exit) < 1)
num_pthread_exit = NUM_PTHREAD_EXIT;
printf("num_threads = %d, num_pthread_exit = %d\n\n",
num_threads, num_pthread_exit);
gettimeofday(&start, NULL);
for (i = 1; i <= num_threads; i++) {
if (pthread_create(&td, NULL, my_thread, (void *)i) != 0)
errx(1, "pthread_create failed");
}
wait_for_time(program_time - 1);
printf("----------------------------------------\n");
wait_for_time(program_time);
printf("main exit (return)\n");
return (0);
}
/*
* Threads 1..k call pthread_exit() and k+1..n call exit(),
* where k = num_pthread_exit.
*/
void *
my_thread(void *v)
{
long num = (long)v;
int is_exit = (num > num_pthread_exit);
printf("start thread: %ld\n", num);
wait_for_time(program_time);
printf("end thread: %ld (%s)\n", num, is_exit ? "exit" : "pthread_exit");
if (is_exit)
exit(0);
else
pthread_exit(NULL);
return (NULL);
}
int main()
{
//allocDealloc(); //The function for allocation and deallocation is there but not used
srand(time(NULL));
pid_t pd1,pd2,pd;
char choice[10];
int variable=0,status;
pd1=fork(); //First child Process
if (pd1<0)
printf("Forking process failed\n");
else if (pd1==0)
childProcess(1);
pd2=fork(); //Second child Process
if (pd2<0)
printf("Forking process failed\n");
else if (pd2==0)
childProcess(2);
parentProcess();
pd=wait(&status); //Waits for any of the two child process to finish
printf("Parent detects child process %d was done first\n",pd);
pd=wait(&status); //Waits for second process to finish
printf("Parent detects child process %d is done \n",pd);
printf("Parent exits\n");
wait_for_time(1); //Wait for a given time
printf("Do you want to execute any file yes or no\n");
scanf("%s",choice);
if (strcmp(choice,"yes")==0)
{
printf("The program is moving over to executing another binary\n"); //executes another file
execute();
}
else
{
printf("That's all");
exit(0);
}
return 0;
}
/*!
* Hauptprogramm des Bots. Diese Schleife kuemmert sich um seine Steuerung.
*/
int main (void){
#endif
#ifdef PC
/*!
* Hauptprogramm des Bots. Diese Schleife kuemmert sich um seine Steuerung.
*/
int main (int argc, char *argv[]){
int ch;
int start_server = 0; /*!< Wird auf 1 gesetzt, falls -s angegeben wurde */
char *hostname = NULL; /*!< Speichert den per -t uebergebenen Hostnamen zwischen */
// Die Kommandozeilenargumente komplett verarbeiten
while ((ch = getopt(argc, argv, "hst:")) != -1) {
switch (ch) {
case 's':
// Servermodus [-s] wird verlangt
start_server = 1;
break;
case 't':
// Hostname, auf dem ct-Sim laeuft wurde
// uebergeben. Der String wird in hostname
// gesichert.
{
const int len = strlen(optarg);
hostname = malloc(len + 1);
if (NULL == hostname)
exit(1);
strcpy(hostname, optarg);
}
break;
case 'h':
default:
// -h oder falscher Parameter, Usage anzeigen
usage();
}
}
argc -= optind;
argv += optind;
if (start_server != 0) // Soll der TCP-Server gestartet werden?
{
printf("ARGV[0]= %s\n",argv[1]);
tcp_server_init();
tcp_server_run();
} else {
printf("c't-Bot\n");
if (hostname)
// Hostname wurde per Kommandozeile uebergeben
tcp_hostname = hostname;
else {
// Der Zielhost wird per default durch das Macro IP definiert und
// tcp_hostname mit einer Kopie des Strings initialisiert.
tcp_hostname = malloc(strlen(IP) + 1);
if (NULL == tcp_hostname)
exit(1);
strcpy(tcp_hostname, IP);
}
}
#endif
#ifdef TEST_AVAILABLE_MOTOR
uint16 calls=0; /*!< Im Testfall zaehle die Durchlaeufe */
#endif
#ifdef LOG_AVAILABLE
printf("Logging is on (");
#ifdef LOG_UART_AVAILABLE
printf("UART");
#endif
#ifdef LOG_CTSIM_AVAILABLE
printf("CTSIM");
#endif
#ifdef LOG_DISPLAY_AVAILABLE
printf("DISPLAY");
#endif
#ifdef LOG_STDOUT_AVAILABLE
printf("STDOUT");
#endif
printf(")\n");
#else
printf("Logging is off!\n ");
#endif
init();
#ifdef WELCOME_AVAILABLE
display_cursor(1,1);
display_printf("c't-Roboter");
LED_set(0x00);
#ifdef LOG_AVAILABLE
LOG_DEBUG(("Hallo Welt!"));
#endif
#endif
#ifdef TEST_AVAILABLE_COUNTER
display_screen=2;
resets=eeprom_read_byte(&resetsEEPROM)+1;
eeprom_write_byte(&resetsEEPROM,resets);
/* Lege den Grund für jeden Reset im EEPROM ab */
eeprom_write_byte(&resetInfoEEPROM+resets,reset_flag);
#endif
/*! Hauptschleife des Bot */
for(;;){
#ifdef MCU
bot_sens_isr();
#endif
#ifdef TEST_AVAILABLE
show_sensors();
#endif
// Testprogramm, dass den Bot erst links, dann rechtsrum dreht
#ifdef TEST_AVAILABLE_MOTOR
calls++;
if (calls == 1)
motor_set(BOT_SPEED_SLOW,-BOT_SPEED_SLOW);
else if (calls == 501)
motor_set(-BOT_SPEED_SLOW,BOT_SPEED_SLOW);
else if (calls== 1001)
motor_set(BOT_SPEED_STOP,BOT_SPEED_STOP);
else
#endif
// hier drin steckt der Verhaltenscode
#ifdef BEHAVIOUR_AVAILABLE
if (sensors_initialized ==1 )
bot_behave();
else
printf("sensors not initialized\n");
#endif
#ifdef MCU
#ifdef BOT_2_PC_AVAILABLE
// static int16 lastTimeCom =0;
bot_2_pc_inform(); // Den PC ueber Sensorern und aktuatoren informieren
bot_2_pc_listen(); // Kommandos vom PC empfangen
// if (timer_get_s() != lastTimeCom) { // sollte genau 1x pro Sekunde zutreffen
// lastTimeCom = timer_get_s();
// }
#endif
#endif
#ifdef LOG_AVAILABLE
//LOG_DEBUG(("LOG TIME %d s", timer_get_s()));
#endif
// Alles Anzeigen
#ifdef DISPLAY_AVAILABLE
display();
#endif
#ifdef PC
wait_for_time(100000);
#endif
#ifdef MCU
// delay(10);
#endif
}
/*! Falls wir das je erreichen sollten ;-) */
return 1;
}
