int main(int argc, const char* argv[])
{
signal(SIGINT, intHandler);
sensors_initialize(&keep_running);
motors_initialize();
command_initialize();
ball_initialize();
for (int i=3; i>0; i--)
{
printf("Still %d seconds left to make your choice\n", i);
sleep(1);
}
if (sensors_is_button_pressed(BUTTON_CODE_UP))
{
//
// Test scenario
//
if (sensors_is_button_pressed(BUTTON_CODE_LEFT))
{
execute(test_move);
}
else if (sensors_is_button_pressed(BUTTON_CODE_RIGHT))
{
execute(test_rotate);
}
else if (sensors_is_button_pressed(BUTTON_CODE_DOWN))
{
execute(test_shoot);
}
}
else
{
//
// Normal scenario
//
if (sensors_is_button_pressed(BUTTON_CODE_LEFT))
{
// Run through maze
execute(maze_execute);
}
if (sensors_is_button_pressed(BUTTON_CODE_RIGHT))
{
// Throw balls
execute(ball_execute);
}
}
ball_terminate();
command_terminate();
motors_terminate();
sensors_terminate(&keep_running);
return 0;
}
int command_main(int argc, char *argv[])
{
char *p;
int size;
int num = 0;
char *cmd[COMMAND_WORD_NUM];
int cmd_len = 0;
int i, j;
send_use(SERIAL_DEFAULT_DEVICE);
command_init( cmd );
file_init();
while (1) {
send_write("command> "); /* プロンプト表示 */
/* コマンド格納バッファを0クリアする */
for( j = 0; j < COMMAND_WORD_NUM; j++ ){
memset( cmd[j], 0, COMMAND_WORD_LENGTH );
}
/* コンソールからの受信文字列を受け取る */
kz_recv(MSGBOX_ID_CONSINPUT, &size, &p);
p[size] = '\0';
/* 入力文字列を分解する */
if( ( num = command_split( p, cmd ) ) == 0 ){
send_write("input nothing\n");
continue;
}
/* コマンドの実行 */
cmd_len = strlen( cmd[0] );
for( i = 0; command_table[i].cmd != NULL; i++ ){
if( !strncmp( cmd[0],
command_table[i].cmd,
(cmd_len>command_table[i].size?cmd_len:command_table[i].size) ) ){
command_table[i].func( num, cmd );
break;
}
}
if( command_table[i].cmd == NULL ){
send_write("unknown.\n");
}
kz_kmfree(p);
}
command_terminate( cmd );
return 0;
}
