int
main (void)
{
uart0_init ();
while (1)
proto_accept (uart0_getc ());
}
int
main (void)
{
spi_init (SPI_MASTER, SPI_MODE_0, SPI_MSB_FIRST, SPI_FOSC_DIV128);
uart0_init ();
sei ();
proto_send0 ('z');
while (1)
proto_accept (uart0_getc ());
}
int
main (int argc, char **argv)
{
avr_init (argc, argv);
sei ();
uart0_init ();
proto_send0 ('z');
while (1)
{
uint8_t c = uart0_getc ();
proto_accept (c);
}
}
int
main (void)
{
uint8_t i;
#ifndef HOST
uint8_t read_old = 0;
uint8_t old_ind = 0;
const int total = 5000;
#endif
timer_init ();
for (i = 0; i < AC_ENCODER_EXT_NB; i++)
encoder_init (i, &encoder[i]);
encoder_corrector_init (&encoder_corrector_right);
uart0_init ();
proto_send0 ('z');
sei ();
while (1)
{
timer_wait ();
if (count)
{
encoder_update ();
encoder_corrector_update (&encoder_corrector_right, &encoder[1]);
}
#ifndef HOST
if (read && !--read_cpt)
{
uint8_t r0, r1, r2, r3;
r0 = encoder_ext_read (0);
r1 = encoder_ext_read (1);
r2 = encoder_ext_read (2);
r3 = encoder_ext_read (3);
if (read_mode == 0 || (read_mode == 1 && r3 != read_old)
|| (read_mode == 2
&& (r0 == 0 || r1 == 0 || r2 == 0 || r3 == 0)))
{
proto_send4b ('r', r0, r1, r2, r3);
read_old = r3;
}
read_cpt = read;
}
if (ind && !--ind_cpt)
{
i = encoder_ext_read (3);
if (!ind_init && i != old_ind)
{
uint8_t eip = old_ind + total;
uint8_t eim = old_ind - total;
proto_send7b ('i', old_ind, i, eip, eim, i - eip, i - eim,
i == eip || i == eim);
}
old_ind = i;
ind_init = 0;
ind_cpt = ind;
}
#endif
if (count && !--count_cpt)
{
proto_send4w ('C', encoder[0].cur, encoder[1].cur,
encoder[2].cur, encoder[3].cur);
count_cpt = count;
}
while (uart0_poll ())
proto_accept (uart0_getc ());
}
}
static int
tls_accept(void *ctx, void **newctxp)
{
struct tls_ctx *tlsctx = ctx;
struct tls_ctx *newtlsctx;
struct proto_conn *sock, *tcp;
pid_t pid;
int error;
PJDLOG_ASSERT(tlsctx != NULL);
PJDLOG_ASSERT(tlsctx->tls_magic == TLS_CTX_MAGIC);
PJDLOG_ASSERT(tlsctx->tls_side == TLS_SIDE_SERVER_LISTEN);
if (proto_connect(NULL, "socketpair://", -1, &sock) == -1)
return (errno);
/* Accept TCP connection. */
if (proto_accept(tlsctx->tls_tcp, &tcp) == -1) {
error = errno;
proto_close(sock);
return (error);
}
pid = fork();
switch (pid) {
case -1:
/* Failure. */
error = errno;
proto_close(sock);
return (error);
case 0:
/* Child. */
pjdlog_prefix_set("[TLS sandbox] (server) ");
#ifdef HAVE_SETPROCTITLE
setproctitle("[TLS sandbox] (server) ");
#endif
/* Close listen socket. */
proto_close(tlsctx->tls_tcp);
tls_call_exec_server(sock, tcp);
/* NOTREACHED */
PJDLOG_ABORT("Unreachable.");
default:
/* Parent. */
newtlsctx = calloc(1, sizeof(*tlsctx));
if (newtlsctx == NULL) {
error = errno;
proto_close(sock);
proto_close(tcp);
(void)kill(pid, SIGKILL);
return (error);
}
proto_local_address(tcp, newtlsctx->tls_laddr,
sizeof(newtlsctx->tls_laddr));
PJDLOG_ASSERT(strncmp(newtlsctx->tls_laddr, "tcp://", 6) == 0);
bcopy("tls://", newtlsctx->tls_laddr, 6);
*strrchr(newtlsctx->tls_laddr, ':') = '\0';
proto_remote_address(tcp, newtlsctx->tls_raddr,
sizeof(newtlsctx->tls_raddr));
PJDLOG_ASSERT(strncmp(newtlsctx->tls_raddr, "tcp://", 6) == 0);
bcopy("tls://", newtlsctx->tls_raddr, 6);
*strrchr(newtlsctx->tls_raddr, ':') = '\0';
proto_close(tcp);
proto_recv(sock, NULL, 0);
newtlsctx->tls_sock = sock;
newtlsctx->tls_tcp = NULL;
newtlsctx->tls_wait_called = true;
newtlsctx->tls_side = TLS_SIDE_SERVER_WORK;
newtlsctx->tls_magic = TLS_CTX_MAGIC;
*newctxp = newtlsctx;
return (0);
}
}
/** Main (and infinite) loop. */
static void
main_loop (void)
{
while (1)
{
/* Wait until next cycle. */
timer_wait ();
/* Update chrono. */
chrono_update ();
/* Is match over? */
if (chrono_is_match_over ())
{
/* Power off doors. */
pwm_set (BOT_PWM_DOOR_FRONT_BOTTOM, 0);
pwm_set (BOT_PWM_DOOR_FRONT_TOP, 0);
pwm_set (BOT_PWM_DOOR_BACK_BOTTOM, 0);
pwm_set (BOT_PWM_DOOR_BACK_TOP, 0);
pwm_set (BOT_PWM_CLAMP, 0);
/* End it and block here indefinitely. */
chrono_end_match (42);
return;
}
/* Handle commands from UART. */
while (uart0_poll ())
proto_accept (uart0_getc ());
/* Update IO modules. */
pwm_update ();
contact_update ();
pawn_sensor_update ();
if (usdist_update ())
{
position_t robot_pos;
asserv_get_position (&robot_pos);
main_obstacles_nb = radar_update (&robot_pos, main_obstacles_pos);
move_obstacles_update ();
simu_send_pos_report (main_obstacles_pos, main_obstacles_nb, 0);
}
/* Update AI modules. */
logistic_update ();
path_decay ();
/* Only manage events if slaves are synchronised. */
if (twi_master_sync ())
main_event_to_fsm ();
/* Send stats if requested. */
if (main_stats_asserv_ && !--main_stats_asserv_cpt_)
{
/* Get current position */
position_t cur_pos;
asserv_get_position (&cur_pos);
/* Send stats */
proto_send3w ('A', cur_pos.v.x, cur_pos.v.y, cur_pos.a);
/* Reset stats counter */
main_stats_asserv_cpt_ = main_stats_asserv_;
}
if (main_stats_contact_ && !--main_stats_contact_cpt_)
{
proto_send1d ('P', contact_all () | (uint32_t) mimot_get_input () << 24);
main_stats_contact_cpt_ = main_stats_contact_;
}
if (main_stats_codebar_ && !--main_stats_codebar_cpt_)
{
proto_send2b ('B', codebar_get (DIRECTION_FORWARD),
codebar_get (DIRECTION_BACKWARD));
main_stats_codebar_cpt_ = main_stats_codebar_;
}
if (main_stats_usdist_ && !--main_stats_usdist_cpt_)
{
proto_send4w ('U', usdist_mm[0], usdist_mm[1], usdist_mm[2],
usdist_mm[3]);
main_stats_usdist_cpt_ = main_stats_usdist_;
}
}
}
