int main(
int argc,
char *argv[])
{
char **args, *command;
mcn = argv[0];
/* make sure certain environment variables are set */
check_environment();
/* determine if we're running poe or pdbx */
command = get_real_command(argv[0]);
/* add extra arguments if pbs job */
if (is_pbs_job())
{
args = pbs_setup(command, argc, argv);
run_command(command, args);
}
else if (is_interactive_ok())
{
run_command(command, argv);
}
else
{
refuse_interactive();
}
return (0);
}
int Basic(char *sql_file, char *log_file)
{
if (check_environment(arbordir, arbordata, ds_database, dbms, arbordbu, \
server_name) == FAILURE)
{
trc(ERROR,"Environment is not set up correctly. Exiting ...");
exit(FAILURE);
}
if (open_log_sql(arbordata, sql_file) == FAILURE)
{
trc(ERROR,"Can not open sql log file %s in %s. Exiting ...");
exit(FAILURE);
}
if (get_password(arbordir, arbor_password) == FAILURE)
{
trc(ERROR,"Can not read password file. Exiting ...");
exit(FAILURE);
}
if (log_and_initialize(arbordbu, arbor_password, ds_database) == FAILURE)
{
trc(ERROR,"Can not log into database. Exiting ...");
exit(FAILURE);
}
abp_set_date_format("MON DD YYYY");
return 0;
}
void main_planner (){
//TODO: This function must be called in an infinite while loop. Remove the while(true) when integrated with rest of software
getSensors();
///If all 3 sonar sensors are ready to be read from memory (flag byte for each sensor is 1)
//If currently turning do not do anything
//BEWARE between reading all flags as 1 and setting turning_flag to 1 and sending turning command, memory may update again! therefore disabling the turning_flag
if (left_flag == 1 && right_flag == 1 && front_flag == 1){
left_flag = right_flag = front_flag = 0; //Reset flags to 0 so we start updating our globals again
update_current_dist_to_wall();
int index = check_environment();
if ((state[index] == (MAX_COUNT/2)) && index >= 4 && index <= 7)
{
printf ("Entered state change segment, state: %d\n", index);
temp_sc_front_dist = front/2;
if(front<500)
front_thresh = front;
printf ("temp_front_dist: %d\n", temp_sc_front_dist);
prev_cmd = curr_cmd;
curr_cmd = SLOW;
process_cmd(0);
}
if ((state[index] == (MAX_COUNT/2)) && index == 2)
{
printf ("Entered pre state 2\n");
//temp_sc_front_dist = front;
//if(front<500)
//front_thresh = max(front-50,100);
((front-50)<100)? front_thresh = 100 : ((front_thresh = front - 50),state[index] = 0);
printf ("front thresh: %d\n", front_thresh);
prev_cmd = curr_cmd;
curr_cmd = SLOW;
process_cmd(0);
}
//check if incremented stated has reached Possible_State_Change_Count
//change front threshold to 100
//go to new function
//new function:
//if that new state requires turning then get distance to front and devide by two and store it in global
//
if (state[index] >= MAX_COUNT){
printf ("STATE:%d\n", index);
track_sensors(index);
Detect_Wall_Turn_Algo(index);
process_cmd(index);
check_drift(index);
}
return_from_drift(index);
}
}//main_planner
