int main() {
int appFailureCode = 1;
int sigError = -1;
//Ready to catch signals
sigset_t mask;
sigemptyset(&mask);
sigaddset(&mask, SIGUSR1);
sigaddset(&mask, SIGUSR2);
sigaddset(&mask, SIGINT);
sigaddset(&mask, SIGTERM);
if (sigprocmask(SIG_BLOCK, &mask, NULL) == -1) {
sigError = errno;
}
initLog(false);
Led redLed(24);
redLed.on();
try{
if(sigError != -1){
throw Error::system(sigError, "Unable to listen to signals: ");
}
Chapi chapi(mask, redLed);
chapi.exec();
appFailureCode = 0;
}
catch(Error &e){
log(LOG_ERR, "%s", e.what());
redLed.blinkNumber((e.getKind() == Error::configError) ? 2 : ((e.getKind() == Error::systemError) ? 3 : 4));
loop();
}
catch(std::exception &e){
log(LOG_ERR, "%s", e.what());
redLed.blinkNumber(5);
loop();
}
catch(char const*err) {
log(LOG_ERR, "%s", err);
redLed.blinkNumber(5);
loop();
}
catch(...){
log(LOG_ERR, "unknown error");
redLed.blinkNumber(5);
loop();
}
redLed.off();
log(LOG_INFO, "chapi ended");
return appFailureCode;
}
void red_thread(void * arg)
{
// Ar::Thread::sleep(1250);
PwmOut redLed(LED_RED);
redLed.period_ms(2); // 500 Hz
// Fader dutyCycle(0.035f);
while (1)
{
// print_thread_ticks();
int16_t a = g_z.receive();
float dutyCycle = (float)(4096 - (a < 0 ? -a : a)) / 4096.0f;
printf("z=%d\r\n", a);
redLed = dutyCycle;
// Ar::Thread::sleep(kLedFadeRate);
}
}
