int main(int argc, char **argv)
{
#if ! defined(_WIN32)
__log_error = (void (*)(void *, const char *,...)) log_server; /*set c-icap library log function */
#else
__vlog_error = vlog_server; /*set c-icap library log function */
#endif
mem_init();
init_internal_lookup_tables();
ci_acl_init();
init_http_auth();
if (init_body_system() != CI_OK) {
ci_debug_printf(1, "Can not initialize body system\n");
exit(-1);
}
ci_txt_template_init();
ci_txt_template_set_dir(DATADIR"templates");
commands_init();
if (!(CI_CONF.MAGIC_DB = ci_magic_db_load(CI_CONF.magics_file))) {
ci_debug_printf(1, "Can not load magic file %s!!!\n",
CI_CONF.magics_file);
}
init_conf_tables();
request_stats_init();
init_modules();
init_services();
config(argc, argv);
compute_my_hostname();
ci_debug_printf(2, "My hostname is:%s\n", MY_HOSTNAME);
if (!log_open()) {
ci_debug_printf(1, "Can not init loggers. Exiting.....\n");
exit(-1);
}
#if ! defined(_WIN32)
if (is_icap_running(CI_CONF.PIDFILE)) {
ci_debug_printf(1, "c-icap server already running!\n");
exit(-1);
}
if (DAEMON_MODE)
run_as_daemon();
if (!set_running_permissions(CI_CONF.RUN_USER, CI_CONF.RUN_GROUP))
exit(-1);
store_pid(CI_CONF.PIDFILE);
#endif
if (!init_server(CI_CONF.ADDRESS, CI_CONF.PORT, &(CI_CONF.PROTOCOL_FAMILY)))
return -1;
post_init_modules();
post_init_services();
start_server();
clear_pid(CI_CONF.PIDFILE);
return 0;
}
int main(void)
{
//Sväng inte
turn = 0;
//Initiera spi, pwm och display
spi_init();
pwm_init();
init_display();
update();
claw_out();
_delay_ms(500);
claw_in();
//Aktivera global interrupts
sei();
//Initiera regulator
clear_pid();
init_pid(80, -80);
//update_k_values(40, 12, 22);
update_k_values(40, 170, 20);
// Pekare till aktuell position i bufferten
tmp_sensor_buffer_p = 0x00;
// Flagga som avgör huruvida vi är i början av meddelande
sensor_start = 1;
// Anger aktuell längd av meddelandet
tmp_sensor_buffer_len = 0x00;
//Initiera standardsträng på display
init_default_printf_string();
clear_screen();
update();
while(1)
{
uint8_t has_comm_data, has_sensor_data, comm_data, sensor_data;
do_spi(&has_comm_data, &has_sensor_data, &comm_data, &sensor_data);
//Undersök och hantera meddelanden från slavarna
if(has_comm_data) decode_comm(comm_data);
if(has_sensor_data) decode_sensor(sensor_data);
//Vid manuell sväng eller 180 grader måste make_turn anropas
if(!autonomous || turning_180)
{
if(turn_dir)
{
make_turn_flag = 1;
make_turn(turn_dir);
if(!make_turn_flag)
{
turn_dir = 0;
stop_motors();
}
}
}
//Kör regulatorn
if (regulator_enable)
{
regulator(sensor_buffer[IR_RIGHT_FRONT] - sensor_buffer[IR_RIGHT_BACK],
sensor_buffer[IR_LEFT_FRONT] - sensor_buffer[IR_LEFT_BACK],
sensor_buffer[IR_RIGHT_FRONT] - sensor_buffer[IR_LEFT_FRONT],
sensor_buffer[IR_RIGHT_BACK] - sensor_buffer[IR_LEFT_BACK]);
regulator_enable = 0;
}
}
}