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;
}
struct hub_info* hub_start_service(struct hub_config* config)
{
struct hub_info* hub = 0;
int ipv6_supported;
hub = hub_malloc_zero(sizeof(struct hub_info));
if (!hub)
{
LOG_FATAL("Unable to allocate memory for hub");
return 0;
}
hub->tm_started = time(0);
ipv6_supported = net_is_ipv6_supported();
if (ipv6_supported)
LOG_DEBUG("IPv6 supported.");
else
LOG_DEBUG("IPv6 not supported.");
hub->server = start_listening_socket(config->server_bind_addr, config->server_port, config->server_listen_backlog, hub);
if (!hub->server)
{
hub_free(hub);
LOG_FATAL("Unable to start hub service");
return 0;
}
LOG_INFO("Starting " PRODUCT "/" VERSION ", listening on %s:%d...", net_get_local_address(hub->server->sd), config->server_port);
#ifdef SSL_SUPPORT
if (!load_ssl_certificates(hub, config))
{
hub_free(hub);
return 0;
}
#endif
hub->config = config;
hub->users = NULL;
hub->muxes = list_create();
hub->users = uman_init();
if (!hub->users)
{
net_con_close(hub->server);
hub_free(hub);
return 0;
}
if (event_queue_initialize(&hub->queue, hub_event_dispatcher, (void*) hub) == -1)
{
net_con_close(hub->server);
uman_shutdown(hub->users);
hub_free(hub);
return 0;
}
hub->recvbuf = hub_malloc(MAX_RECV_BUF);
hub->sendbuf = hub_malloc(MAX_SEND_BUF);
if (!hub->recvbuf || !hub->sendbuf)
{
net_con_close(hub->server);
hub_free(hub->recvbuf);
hub_free(hub->sendbuf);
uman_shutdown(hub->users);
hub_free(hub);
return 0;
}
hub->logout_info = (struct linked_list*) list_create();
server_alt_port_start(hub, config);
hub->status = hub_status_running;
g_hub = hub;
if (net_backend_get_timeout_queue())
{
hub->stats.timeout = hub_malloc_zero(sizeof(struct timeout_evt));
timeout_evt_initialize(hub->stats.timeout, hub_timer_statistics, hub);
timeout_queue_insert(net_backend_get_timeout_queue(), hub->stats.timeout, TIMEOUT_STATS);
}
// Start the hub command sub-system
hub->commands = command_initialize(hub);
return hub;
}
