/*
* received on CTRL+C or SIGTERM
*/
static void signal_TERM(int sig)
{
#ifdef HAVE_STRSIGNAL
DEBUG_MSG("Signal handler... (caught SIGNAL: %d) | %s", sig, strsignal(sig));
#else
DEBUG_MSG("Signal handler... (caught SIGNAL: %d)", sig);
#endif
/* terminate the UI */
ui_cleanup();
if (sig == SIGINT) {
fprintf(stderr, "\n\nUser requested a CTRL+C... (deprecated, next time use proper shutdown)\n\n");
} else {
#ifdef HAVE_STRSIGNAL
fprintf(stderr, "\n\n Shutting down %s (received SIGNAL: %d | %s)\n\n", GBL_PROGRAM, sig, strsignal(sig));
#else
fprintf(stderr, "\n\n Shutting down %s (received SIGNAL: %d)\n\n", GBL_PROGRAM, sig);
#endif
}
signal(sig, SIG_IGN);
/* flush and close the log file */
log_stop();
/* make sure we exit gracefully */
clean_exit(0);
}
inline GCTraceTimeImpl::~GCTraceTimeImpl() {
Ticks stop_ticks;
time_stamp(stop_ticks);
if (_enabled) {
log_stop(_start_ticks.value(), stop_ticks.value());
}
if (_timer != NULL) {
_timer->register_gc_phase_end(stop_ticks);
}
}
static void server_stop(void)
{
#ifdef HAVE_DB
db_close();
#endif
analy_stop();
monitor_stop();
log_stop();
kill_close();
match_close();
spam_close();
}
void PuttyView::do_log(bool isPressed)
{
bool isStarted = is_session_log_enabled(puttyController_->logctx)!= 0;
if (isStarted == isPressed)
return;
if (!isStarted)
{
log_restart(puttyController_->logctx, puttyController_->cfg);
}
else
{
/* Pass new config data to the logging module */
log_stop(puttyController_->logctx, puttyController_->cfg);
}
}
static void shrm_modem_reset_callback(unsigned long irq)
{
dev_err(shm_dev->dev, "Received mod_reset_req interrupt\n");
log_stop();
#ifdef CONFIG_U8500_SHRM_MODEM_SILENT_RESET
{
int err;
dev_info(shm_dev->dev, "Initiating Modem silent reset\n");
err = shrm_modem_reset_sequence();
if (err)
dev_err(shm_dev->dev,
"Failed multicast of modem reset\n");
}
#else
dev_info(shm_dev->dev, "Modem in reset loop, doing System reset\n");
/* Call the PRCMU reset API */
prcmu_system_reset(SW_RESET_NO_ARGUMENT);
#endif
}
int set_loglevel(int level, char *filename)
{
char eci[strlen(filename)+5];
char ecp[strlen(filename)+5];
/* close any previously opened file */
log_stop();
/* if we want to stop logging, return here */
if (level == LOG_STOP) {
DEBUG_MSG("set_loglevel: stopping the log process");
return E_SUCCESS;
}
DEBUG_MSG("set_loglevel(%d, %s)", level, filename);
/* all the host type will be unknown, warn the user */
if (EC_GBL_OPTIONS->read) {
USER_MSG("*********************************************************\n");
USER_MSG("WARNING: while reading form file we cannot determine \n");
USER_MSG("if an host is local or not because the ip address of \n");
USER_MSG("the NIC may have been changed from the time of the dump. \n");
USER_MSG("*********************************************************\n\n");
}
snprintf(eci, strlen(filename)+5, "%s.eci", filename);
snprintf(ecp, strlen(filename)+5, "%s.ecp", filename);
memset(&fdp, 0, sizeof(struct log_fd));
memset(&fdi, 0, sizeof(struct log_fd));
/* open the file(s) */
switch(level) {
case LOG_PACKET:
if (EC_GBL_OPTIONS->compress) {
fdp.type = LOG_COMPRESSED;
} else {
fdp.type = LOG_UNCOMPRESSED;
}
/* create the file */
if (log_open(&fdp, ecp) != E_SUCCESS)
return -E_FATAL;
/* initialize the log file */
log_write_header(&fdp, LOG_PACKET);
/* add the hook point to DISPATCHER */
hook_add(HOOK_DISPATCHER, &log_packet);
/* no break here, loglevel is incremental */
/* fall through */
case LOG_INFO:
if (EC_GBL_OPTIONS->compress) {
fdi.type = LOG_COMPRESSED;
} else {
fdi.type = LOG_UNCOMPRESSED;
}
/* create the file */
if (log_open(&fdi, eci) != E_SUCCESS)
return -E_FATAL;
/* initialize the log file */
log_write_header(&fdi, LOG_INFO);
/* add the hook point to DISPATCHER */
hook_add(HOOK_DISPATCHER, &log_info);
/* add the hook for the ARP packets */
hook_add(HOOK_PACKET_ARP, &log_info);
/* add the hook for ICMP packets */
hook_add(HOOK_PACKET_ICMP, &log_info);
/* add the hook for DHCP packets */
/* (fake icmp packets from DHCP discovered GW and DNS) */
hook_add(HOOK_PROTO_DHCP_PROFILE, &log_info);
break;
}
atexit(log_stop);
return E_SUCCESS;
}
unsigned char log_dologging(FS_STATE *fs_state,unsigned long deviceid,unsigned long time_absolute_offset)
{
unsigned char rv;
unsigned long int t1,t2;
unsigned char breakreason; // Reason while the logging loop is interrupted. 0: user interruption. 1: log errors
unsigned char ln;
rv = log_start(fs_state,deviceid,time_absolute_offset,&ln);
if(rv)
return rv;
printf_P(PSTR("Logging in entry %d\r"),ln);
t1 = t2 = timer_ms_get();
_log_numerr=0;
uart_setblocking(file_usb,0);
while(1)
{
// Log packets to MMC
_log_numerr += log_logpacket(fs_state);
// Display more detailed infos at regular intervals
if(timer_ms_get()>t2)
{
sample_printstat();
pkt_printstat();
printf_P(PSTR("Cumulative log errors: %03d"),_log_numerr);
t2+=501;
}
if(_log_numerr>1000)
{
breakreason=1;
break;
}
int c;
if((c=fgetc(file_usb))!=EOF)
{
breakreason=0;
break;
}
}
uart_setblocking(file_usb,1);
_delay_ms(100);
flush(file_usb);
log_stop(fs_state);
if(breakreason==1)
{
printf_P(PSTR("Interrupted due to too many logging errors\r"));
return 2;
}
if(breakreason==0)
printf_P(PSTR("User stopped recording\r"));
return 0;
}
/*Control Layout:
Controller 1:
Left Joystick x/y - Strafe and forward for robot
Right Joystick x - Turn
Button 1: Goal Latch Closed
Button 3: Goal Latch Open
Button 4: Gyro Reset
Button 8: Slo-Mo
Controller 2:
Button 1: Blower
Button 2: Intake
Button 3: Ball storage
Button 4: Kickstand
Button 5: Intake slow (lift release)
Button 6: Intake backwards
Button 7: Touch sensor
Timers:
T1:Gyro
T2:Measure RPM
T3:Blower
T4:Global
*/
task main()
{
float leftFront, leftBack, rightFront, rightBack; // motors
float y, x, c;
bool touchsensorenabled = false;
bool blowerenabled = false;
bool kickstandenabled = false;
bool storageclosed = false;
bool intakeenabled = false;
bool estop = false;
bool intakestartup = false;
long intakelastchecked = -10000;
int joy1Btn3last = 0;
int joy1Btn2last = 0;
int joy1Btn1last = 0;
//Operator
int joy2Btn1last = 0;
int joy2Btn2last = 0;
int joy2Btn3last = 0;
int joy2Btn4last = 0;
int power = 100; //power for drive motors
/***** BEGIN Mecanum Field Oriented Drive Test *****/
init();
StartTask(readSensors);
StartTask(displaySmartDiags);
if (bCompetitionMode) {waitForStart();}
ClearTimer(T4);
tele_log_init();
while (true)
{
/***** Proportional Motor Control *****/
getJoystickSettings(joystick); //get all joystick statuses
if (joy1Btn(8))
{
power = 25;
}
else { power = 100; }
//Drive Code
if ((deadband(k_deadband,joystick.joy1_y1) == 0 &&
deadband(k_deadband,joystick.joy1_x1) == 0 &&
deadband(k_deadband,joystick.joy1_x2) == 0)) {
motor[Lf] = 0;
motor[Rf] = 0;
motor[Lb] = 0;
motor[Rb] = 0;
}
else {
//scale to -1 to 1
y = ((deadband(k_deadband,joystick.joy1_y1)+1)/128); //strafe
x = ((deadband(k_deadband,joystick.joy1_x1)+1)/128); //forward/rev
c = ((deadband(k_deadband,joystick.joy1_x2)+1)/128); //spin
mecanum_arcadeFOD(y, x, c, gyro_getheading(),
leftFront, rightFront, leftBack, rightBack);
motor[Lf] = leftFront*power;
motor[Rf] = rightFront*power;
motor[Lb] = leftBack*power;
motor[Rb] = rightBack*power;
}
//Gyro Reset Code
if(joy1Btn(4) == 1) { gyro_reset(); }
if(joystick.joy1_TopHat == 0) {
gyro_reset();
}
//90 Deg
if(joystick.joy1_TopHat == 2) {
gyro_reset();
gyro_set(90);
}
//180 Deg
if(joystick.joy1_TopHat == 4) {
gyro_reset();
gyro_set(180);
}
//270 Deg
if(joystick.joy1_TopHat == 6) {
gyro_reset();
gyro_set(270);
}
if(nNxtButtonPressed == kEnterButton) { gyro_reset(); }
if (joy1Btn(7) == 1){
servo[GoalRetainer] = 255;
}
//Goal Latch Open
if(joy1Btn(3)== 1 && joy1Btn3last != 1){
servo[GoalRetainer] = 130;
}
//Goal Latch Closed
if(joy1Btn(1)== 1 && joy1Btn1last != 1){
servo[GoalRetainer] = 5;
}
//Blower Toggle
if(joy2Btn(1)== 1 && joy2Btn1last != 1){
if (blowerenabled){
motor[BlowerA] = 1;
motor[BlowerB] = 1;
motor[BlowerC] = 1;
//Start timer for 1 sec, then set motors to 0
ClearTimer(T3);
blowerenabled = false;
log_write("BL","OFF");
}
else{
ClearTimer(T2);
nMotorEncoder[BlowerB] = 0;
motor[BlowerA] = 100;
motor[BlowerB] = 100;
motor[BlowerC] = 100;
blowerenabled = true;
log_write("BL","ON");
}
}
//If 5 seconds since blower shutdown-brake motors
if (time1[T3] > 5000 && !blowerenabled){
motor[BlowerA] = 0;
motor[BlowerB] = 0;
motor[BlowerC] = 0;
}
//Intake Forwards, back, slow forward
if (joy2Btn(2) && joy2Btn2last != 1){
if (intakeenabled){
intakeenabled = false;
log_write("IN","OFF");
}
else{
intakelastchecked = -10000;
nMotorEncoder[Rf] = 4000;
intakeenabled = true;
intakestartup = true;
log_write("IN","ON");
}
}
int nIntakeHealthyVal = 400;
if (joy2Btn(5) == 1){
motor[Intake] = 25;
}
else if (joy2Btn(6) == 1){
motor[Intake] = -100;
}
else if (joy2Btn(7) == 1){
motor[Intake] = 100;
}
else if (joy2Btn(8) == 1){
motor[Intake] = -50;
}
else if (!intakeenabled){
motor[Intake] = 0;
}
else if (intakeenabled && time1[T4] > intakelastchecked+500){
if (abs(nMotorEncoder[Rf]) > nIntakeHealthyVal || intakestartup){
motor[Intake] = 100;
intakestartup = false;
}
else {
motor[Intake] = -100;
}
nMotorEncoder[Rf] = 0;
intakelastchecked = time1[T4];
}
//Storage Toggle
if(joy2Btn(3)== 1 && joy2Btn3last != 1){
if (storageclosed){
servo[BallStorage] = 80;
storageclosed = false;
}
else{
servo[BallStorage] = 140;
storageclosed = true;
}
}
//Kickstand Toggle
if(joy2Btn(4)== 1 && joy2Btn4last != 1){
if (kickstandenabled){
servo[Kickstand] = 155;
kickstandenabled = false;
}
else{
servo[Kickstand] = 31;
kickstandenabled = true;
}
}
//Touch Sensor Toggle
if(joy1Btn(2)== 1 && joy1Btn2last != 1){
if (touchsensorenabled){
servo[TouchSensor] = 65;
touchsensorenabled = false;
}
else{
servo[TouchSensor] = 190;
touchsensorenabled = true;
}
}
//E Stop for blower
if (!estop && time1[T4] > 117000 && blowerenabled){
motor[BlowerA] = 1;
motor[BlowerB] = 1;
motor[BlowerC] = 1;
//Start timer for 1 sec, then set motors to 0
ClearTimer(T3);
blowerenabled = false;
estop = true;
}
else if (time1[T4] >117000){
log_stop();
}
//VOLTAGE
if (time100[T2] >= 20) {
float v = (float)externalBatteryAvg / (float)1000;
string sv = "";
StringFormat(sv, "%1.2f", v);
log_write("V", sv);
if (blowerenabled) {
float dEncoderCount = nMotorEncoder[BlowerB];
float dTime = time1[T2];
float rpm = (4439 * (dEncoderCount))/(dTime);
string s = "";
StringFormat(s,"RPM: %1.2f",rpm);
nxtDisplayTextLine(5, s);
log_write("BL",s);
nMotorEncoder[BlowerB] = 0;
}
//Clear for next calculation
ClearTimer(T2);
}
//Winch
if (deadband(k_deadband,joystick.joy2_y2) == 0){
servo[TubeWinch] = 127;
}
else{
servo[TubeWinch] = (deadband(k_deadband,joystick.joy2_y2))+127;
}
joy1Btn1last = joy1Btn(1);
joy1Btn2last = joy1Btn(2);
joy1Btn3last = joy1Btn(3);
joy2Btn1last = joy2Btn(1);
joy2Btn2last = joy2Btn(2);
joy2Btn3last = joy2Btn(3);
joy2Btn4last = joy2Btn(4);
//DO NOT REMOVE THIS WAIT, See issue #11
nxtDisplayTextLine(4, "%i", gyro_getheading());
wait1Msec(5);
}
}
