static void shutdown(JNIEnv *env, jobject source, jboolean reload)
{
log_debug("Shutdown requested (reload is %d)", reload);
if (reload == TRUE)
main_reload();
else
main_shutdown();
}
static void failed(JNIEnv *env, jobject source, jstring message)
{
if (message) {
const char *msg = (*env)->GetStringUTFChars(env, message, NULL);
log_error("Failed %s", msg ? msg : "(null)");
if (msg)
(*env)->ReleaseStringUTFChars(env, message, msg);
}
else
log_error("Failed requested");
main_shutdown();
}
int mal_client_netlnk_callback(const int fd, const void *data_p)
{
int netlnk_msg = -1;
modem_client_t *modem_client_p = (modem_client_t *)data_p;
(void)fd;
if (modem_client_p) {
netlnk_socket_recv(fd, &netlnk_msg);
if (netlnk_msg == MODEM_RESET_IND) {
CN_LOG_D("received modem reset indication!!");
/* Request process termination */
main_shutdown();
/* Return -1 as modem reset indication is received */
return -1;
}
}
return TRUE;
}
int main(int argc, char** argv)
{
TPCANMsg msg;
int ret;
std::string nodeName = std::string("gripper_control");
//si ottiene il singleton per la gestione del task
maintask = WF::Task::GetInstance();
if (maintask->CreateAsync(MAINTASK_NAME, WF_TASK_TYPE_USER, MAINTASK_PRIORITY) != WF_RV_OK){
std::cerr << "Could not initialize " << MAINTASK_NAME << std::endl;
exit(-1);
}
Controller *gripper_control = new Controller(argc, argv, nodeName);
ret = maintask->WaitRunning();
if (ret != WF_RV_OK){
KAL::DebugConsole::Write(LOG_LEVEL_ERROR, MAINTASK_NAME, "WaitRunning fallita. (valore ritorno %d)", ret);
main_shutdown();
return WF_RV_FAIL;
}
maintask->GotoHard();
int canRet;
// Main loop
while (maintask->Continue() && !gripper_control->GLOBALSTOP){
//KAL::DebugConsole::Write(LOG_LEVEL_INFO, MAINTASK_NAME, "Waiting for CAN packets...");
canRet = gripper_control->receive_can_msg(msg);
#ifdef VM_TEST
maintask->Sleep(WF_TIME_ONE_S);
#endif
//KAL::DebugConsole::Write(LOG_LEVEL_INFO, MAINTASK_NAME, "Exit from schedHelper_.Receive.");
if (canRet == WF_RV_FAIL) {
KAL::DebugConsole::Write(LOG_LEVEL_WARNING, MAINTASK_NAME,"Inconsistent CAN msg lenght");
main_shutdown();
return WF_RV_FAIL;
} else {
//KAL::DebugConsole::Write(LOG_LEVEL_INFO, MAINTASK_NAME, "Packet Received.");
if (canRet == WF_RV_SHUTDOWN) {
if (maintask->IsKilled() == true) {
KAL::DebugConsole::Write(LOG_LEVEL_WARNING, MAINTASK_NAME, "System is killing down, forcibly closing.");
main_shutdown();
return WF_RV_FAIL;
}
if (maintask->ShuttingDown() == true) {
KAL::DebugConsole::Write(LOG_LEVEL_WARNING, MAINTASK_NAME, "System is shutting down, gracefully closing.");
main_shutdown();
return WF_RV_OK;
}
} else {
//KAL::DebugConsole::Write(LOG_LEVEL_INFO, MAINTASK_NAME, "CAN msg Received ID = %03X TYPE = %02X LEN = %d DATA = %02X %02X %02X %02X %02X %02X %02X %02X", tmpCANMsg.msg.ID, tmpCANMsg.msg.MSGTYPE, tmpCANMsg.msg.LEN, tmpCANMsg.msg.DATA[0], tmpCANMsg.msg.DATA[1], tmpCANMsg.msg.DATA[2], tmpCANMsg.msg.DATA[3], tmpCANMsg.msg.DATA[4], tmpCANMsg.msg.DATA[5], tmpCANMsg.msg.DATA[6], tmpCANMsg.msg.DATA[7]);
gripper_control->process_message(msg);
//} else KAL::DebugConsole::Write(LOG_LEVEL_WARNING,MAINTASK_NAME,"Inconsistent CAN msg lenght");
}
}
}//while (maintask->Continue() && !GLOBALSTOP)
delete gripper_control;
main_shutdown();
kill(0,SIGQUIT);
maintask->Exit();
return 0;
}
