int
main (int argc,
char *argv1[])
{
char *const argv[] = {
"test-core-api",
"-c",
"test_core_api_data.conf",
NULL
};
struct GNUNET_GETOPT_CommandLineOption options[] = {
GNUNET_GETOPT_OPTION_END
};
ok = 1;
GNUNET_log_setup ("test-core-api",
"WARNING",
NULL);
GNUNET_PROGRAM_run ((sizeof (argv) / sizeof (char *)) - 1,
argv,
"test-core-api",
"nohelp",
options,
&run,
&ok);
stop_arm (&p1);
stop_arm (&p2);
GNUNET_DISK_directory_remove ("/tmp/test-gnunet-core-peer-1");
GNUNET_DISK_directory_remove ("/tmp/test-gnunet-core-peer-2");
return ok;
}
/**
* Try again to connect to transport service.
*/
static void
shutdown_task (void *cls)
{
if (NULL != timeout_task)
{
GNUNET_SCHEDULER_cancel (timeout_task);
timeout_task = NULL;
}
if (NULL != p1.ghh)
{
GNUNET_TRANSPORT_hello_get_cancel (p1.ghh);
p1.ghh = NULL;
}
if (NULL != p1.th)
{
GNUNET_TRANSPORT_core_disconnect (p1.th);
p1.th = NULL;
}
if (NULL != p2.ghh)
{
GNUNET_TRANSPORT_hello_get_cancel (p2.ghh);
p2.ghh = NULL;
}
if (NULL != p2.th)
{
GNUNET_TRANSPORT_core_disconnect (p2.th);
p2.th = NULL;
}
stop_arm (&p1);
stop_arm (&p2);
}
int
main (int argc, char *argv[])
{
char *const argvx[] = {
"test-fs-start-stop",
"-c",
"test_fs_data.conf",
#if VERBOSE
"-L", "DEBUG",
#endif
NULL
};
struct GNUNET_GETOPT_CommandLineOption options[] = {
GNUNET_GETOPT_OPTION_END
};
GNUNET_log_setup ("test_fs_start_stop",
#if VERBOSE
"DEBUG",
#else
"WARNING",
#endif
NULL);
GNUNET_PROGRAM_run ((sizeof (argvx) / sizeof (char *)) - 1, argvx,
"test-fs-start-stop", "nohelp", options, &run, NULL);
stop_arm (&p1);
GNUNET_DISK_directory_remove ("/tmp/gnunet-test-fs/");
return 0;
}
static void
end (void *cls, const struct GNUNET_SCHEDULER_TaskContext *tc)
{
if (endbadly_task != GNUNET_SCHEDULER_NO_TASK)
{
GNUNET_SCHEDULER_cancel (endbadly_task);
endbadly_task = GNUNET_SCHEDULER_NO_TASK;
}
int c;
for (c = 0; c < RECORDS; c++)
GNUNET_free_non_null((void *) s_rd[c].data);
GNUNET_free (s_rd);
if (privkey != NULL)
GNUNET_CRYPTO_rsa_key_free (privkey);
privkey = NULL;
if (nsh != NULL)
GNUNET_NAMESTORE_disconnect (nsh, GNUNET_YES);
nsh = NULL;
if (NULL != arm)
stop_arm();
}
static int
check ()
{
char *const argv[] = { "test-core-api",
"-c",
"test_core_api_data.conf",
NULL
};
struct GNUNET_GETOPT_CommandLineOption options[] = {
GNUNET_GETOPT_OPTION_END
};
ok = 1;
GNUNET_PROGRAM_run ((sizeof (argv) / sizeof (char *)) - 1, argv,
"test-core-api", "nohelp", options, &run, &ok);
stop_arm (&p1);
stop_arm (&p2);
return ok;
}
static int
check ()
{
char *const argv[] = { "test-core-api-start-only",
"-c",
"test_core_api_data.conf",
NULL
};
struct GNUNET_GETOPT_CommandLineOption options[] = {
GNUNET_GETOPT_OPTION_END
};
GNUNET_DISK_directory_remove ("/tmp/test-gnunet-core-peer-1");
GNUNET_DISK_directory_remove ("/tmp/test-gnunet-core-peer-2");
ok = 1;
GNUNET_PROGRAM_run ((sizeof (argv) / sizeof (char *)) - 1, argv,
"test-core-api-start-only", "nohelp", options, &run, &ok);
GNUNET_log (GNUNET_ERROR_TYPE_DEBUG, "Test finished\n");
stop_arm (&p1);
stop_arm (&p2);
return ok;
}
/**
* Re-establish the connection to the service.
*
* @param cls handle to use to re-connect.
* @param tc scheduler context
*/
static void
endbadly (void *cls, const struct GNUNET_SCHEDULER_TaskContext *tc)
{
if (nsh != NULL)
GNUNET_NAMESTORE_disconnect (nsh, GNUNET_YES);
nsh = NULL;
if (privkey != NULL)
GNUNET_CRYPTO_rsa_key_free (privkey);
privkey = NULL;
if (NULL != arm)
stop_arm();
res = 1;
}
int
main (int argc, char *argv[])
{
char *const argvx[] = {
"test-fs-publish-persistence",
"-c",
"test_fs_publish_data.conf",
#if VERBOSE
"-L", "DEBUG",
#endif
NULL
};
struct GNUNET_GETOPT_CommandLineOption options[] = {
GNUNET_GETOPT_OPTION_END
};
GNUNET_log_setup ("test_fs_publish_persistence",
#if VERBOSE
"DEBUG",
#else
"WARNING",
#endif
NULL);
GNUNET_PROGRAM_run ((sizeof (argvx) / sizeof (char *)) - 1, argvx,
"test-fs-publish", "nohelp", options, &run, NULL);
stop_arm (&p1);
GNUNET_DISK_directory_remove ("/tmp/gnunet-test-fs-publish/");
if (fn1 != NULL)
{
GNUNET_DISK_directory_remove (fn1);
GNUNET_free (fn1);
}
if (fn2 != NULL)
{
GNUNET_DISK_directory_remove (fn2);
GNUNET_free (fn2);
}
return err;
}
static void
end (void *cls, const struct GNUNET_SCHEDULER_TaskContext *tc)
{
if (endbadly_task != GNUNET_SCHEDULER_NO_TASK)
{
GNUNET_SCHEDULER_cancel (endbadly_task);
endbadly_task = GNUNET_SCHEDULER_NO_TASK;
}
if (privkey != NULL)
GNUNET_CRYPTO_rsa_key_free (privkey);
privkey = NULL;
if (nsh != NULL)
GNUNET_NAMESTORE_disconnect (nsh, GNUNET_YES);
nsh = NULL;
if (NULL != arm)
stop_arm();
res = 0;
}
/**
* Try again to connect to transport service.
*/
static void
shutdown_task (void *cls, const struct GNUNET_SCHEDULER_TaskContext *tc)
{
stop_arm (&p1);
stop_arm (&p2);
}
void run(void)
{
data='w';
while(1)
{
while(data == 'w') //waiting for signal
{
}
while(data == '\0' )
{
stop();
_delay_ms(4000);
comintersection();
_delay_ms(100);
}
if(data=='f') // forward
{
data='\0';
}
if(data=='r') // right
{
data='\0';
turn_right();
}
if(data=='l') // left
{
data='\0';
turn_left();
}
if(data == 'h') // halt
{
data='\0';
stop();
_delay_ms(100);
continue;
}
if(data == 'o') // origin
{
data='w';
stop();
_delay_ms(100);
continue;
}
if(data == 'c') //collect item data -> i when the bot is trying to pick up an rfid
{
data='w';
arm_down();
_delay_ms(4200);
stop_arm();
_delay_ms(2000);
grab();
arm_up();
_delay_ms(4750);
stop_arm();
_delay_ms(2000);
lcd_cursor(2,1);
lcd_string("Collecting");
_delay_ms(3500);
readrfidtag();
clearrfid();
continue;
}
if(data == 'd') //drop_item
{
data='w';
go_down();
release();
go_up();
lcd_cursor(2,1);
lcd_string("Dropping");
_delay_ms(3500);
senddroppedsig();
continue;
}
while(1)
{
if(move_bot() == 1)
{
continue;
}
else
{
break;
}
}
}
}
