int main(int argc, char *argv[])
{
(void) argc;
(void) argv;
// NOTE: don't use unbuffered IO - it crashes the threads lib
//setlinebuf(stdout);
//setlinebuf(stderr);
// thread_init();
// FIXME: doing a fork() seems to completely hose aio.
if( 0 ) {
system_test();
sockio_test();
exit(0);
}
system_test();
sockio_test();
diskio_test();
syscall_mapping_test();
readdir_test();
malloc_test();
// malloc(10);
// output("after malloc()\n");
// strdup("abc");
// output("after strdup()\n");
output("DONE\n\n");
if( 0 ) {
sleep(2);
output("sending USR1 to pid=%d\n", getpid());
kill(getpid(), SIGUSR1);
sleep(2);
output("exiting\n");
}
return 0;
}
void system_init()
{
DEBUG_PRINTF(V_MESSAGE, "Initializing WirePi.\n");
wiringPiSetup() ;
pinMode(LED, OUTPUT);
LED_ON; // Turn red led ON on initialization.
DEBUG_PRINTF(V_MESSAGE, "Initializing timers.\n");
init_photo_timer();
if((operation_type == OPERATION_A)
|| (operation_type == OPERATION_B))
{
init_accelgyro_timer();
}
init_operation_timer();
init_led_timer();
DEBUG_PRINTF(V_MESSAGE, "Initializing accelgyro.\n");
accelgyro.initialize();
if(operation_type == OPERATION_A) // PLAN A
{
accelgyro_handler = &accelgyro_handler_planA;
accelgyro.getAcceleration(&x, &y,&z);
accel_low.x = accel_low.x * gravity_alpha + x * (1 - gravity_alpha);
accel_low.y = accel_low.y * gravity_alpha + y * (1 - gravity_alpha);
accel_low.z = accel_low.z * gravity_alpha + z * (1 - gravity_alpha);
last_angle = accel_low.getAngleTo(gravity);
max_angle = last_angle;
start_accelgyro_timer(0, ACCELGYRO_TICK);
}
else if(operation_type == OPERATION_B) // PLAN B
{
accelgyro_handler = &accelgyro_handler_planB;
start_accelgyro_timer(0, ACCELGYRO_TICK);
}
DEBUG_PRINTF(V_MESSAGE, "Initializing TCP socket.\n");
socket_tcp = TCP_Socket(host_ip, socket_port);
DEBUG_PRINTF(V_MESSAGE, "Starting Timers.\n");
start_led_timer(TIMER_LED_TICK, 0);
DEBUG_PRINTF(V_MESSAGE, "Initialization sleep!\n");
sleep(INITIAL_DELAY);
DEBUG_PRINTF(V_MESSAGE, "System initialized!\n");
if((operation_test == TEST_NO_TCP) || (operation_test == FULL_TEST))
{
DEBUG_PRINTF(V_MESSAGE, "System test!\n");
if(system_test() == false)
{
signalize(ERROR);
DEBUG_PRINTF(V_ERROR, "Failed on System Test!\n");
while(1);
}
else
{
DEBUG_PRINTF(V_MESSAGE, "Passed on system test!\n");
}
}
return;
}
