int main(int argc, char **argv) {
// Seed the random number generator
srandom(time(NULL));
// Set up signal handlers
signal(SIGINT, sigterm);
serial_init();
tunnel_init();
// Start the main loop
while (quit == FALSE) {
int result = 0;
result = poll(fds, 2, 2500);
if (result < 0) {
// error in poll, warn
warn("Poll Error");
continue;
}
// timed out, continue the loop
if (result == 0) {
printf("timeout\n");
continue;
}
if (fds[SERIAL_INDEX].revents != 0) {
serial_event();
}
if (fds[TUNNEL_INDEX].revents != 0) {
tunnel_event();
}
}
// We must have received a signal, tidy up and exit
printf("Exiting...\n");
close(serial);
close(tunnel);
return 0;
}
void CLI::do_console()
{
serial_event();
if (cmd=="cli" || cmd=="help")
{
Serial.println("COMMAND LINE INTERFACE");
Serial.println();
Serial.println("Enter one of the following options:");
Serial.println("input");
Serial.println("output");
Serial.println("pinout");
Serial.println();
cmd="";
}
//////////////////////////////////////
// WRITE INPUT TO CONSOLE ////////////
//////////////////////////////////////
if (cmd=="input")
{
Serial.print("INPUT - ");
Serial.print("\tRoll: ");
Serial.print(pwm_bar(input.RollInProcessed));
Serial.print("\tPitch: ");
Serial.print(pwm_bar(input.PitchInProcessed));
Serial.print("\tYaw: ");
Serial.print(pwm_bar(input.YawInProcessed));
Serial.println();
}
//////////////////////////////////////
// WRITE OUTPUT TO CONSOLE ///////////
//////////////////////////////////////
if (cmd=="output")
{
Serial.print("OUTPUT - ");
Serial.print("\tServo 1: ");
Serial.print(pwm_bar(output.servo_1_out));
Serial.print("\tServo 2: ");
Serial.print(pwm_bar(output.servo_2_out));
Serial.print("\tServo 3: ");
Serial.print(pwm_bar(output.servo_3_out));
Serial.print("\tServo 4: ");
Serial.print(pwm_bar(output.servo_4_out));
Serial.print("\tServo 5: ");
Serial.print(pwm_bar(output.servo_5_out));
Serial.println();
}
//////////////////////////////////////
// DISPLAY PIN CONFIGURATION /////////
//////////////////////////////////////
if (cmd=="pinout")
{
Serial.println("CURRENT PIN CONFIGURATION");
Serial.println();
Serial.println("INPUT");
Serial.print("Roll pin: \t");
Serial.println(ROLL_IN_PIN);
Serial.print("Pitch pin: \t");
Serial.println(PITCH_IN_PIN);
Serial.print("Yaw pin: \t");
Serial.println(YAW_IN_PIN);
Serial.println();
Serial.println("OUTPUT");
Serial.print("Servo 1 pin: \t");
Serial.println(SERVO_1_PIN);
Serial.print("Servo 2 pin: \t");
Serial.println(SERVO_2_PIN);
Serial.print("Servo 3 pin: \t");
Serial.println(SERVO_3_PIN);
Serial.print("Servo 4 pin: \t");
Serial.println(SERVO_4_PIN);
Serial.print("Servo 5 pin: \t");
Serial.println(SERVO_5_PIN);
Serial.println();
cmd = "";
}
}
