//
// Get starting values
//
void Scene::init()
{
m_removeAfterEmpty = false;
m_stopped = false;
for (t_channel i = 0; i < m_channels; i++)
{
m_runTimeData[i].current = m_runTimeData[i].start =
static_cast<float>
(_app->dmxMap()->getValue(m_address + i));
m_runTimeData[i].target =
static_cast<float> (m_values[i].value);
m_runTimeData[i].ready = false;
}
// No time has yet passed for this scene.
m_elapsedTime = 0;
// Get speed
Bus::value(m_busID, m_timeSpan);
// Set speed
speedChange(m_timeSpan);
// Append this function to running functions' list
_app->functionConsumer()->cue(this);
}
static void returnPressed(void *observerData, WMNotification * notification)
{
_Panel *panel = (_Panel *) observerData;
/* Parameter not used, but tell the compiler that it is ok */
(void) notification;
speedChange(NULL, panel);
}
//
// Bus value has changed
//
void Scene::busValueChanged(t_bus_id id, t_bus_value value)
{
if (id != m_busID)
{
return;
}
m_startMutex.lock();
if (m_running)
{
speedChange(value);
}
else
{
m_timeSpan = value;
}
m_startMutex.unlock();
}
int main()
{
int socketServeur;
int socketClient = -1;
int clientConnecte = 0;
int i;
int ecrit = 0;
int lu = -1;
int speed = 500;
int stopCount = 0;
int distance = 0;
int distance_32bits = 0;
struct sockaddr_in addrServeur;
socklen_t longueurAdresse; // Nombre d'octets de la structure sockaddr_in
char nomDuClient[1024], portDuClient[32];
char commande = 'X';
char clientONOFF = 'o';
pthread_t thread1;
pthread_t thread2;
// Initialisation des GPIO
initGPIO();
// Initialisation Mutex
if(pthread_mutex_init(&lock, NULL) != 0)
{
perror("mutex");
exit(-1);
}
pthread_create(&thread1, NULL, thread_distance, &socketClient);
pthread_create(&thread2, NULL, thread_speed, &socketClient);
printf("creation du thread1 et 2\n");
// Cree un socket de communication
socketServeur = socket(PF_INET, SOCK_STREAM, 0);
if(socketServeur == -1)
{
perror("Socket");
exit(-1);
}
printf("Socket crée avec succès ! (%d)\n", socketServeur);
addrServeur.sin_addr.s_addr = INADDR_ANY; //toutes
addrServeur.sin_family = PF_INET;
addrServeur.sin_port = htons(PORT);
// lose the pesky "Address already in use" error message
int yes = 1;
if( setsockopt(socketServeur, SOL_SOCKET, SO_REUSEADDR, &yes, sizeof(int)) == -1 )
{
perror("setsockopt");
exit(errno);
}
// Demande l'attachement local de la socket
longueurAdresse = sizeof(addrServeur);
if( bind(socketServeur, (struct sockaddr *)&addrServeur, longueurAdresse) == -1 )
{
perror("bind");
exit(-2);
}
printf("Socket attachée avec succès!\n");
if (listen(socketServeur, CLIENT_MAX) == -1)
{
perror("listen");
exit(errno);
}
printf("Socket placée en écoute passive...\n");
printf("Attente d'une demande de connexion (quitter avec Cltrl-C)\n\n");
while(1)
{
if(clientConnecte == 0)
{
socketClient = accept4(socketServeur, (struct sockaddr *)&addrServeur, &longueurAdresse, SOCK_NONBLOCK);
if(socketClient == -1 )
{
printf("errno : %d\n", errno);
perror("accept");
close(socketClient);
close(socketServeur);
exit(errno);
}
printf("Nouveau client !\n");
if ( getnameinfo((struct sockaddr*)&addrServeur, sizeof(addrServeur), nomDuClient, sizeof(nomDuClient), portDuClient,
sizeof(portDuClient), NI_NUMERICHOST | NI_NUMERICSERV) == 0)
{
printf("client=%s, port=%s\n", nomDuClient, portDuClient);
}
clientConnecte = 1;
//ecrits = write(socketClient, &clientONOFF, 1);
}
// nanosleep((struct timespec[]){{0, 10000000}}, NULL);
lu = read(socketClient, &commande, 1);
if(lu == -1)
{
if(errno == EAGAIN) // Nothing to read
{
continue;
}
else
{
printf("Error reading from socketClient ! \n");
printf("errno = %d \n", errno);
break;
}
}
if(lu == 0)
{
printf("Socket closed ! \n");
speed = 500;
avancer(0);
commande = 's';
close(socketClient);
clientConnecte = 0;
continue;
}
printf("lu = %d\n", lu);
printf("commande = %c\n", commande);
switch(commande)
{
case 'a' :
//printf("AVANCE\n");
avancer(speed);
break;
case 'r' :
//printf("RECULE\n");
reculer(speed);
break;
case 'd' :
//printf("DROITE\n");
tourner(DROITE, speed);
break;
case 'g' :
//printf("GAUCHE\n");
tourner(GAUCHE, speed);
break;
case '+' :
speed = speedChange(UP, speed);
break;
case '-' :
speed = speedChange(DOWN, speed);
break;
case 's' :
//printf("REPOS\n");
avancer(0);
}
//distance = ultrason();
}
close(socketClient);
close(socketServeur);
return 0;
}
