int main(int argc, char **argv) {
struct sigaction action;
int exitCode;
parseArgs(argc,argv);
initLogs();
if (keepAsDaemon) {
LOG_N("Trying to keep as a daemon...");
if (daemon(false,false)<0) {
LOG_E(strerror(errno));
LOG_W("... continuing daemonless");
} else {
LOG_N("... Success ");
}
}
memset(&action,0,sizeof(action));
action.sa_handler =signalHandler;
sigaction(SIGHUP,&action,NULL);
sigaction(SIGTERM,&action,NULL);
// signal(SIGHUP,signalHandler); /* catch hangup signal */
// signal(SIGTERM,signalHandler); /* catch kill signal */
exitCode = runMonitor();
return exitCode;
//return EXIT_SUCCESS;
}
void runMotorBoardPC(bool singleMode) {
singleModeActivated = singleMode;
setBoardName(MOTOR_BOARD_PC_NAME);
moveConsole(HALF_SCREEN_WIDTH, 0, HALF_SCREEN_WIDTH, CONSOLE_HEIGHT);
// We use http://patorjk.com/software/taag/#p=testall&v=2&f=Acrobatic&t=MOTOR%20BOARD%20PC
// with Font : Jerusalem
printf(" __ __ ___ _____ ___ ____ ____ ___ _ ____ ____ ____ ____\r\n");
printf("| \\/ |/ _ |_ _/ _ \\| _ \\ | __ ) / _ \\ / \\ | _ \\| _ \\ | _ \\ / ___|\r\n");
printf("| |\\/| | | | || || | | | |_) | | _ \\| | | |/ _ \\ | |_) | | | | | |_) | | \r\n");
printf("| | | | |_| || || |_| | _ < | |_) | |_| / ___ \\| _ <| |_| | | __/| |___ \r\n");
printf("|_| |_|\\___/ |_| \\___/|_| \\_\\ |____/ \\___/_/ \\_|_| \\_|____/ |_| \\____|\r\n");
printf("\r\n");
initLogs(DEBUG, (LogHandler(*)[]) &logHandlerListArray, MOTOR_BOARD_PC_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
initConsoleInputStream(&consoleInputStream);
initConsoleOutputStream(&consoleOutputStream);
addConsoleLogHandler(DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
appendStringCRLF(getDebugOutputStreamLogger(), getBoardName());
initTimerList((Timer(*)[]) &timerListArray, MOTOR_BOARD_PC_TIMER_LENGTH);
initBuffer(&consoleInputBuffer, (char(*)[]) &consoleInputBufferArray, MOTOR_BOARD_PC_CONSOLE_INPUT_BUFFER_LENGTH, "inputConsoleBuffer", "IN");
initBuffer(&consoleOutputBuffer, (char(*)[]) &consoleOutputBufferArray, MOTOR_BOARD_PC_CONSOLE_OUTPUT_BUFFER_LENGTH, "outputConsoleBuffer", "IN");
// Dispatchers
initDriverDataDispatcherList((DriverDataDispatcher(*)[]) &driverDataDispatcherListArray, MOTOR_BOARD_PC_DATA_DISPATCHER_LIST_LENGTH);
addLocalDriverDataDispatcher();
if (!singleModeActivated) {
initI2cBus(&motorI2cBus, I2C_BUS_TYPE_SLAVE, I2C_BUS_PORT_1);
initI2cBusConnection(&motorI2cBusConnection, &motorI2cBus, MOTOR_BOARD_PC_I2C_ADDRESS);
openSlaveI2cStreamLink(&i2cSlaveStreamLink,
&i2cSlaveInputBuffer,
(char(*)[]) &i2cSlaveInputBufferArray,
MOTOR_BOARD_PC_IN_BUFFER_LENGTH,
&i2cSlaveOutputBuffer,
(char(*)[]) &i2cSlaveOutputBufferArray,
MOTOR_BOARD_PC_OUT_BUFFER_LENGTH,
&motorI2cBusConnection
);
// I2C Debug
initI2CDebugBuffers(&i2cSlaveDebugInputBuffer,
(char(*)[]) &i2cSlaveDebugInputBufferArray,
MOTOR_BOARD_PC_I2C_DEBUG_SLAVE_IN_BUFFER_LENGTH,
&i2cSlaveDebugOutputBuffer,
(char(*)[]) &i2cSlaveDebugOutputBufferArray,
MOTOR_BOARD_PC_I2C_DEBUG_SLAVE_OUT_BUFFER_LENGTH);
}
// Eeprom
initEepromPc(&eeprom, "TODO");
// Battery
initBattery(&battery, getBatteryVoltage);
// Clock
initSoftClock(&clock);
// Devices
initDeviceList((Device(*)[]) &deviceListArray, MOTOR_BOARD_PC_DEVICE_LIST_LENGTH);
addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
addLocalDevice(getI2cSlaveDebugDeviceInterface(), getI2cSlaveDebugDeviceDescriptor(&motorI2cBusConnection));
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getMotorDeviceInterface(), getMotorDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getBatteryDeviceInterface(), getBatteryDeviceDescriptor(&battery));
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
addLocalDevice(getRobotKinematicsDeviceInterface(), getRobotKinematicsDeviceDescriptor(&eeprom));
addLocalDevice(getPIDDeviceInterface(), getPIDDeviceDescriptor(&eeprom, true));
addLocalDevice(getMotorDeviceInterface(), getMotorDeviceDescriptor());
addLocalDevice(getCodersDeviceInterface(), getCodersDeviceDescriptor());
addLocalDevice(getTrajectoryDeviceInterface(), getTrajectoryDeviceDescriptor());
addLocalDevice(getMotionDeviceInterface(), getMotionDeviceDescriptor(&eeprom, true));
addLocalDevice(getMotionSimulationDeviceInterface(), getMotionSimulationDeviceDescriptor());
initDevices();
startTimerList();
setDebugI2cEnabled(false);
while (1) {
motorBoardWaitForInstruction();
}
}
void mainBoardCommonInitLogs(void) {
// LOG Global Configuration
initLogs(LOG_LEVEL_INFO, &logHandlerListArray, MAIN_BOARD_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
}
void * key_thread(void * args)
{
struct key_thread_args* key_args = (struct key_thread_args*)args;
char *char_ptr,
buf1[32],
buf2[32],
*keys,
*saved;
int i,
delay = 10000;
char* logfilename = key_args->logfilename;
char* statfilename = key_args->statfilename;
logfile = fopen(logfilename, "w");
statfile = fopen(statfilename, "w");
signal(SIGINT, cleaner);
signal(SIGTERM, cleaner);
initLogs();
/* setup Xwindows */
disp = XOpenDisplay(NULL);
if (disp == NULL) {
fprintf(stderr, "Cannot open display\n");
exit(1);
}
XSynchronize(disp, TRUE);
/* setup buffers */
saved = buf1;
keys = buf2;
XQueryKeymap(disp, saved);
while (1) {
/* find changed keys */
XQueryKeymap(disp, keys);
for (i = 0; i < 32*8; i++) {
/* if the key data is different that the default we saved before */
int kbit = BIT(keys, i);
int sbit = BIT(saved, i);
if(kbit > 0) kbit = 1;
if(sbit > 0) sbit = 1;
if (BIT(keys, i) != BIT(saved, i)) {
register char* str;
str = (char*) KeyCodeToStr(i);
int j = lettertoi(str);
if(j >= 0 && j < 26) {
if (!sbit && kbit) {
StrTimer(str, "start");
}
if (sbit && !kbit) {
StrTimer(str, "end");
out(str, logs[j]->time, logs[j]->numpressed);
}
}
fflush(stdout); /* in case user is writing to a pipe */
}
}
char_ptr = saved;
saved = keys;
keys = char_ptr;
if(key_args->exit) {
outputStats();
fclose(statfile);
fclose(logfile);
return;
}
}
}
void runMainBoardPC(bool connectToRobotManagerMode) {
connectToRobotManager = connectToRobotManagerMode;
setBoardName(MAIN_BOARD_PC_NAME);
moveConsole(0, 0, HALF_SCREEN_WIDTH, CONSOLE_HEIGHT);
// We use http://patorjk.com/software/taag/#p=testall&v=2&f=Acrobatic&t=MOTOR%20BOARD%20PC
// with Font : Jerusalem
printf(" __ __ _ ___ _ _ ____ ___ _ ____ ____ ____ ____ \r\n");
printf("| \\/ | / \\ |_ _| \\ | | | __ ) / _ \\ / \\ | _ \\| _ \\ | _ \\ / ___|\r\n");
printf("| |\\/| | / _ \\ | || \\| | | _ \\| | | |/ _ \\ | |_) | | | | | |_) | | \r\n");
printf("| | | |/ ___ \\ | || |\\ | | |_) | |_| / ___ \\| _ <| |_| | | __/| |___ \r\n");
printf("|_| |_/_/ \\_|___|_| \\_| |____/ \\___/_/ \\_|_| \\_|____/ |_| \\____|\r\n");
printf("\r\n");
initLogs(DEBUG, (LogHandler(*)[]) &logHandlerListArray, MAIN_BOARD_PC_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
initConsoleInputStream(&consoleInputStream);
initConsoleOutputStream(&consoleOutputStream);
addConsoleLogHandler(DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
appendStringCRLF(getDebugOutputStreamLogger(), getBoardName());
initTimerList((Timer(*)[]) &timerListArray, MAIN_BOARD_PC_TIMER_LENGTH);
initBuffer(&consoleInputBuffer, (char(*)[]) &consoleInputBufferArray, MAIN_BOARD_PC_CONSOLE_INPUT_BUFFER_LENGTH, "inputConsoleBuffer", "IN");
initBuffer(&consoleOutputBuffer, (char(*)[]) &consoleOutputBufferArray, MAIN_BOARD_PC_CONSOLE_OUTPUT_BUFFER_LENGTH, "outputConsoleBuffer", "IN");
// Dispatchers
initDriverDataDispatcherList((DriverDataDispatcher(*)[]) &driverDataDispatcherListArray, MAIN_BOARD_PC_DATA_DISPATCHER_LIST_LENGTH);
addLocalDriverDataDispatcher();
initI2cBus(&motorBoardI2cBus, I2C_BUS_TYPE_MASTER, I2C_BUS_PORT_1);
initI2cBusConnection(&motorBoardI2cBusConnection, &motorBoardI2cBus, MOTOR_BOARD_PC_I2C_ADDRESS);
addI2CDriverDataDispatcher("MOTOR_BOARD_DISPATCHER",
&motorBoardInputBuffer,
(char(*)[]) &motorBoardInputBufferArray,
MAIN_BOARD_PC_DATA_MOTOR_BOARD_DISPATCHER_BUFFER_LENGTH,
&motorBoardOutputStream,
&motorBoardInputStream,
&motorBoardI2cBusConnection
);
if (connectToRobotManager) {
// Open the serial Link between RobotManager (C# Project) and the MainBoardPc
openSerialLink(&robotManagerSerialStreamLink,
&robotManagerInputBuffer,
(char(*)[]) &robotManagerInputBufferArray,
ROBOT_MANAGER_INPUT_BUFFER_LENGTH,
&robotManagerOutputBuffer,
(char(*)[]) &robotManagerOutputBufferArray,
ROBOT_MANAGER_OUTPUT_BUFFER_LENGTH,
&robotManagerOutputStream,
SERIAL_PORT_ROBOT_MANAGER,
0);
}
// CONFIG
initRobotConfigPc(&robotConfig);
// EEPROM
initEepromPc(&eeprom, "TODO");
initEepromFile(&eeprom);
// Clock
initPcClock(&clock);
// Temperature
initTemperaturePc(&temperature);
// I2C Debug
initI2CDebugBuffers(&i2cMasterDebugInputBuffer,
(char(*)[]) &i2cMasterDebugInputBufferArray,
MAIN_BOARD_PC_I2C_DEBUG_MASTER_IN_BUFFER_LENGTH,
&i2cMasterDebugOutputBuffer,
(char(*)[]) &i2cMasterDebugOutputBufferArray,
MAIN_BOARD_PC_I2C_DEBUG_MASTER_OUT_BUFFER_LENGTH);
// Init the drivers
initDrivers(&driverRequestBuffer, (char(*)[]) &driverRequestBufferArray, MAIN_BOARD_PC_REQUEST_DRIVER_BUFFER_LENGTH,
&driverResponseBuffer, (char(*)[]) &driverResponseBufferArray, MAIN_BOARD_PC_RESPONSE_DRIVER_BUFFER_LENGTH);
// Get test driver for debug purpose
addDriver(testDriverGetDescriptor(), TRANSMIT_LOCAL);
// Devices
initDeviceList((Device(*)[]) &deviceListArray, MAIN_BOARD_PC_DEVICE_LIST_LENGTH);
// addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
testDevice = addI2cRemoteDevice(getTestDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
testDevice->deviceHandleNotification = mainBoardDeviceHandleNotification;
// LOCAL BOARD
addLocalDevice(getADCDeviceInterface(), getADCDeviceDescriptor());
addLocalDevice(getStrategyDeviceInterface(), getStrategyDeviceDescriptor());
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getRobotConfigDeviceInterface(), getRobotConfigDeviceDescriptor(&robotConfig));
addLocalDevice(getI2cMasterDebugDeviceInterface(), getI2cMasterDebugDeviceDescriptor());
addLocalDevice(getDataDispatcherDeviceInterface(), getDataDispatcherDeviceDescriptor());
addLocalDevice(getServoDeviceInterface(), getServoDeviceDescriptor());
addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor());
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
// addLocalDevice(getFileDeviceInterface(), getFileDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor());
addLocalDevice(getLCDDeviceInterface(), getLCDDeviceDescriptor());
addLocalDevice(getTemperatureSensorDeviceInterface(), getTemperatureSensorDeviceDescriptor(&temperature));
addLocalDevice(getNavigationDeviceInterface(), getNavigationDeviceDescriptor());
initStartMatch(&startMatch, isMatchStartedPc, mainBoardPcWaitForInstruction, &eeprom);
addLocalDevice(getStartMatchDeviceInterface(), getStartMatchDeviceDescriptor(&startMatch));
// MOTOR BOARD
addI2cRemoteDevice(getBatteryDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
// addI2cRemoteDevice(getEepromDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getPIDDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getMotorDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getCodersDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getTrajectoryDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getMotionDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getRobotKinematicsDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
addI2cRemoteDevice(getMotionSimulationDeviceInterface(), MOTOR_BOARD_PC_I2C_ADDRESS);
initDevices();
delaymSec(100);
setDebugI2cEnabled(false);
// Ping
if (!pingDriverDataDispatcherList()) {
printf("PING PROBLEM !");
}
// Set Clock for Motor Board !
// Read Clock
ClockData* clockData = clock.readClock(&clock);
// TODO : Change Dispatcher Index ...
writeDateRemoteClockData(clockData, 0x01);
writeHourRemoteClockData(clockData, 0x01);
// testDriverIntensive(100);
startTimerList();
while (1) {
mainBoardPcWaitForInstruction(&startMatch);
}
// TODO : ShowEnd
}
void runMechanicalBoard1PC(bool singleMode) {
singleModeActivated = singleMode;
setBoardName(MECHANICAL_BOARD_1_PC_NAME);
setConsoleSizeAndBuffer(CONSOLE_CHARS_WIDTH, CONSOLE_CHARS_HEIGHT, CONSOLE_BUFFER_WIDTH, CONSOLE_BUFFER_HEIGHT);
moveConsole(HALF_SCREEN_WIDTH, CONSOLE_HEIGHT / 2, HALF_SCREEN_WIDTH, CONSOLE_HEIGHT / 2);
// We use http://patorjk.com/software/taag/#p=display&v=2&f=Jerusalem&t=MECA%20%20%201%20%20%20PC
// with Font : Jerusalem
printf(" __ __ _____ ____ _ _ ____ ____\r\n");
printf("| \\/ | ____ / ___| / \\ / | | _ \\ / ___|\r\n");
printf("| |\\/| | _|| | / _ \\ | | | |_) | |\r\n");
printf("| | | | |__| |___ / ___ \\ | | | __/| |___\r\n");
printf("|_| |_| _____\\____/ _ / \\_\\ |_| |_| \\____ |\r\n");
initLogs(LOG_LEVEL_DEBUG, (LogHandler(*)[]) &logHandlerListArray, MECHANICAL_BOARD_1_PC_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
initConsoleInputStream(&consoleInputStream);
initConsoleOutputStream(&consoleOutputStream);
addConsoleLogHandler(LOG_LEVEL_DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
initSerialLinkList((SerialLink(*)[]) &serialLinkListArray, MECHANICAL_BOARD_1_PC_SERIAL_LINK_LIST_LENGTH);
initTimerList((Timer(*)[]) &timerListArray, MECHANICAL_BOARD_1_PC_TIMER_LENGTH);
initBuffer(&consoleInputBuffer, (char(*)[]) &consoleInputBufferArray, MECHANICAL_BOARD_1_PC_CONSOLE_INPUT_BUFFER_LENGTH, "inputConsoleBuffer", "IN");
initBuffer(&consoleOutputBuffer, (char(*)[]) &consoleOutputBufferArray, MECHANICAL_BOARD_1_PC_CONSOLE_OUTPUT_BUFFER_LENGTH, "outputConsoleBuffer", "IN");
// Dispatchers
initDriverDataDispatcherList((DriverDataDispatcher(*)[]) &driverDataDispatcherListArray, MECHANICAL_BOARD_1_PC_DATA_DISPATCHER_LIST_LENGTH);
addLocalDriverDataDispatcher();
if (!singleModeActivated) {
// I2c
initI2cBusList((I2cBus(*)[]) &i2cBusListArray, MECHANICAL_BOARD_1_PC_I2C_BUS_LIST_LENGTH);
mechanical1I2cBus = addI2cBus(I2C_BUS_TYPE_SLAVE, I2C_BUS_PORT_1);
initI2cBusConnectionList((I2cBusConnection(*)[]) &i2cBusConnectionListArray, MECHANICAL_BOARD_1_PC_I2C_BUS_CONNECTION_LIST_LENGTH);
mechanical1I2cBusConnection = addI2cBusConnection(mechanical1I2cBus, MECHANICAL_BOARD_1_I2C_ADDRESS, false);
mechanical1I2cBusConnection->i2cBus = mechanical1I2cBus;
mechanical1I2cBusConnectionPc.i2cPipeMasterName = MAIN_BOARD_TO_MECA1_BOARD_PC_PIPE_I2C_MASTER_NAME;
mechanical1I2cBusConnectionPc.i2cPipeSlaveName = MECHANICAL_BOARD_1_PC_PIPE_I2C_SLAVE_NAME;
mechanical1I2cBusConnection->object = &mechanical1I2cBusConnectionPc;
openSlaveI2cStreamLink(&i2cSlaveStreamLink,
&i2cSlaveInputBuffer,
(char(*)[]) &i2cSlaveInputBufferArray,
MECHANICAL_BOARD_1_PC_IN_BUFFER_LENGTH,
&i2cSlaveOutputBuffer,
(char(*)[]) &i2cSlaveOutputBufferArray,
MECHANICAL_BOARD_1_PC_OUT_BUFFER_LENGTH,
mechanical1I2cBusConnection
);
// I2C Debug
initI2CDebugBuffers(&i2cSlaveDebugInputBuffer,
(char(*)[]) &i2cSlaveDebugInputBufferArray,
MECHANICAL_BOARD_1_PC_I2C_DEBUG_SLAVE_IN_BUFFER_LENGTH,
&i2cSlaveDebugOutputBuffer,
(char(*)[]) &i2cSlaveDebugOutputBufferArray,
MECHANICAL_BOARD_1_PC_I2C_DEBUG_SLAVE_OUT_BUFFER_LENGTH);
}
// Eeprom
initEepromPc(&eeprom, "MECHANICAL_BOARD_1_PC_EEPROM");
// Battery
initBattery(&battery, getBatteryVoltage);
// Clock
initSoftClock(&clock);
// HBridge Fake Motor MD22
initDualHBridgeMotorPc(&md22);
// 2018
// IO Expander
initIOExpanderList(&ioExpanderList, (IOExpander(*)[]) &ioExpanderArray, MECHANICAL_BOARD_1_PC_IO_EXPANDER_LIST_LENGTH);
initIOExpanderPc(getIOExpanderByIndex(&ioExpanderList, MECHANICAL_BOARD_1_PC_IO_EXPANDER_LAUNCHER_INDEX), &ioExpanderValue0);
IOExpander* launcherIoExpander = getIOExpanderByIndex(&ioExpanderList, MECHANICAL_BOARD_1_PC_IO_EXPANDER_LAUNCHER_INDEX);
// TODO : Add tof !
// initLauncher2018(&launcher2018, launcherIoExpander, &relay, &md22, NULL);
// Relay
initRelayPc(&relay, &relayValue);
// Devices
initDeviceList((Device(*)[]) &deviceListArray, MECHANICAL_BOARD_1_PC_DEVICE_LIST_LENGTH);
addLocalDevice(getTestDeviceInterface(), getTestDeviceDescriptor());
addLocalDevice(getTimerDeviceInterface(), getTimerDeviceDescriptor());
addLocalDevice(getI2cCommonDebugDeviceInterface(), getI2cCommonDebugDeviceDescriptor());
addLocalDevice(getI2cSlaveDebugDeviceInterface(), getI2cSlaveDebugDeviceDescriptor(mechanical1I2cBusConnection));
addLocalDevice(getSystemDeviceInterface(), getSystemDeviceDescriptor());
addLocalDevice(getLogDeviceInterface(), getLogDeviceDescriptor());
addLocalDevice(getEepromDeviceInterface(), getEepromDeviceDescriptor(&eeprom));
addLocalDevice(getClockDeviceInterface(), getClockDeviceDescriptor(&clock));
// 2018
addLocalDevice(getIOExpanderDeviceInterface(), getIOExpanderDeviceDescriptor(&ioExpanderList));
addLocalDevice(getRelayDeviceInterface(), getRelayDeviceDescriptor(&relay));
addLocalDevice(getMD22DeviceInterface(), getMD22DeviceDescriptor(&md22));
initDevices();
startTimerList(true);
setDebugI2cEnabled(false);
while (1) {
mechanicalBoard1PcWaitForInstruction();
}
}
int main(void) {
setBoardName("MAIN BOARD");
setRobotMustStop(false);
// LOG Global Configuration
initLogs(DEBUG, &logHandlerListArray, MAIN_BOARD_LOG_HANDLER_LIST_LENGTH, LOG_HANDLER_CATEGORY_ALL_MASK);
// LCD (LCD via Parallel interface)
initLCDOutputStream(&lcdOutputStream);
addLogHandler("LCD", &lcdOutputStream, LOG_LEVEL_ERROR, LOG_HANDLER_CATEGORY_ALL_MASK);
// CONFIG
initRobotConfigPic32(&robotConfig);
// Open the serial Link for debug and LOG !
openSerialLink(&debugSerialStreamLink,
&debugInputBuffer, &debugInputBufferArray, MAIN_BOARD_DEBUG_INPUT_BUFFER_LENGTH,
&debugOutputBuffer, &debugOutputBufferArray, MAIN_BOARD_DEBUG_OUTPUT_BUFFER_LENGTH,
&debugOutputStream,
SERIAL_PORT_DEBUG,
DEFAULT_SERIAL_SPEED);
// Serial Debug LOG
addLogHandler("UART", &debugOutputStream, DEBUG, LOG_HANDLER_CATEGORY_ALL_MASK);
// LOG the BoardName
appendString(getAlwaysOutputStreamLogger(), getBoardName());
println(getAlwaysOutputStreamLogger());
// SERIAL
// Open the serial Link for the Motor Board
openSerialLink(&motorSerialStreamLink,
&motorInputBuffer, &motorInputBufferArray, MAIN_BOARD_MOTOR_INPUT_BUFFER_LENGTH,
&motorOutputBuffer, &motorOutputBufferArray, MAIN_BOARD_MOTOR_OUTPUT_BUFFER_LENGTH,
&motorOutputStream,
SERIAL_PORT_MOTOR,
DEFAULT_SERIAL_SPEED);
// Open the serial Link for the Mechanical Board
openSerialLink(&mechanicalBoard2SerialStreamLink,
&mechanicalBoard2InputBuffer, &mechanicalBoard2InputBufferArray, MAIN_BOARD_MECA2_INPUT_BUFFER_LENGTH,
&mechanicalBoard2OutputBuffer, &mechanicalBoard2OutputBufferArray, MAIN_BOARD_MECA2_OUTPUT_BUFFER_LENGTH,
&mechanicalBoard2OutputStream,
SERIAL_PORT_MECA2,
DEFAULT_SERIAL_SPEED);
// Open the serial Link for the PC
openSerialLink(&pcSerialStreamLink,
&pcInputBuffer, &pcInputBufferArray, MAIN_BOARD_PC_INPUT_BUFFER_LENGTH,
&pcOutputBuffer, &pcOutputBufferArray, MAIN_BOARD_PC_OUTPUT_BUFFER_LENGTH,
&pcOutputStream,
SERIAL_PORT_PC,
DEFAULT_SERIAL_SPEED);
// MAIN I2C
initI2cBus(&i2cBus, I2C_BUS_TYPE_MASTER, I2C_BUS_PORT_1);
i2cMasterInitialize(&i2cBus);
initI2cBusConnection(&motorI2cBusConnection, &i2cBus, MOTOR_BOARD_I2C_ADDRESS);
initI2cBusConnection(&mechanicalBoard2I2cBusConnection, &i2cBus, MECHANICAL_BOARD_2_I2C_ADDRESS);
// I2C Debug
initI2CDebugBuffers(&i2cMasterDebugInputBuffer,
&i2cMasterDebugInputBufferArray,
MAIN_BOARD_I2C_DEBUG_MASTER_IN_BUFFER_LENGTH,
&i2cMasterDebugOutputBuffer,
&i2cMasterDebugOutputBufferArray,
MAIN_BOARD_I2C_DEBUG_MASTER_OUT_BUFFER_LENGTH);
setDebugI2cEnabled(false);
// -> Eeproms
initI2cBusConnection(&eepromI2cBusConnection, &i2cBus, ST24C512_ADDRESS_0);
init24C512Eeprom(&eeprom, &eepromI2cBusConnection);
// -> Clock
initI2cBusConnection(&clockI2cBusConnection, &i2cBus, PCF8563_WRITE_ADDRESS);
initClockPCF8563(&clock, &clockI2cBusConnection);
// -> Temperature
initI2cBusConnection(&temperatureI2cBusConnection, &i2cBus, LM75A_ADDRESS);
initTemperatureLM75A(&temperature, &temperatureI2cBusConnection);
// TIMERS
initTimerList(&timerListArray, MAIN_BOARD_TIMER_LENGTH);
// DEVICES, DRIVERS, DISPATCHERS
initMainBoardDevicesDescriptor();
initMainBoardDriversDescriptor();
initMainBoardDriverDataDispatcherList();
// Start interruptions
startTimerList();
loopUntilStart(&startMatch);
counter = 1;
clearBuffer(&mechanicalBoard2InputBuffer);
// enableNotificationRobotInfraredDetector(DETECTOR_GROUP_TYPE_FORWARD);
while (1) {
if (!mainBoardWaitForInstruction(&startMatch)) {
break;
}
}
showEnd(getAlwaysOutputStreamLogger());
while (1) {
// Avoid reboot even at end
}
}