int main(int argc, char *argv[])
{
pthread_t lesen_thread[2];
//init_serial_port();
init_socket();
pthread_create(&lesen_thread[1], NULL, read_socket, NULL);
//square 1
/*
move_robot("tx8", 5.0, 0.0, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 0.0, M_PI_2, 0.0);
*/
//square 2
/*
move_robot("tx8", 5.0, 0.0, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 0.0, M_PI_2, 0.0);
//square 2
move_robot("tx8", 5.0, 0.0, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 0.0, M_PI_2, 0.0);
//square 2
move_robot("tx8", 5.0, 0.0, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 5.0, M_PI_2, 0.0);
move_robot("tx8", 0.0, M_PI_2, 0.0);
*/
pthread_exit(NULL);
kill_socket();
//cssl_close(serial_port);
//cssl_stop();
return 0;
}
void kill_bot (struct Bot *killme) {
/* Add channel/user killing routines */
struct IRCServer *tempserv;
struct IRCServer *tempserv2;
struct Nickname *tempnick;
struct Nickname *tempnick2;
/* First, kill the servers */
tempserv = killme->list;
while (tempserv) {
tempserv2 = tempserv; /* Remember this one... */
tempserv = tempserv->next; /* Move on... */
free (tempserv2); /* Free memory */
}
/* Now, kill the nicknames */
tempnick = killme->nicks;
while (tempnick) {
tempnick2 = tempnick;
tempnick = tempnick->next;
free (tempnick2);
}
kill_socket (killme) ; /* Also kill its socket, if it exists */
/* Now kill the main bot structure */
free (killme);
}
int accept(int socket, struct sockaddr * addr, int * addr_len) {
if(socket<1 || socket>SGIP_SOCKET_MAXSOCKETS || !addr || !addr_len) return SGIP_ERROR(EINVAL);
SGIP_INTR_PROTECT();
sgIP_Record_TCP * ret;
int retval,s;
retval=SGIP_ERROR0(EINVAL);
ret=0;
socket--;
if(!(socketlist[socket].flags&SGIP_SOCKET_FLAG_VALID)) { SGIP_INTR_UNPROTECT(); return SGIP_ERROR(EINVAL); }
if((socketlist[socket].flags&SGIP_SOCKET_FLAG_TYPEMASK)==SGIP_SOCKET_FLAG_TYPE_TCP) {
s=spawn_socket((socketlist[socket].flags&SGIP_SOCKET_FLAG_NONBLOCKING) | SGIP_SOCKET_FLAG_TYPE_TCP);
if(s>0) {
do {
ret=sgIP_TCP_Accept((sgIP_Record_TCP *)socketlist[socket].conn_ptr);
if(ret!=0) break;
if(errno!=EWOULDBLOCK) break;
if(socketlist[socket].flags&SGIP_SOCKET_FLAG_NONBLOCKING) break;
SGIP_INTR_UNPROTECT(); // give interrupts a chance to occur.
SGIP_WAITEVENT(); // don't just try again immediately
SGIP_INTR_REPROTECT();
} while(1);
}
if(ret==0) {
kill_socket(s);
retval=-1;
} else {
*addr_len=sizeof(struct sockaddr_in);
((struct sockaddr_in *)addr)->sin_family=AF_INET;
((struct sockaddr_in *)addr)->sin_port=ret->destport;
((struct sockaddr_in *)addr)->sin_addr.s_addr=ret->destip;
socketlist[s-1].conn_ptr=ret;
retval=s;
}
}
SGIP_INTR_UNPROTECT();
return retval;
}
