void elevator_init_pos(){
if(elev_get_floor_sensor_signal()==BETWEEN_FLOORS){
control_down();
while(elev_get_floor_sensor_signal()==BETWEEN_FLOORS)
; // wait
}
int floor = elev_get_floor_sensor_signal();
set_last_floor(floor);
control_setcurpos(floor);
control_stop();
}
int execute_command(enum COMMAND cmd) {
switch (cmd) {
case C_AHEAD: return control_goahead(4000);
case C_GETCORNER: return control_getcorner();
case C_LEFT: return control_turnleft();
case C_RIGHT: return control_turnright();
case C_AROUND: return control_turnaround();
case C_BREAK: return control_break();
case C_START: return control_start();
case C_LETSWIN: return control_letswin();
case C_STOP:
default: return control_stop();
}
}
static void
cleanup(void)
{
#ifdef DEBUG_MEMORY
struct interface *ifp;
int i;
free(duid);
free_options(if_options);
if (ifaces) {
while ((ifp = TAILQ_FIRST(ifaces))) {
TAILQ_REMOVE(ifaces, ifp, next);
free_interface(ifp);
}
free(ifaces);
}
for (i = 0; i < ifac; i++)
free(ifav[i]);
free(ifav);
for (i = 0; i < ifdc; i++)
free(ifdv[i]);
free(ifdv);
#endif
if (!(options & DHCPCD_FORKED))
dev_stop();
if (linkfd != -1)
close(linkfd);
if (pidfd > -1) {
if (options & DHCPCD_MASTER) {
if (control_stop() == -1)
syslog(LOG_ERR, "control_stop: %m");
}
close(pidfd);
unlink(pidfile);
}
#ifdef DEBUG_MEMORY
free(pidfile);
#endif
if (options & DHCPCD_STARTED && !(options & DHCPCD_FORKED))
syslog(LOG_INFO, "exited");
}
