void pifacefinalise()
{
if (pfd) {
pfio_deinit();
pfd = 0;
}
}
void sigfunc(int sig)
{
if(sig != SIGINT)
return;
else
{
if (cancel == 0)
{
cancel = 1;
printf("press ctrl+c again to pause program\n");
}
else if (cancel == 1)
{
cancel = 2;
int laser=laserOn;
setLaser(POW_OFF);
printf("press 'e' to end program\n");
printf("press any other key to resume program\n");
int input = getInputChar();
if (input=='e')
exit (0);
setLaser(laser);
cancel=0;
}
else
{
printf("Thanks for flying plotd\n");
setLaser(POW_OFF);
pfio_write_output(0x00);
pfio_deinit();
exit (0);
}
}
}
int main(void)
{
if (pfio_init() < 0)
exit(-1);
while (1)
{
printf("Input port: 0x%x\n", pfio_read_input());
sleep(1);
}
pfio_deinit();
return 0;
}
int main(void)
{
// init IOs
signal(SIGINT,sigfunc);
if (pfio_init() < 0)
exit(-1);
// init PWM
if (wiringPiSetup () == -1)
exit (1);
pinMode (1, PWM_OUTPUT);
laserPower = POW_MED;
setZero(JUMP);
printf("plotd: daemon ready\n");
manualControl();
pfio_write_output(0x00);
pfio_deinit();
return 0;
}
void RobotApp(int argc, char *argv[])
{
pfio_init();
while (1)
{
pfio_digital_write(LIGHT1, RED);
pfio_digital_write(LIGHT2, RED);
_delay_ms(SWITCH_TIME);
pfio_digital_write(LIGHT1, RED);
pfio_digital_write(LIGHT2, GREEN);
_delay_ms(CYCLE_TIME);
pfio_digital_write(LIGHT1, RED);
pfio_digital_write(LIGHT2, RED);
_delay_ms(SWITCH_TIME);
pfio_digital_write(LIGHT1, GREEN);
pfio_digital_write(LIGHT2, RED);
_delay_ms(CYCLE_TIME);
}
pfio_deinit();
printf ("Ready.\n");
}
int main(void)
{
if (pfio_init() < 0) perror("Cannot start PFIO");
long int code = 0, last = 0;
int count = 0;
bool last_d0 = 0, last_d1 = 0;
read_config();
if(signal(SIGHUP, signal_handler) == SIG_ERR) perror("Cannot handle signal SIGHUP.");
if(signal(SIGUSR1, signal_handler) == SIG_ERR) perror("Cannot handle signal SIGUSR1.");
if(signal(SIGINT, signal_handler) == SIG_ERR) perror("Cannot handle signal SIGINT.");
beep(1000);
#if DEBUG
printf("Ready!\n");
#endif
while (1)
{
int i = pfio_read_input();
if(i == 0xFF) usleep(1);
struct timeval tv;
gettimeofday(&tv, NULL);
long int now = tv.tv_usec + tv.tv_sec*1000;
if((now - last > TIMEOUT)||(now<last)) {
#if DEBUG
printf(" - ");
#endif
count = 0;
code = 0;
}
bool d0 = (i & MASK_D0)==0;
bool d1 = (i & MASK_D1)==0;
bool button = (i & MASK_EXIT)==0;
bool lockcmd = (i & MASK_LOCK)==0;
if(lockcmd || locked) {
#if DEBUG
printf("*** LOCK ***\n");
#endif
while(((pfio_read_input() & MASK_LOCK)==0)||locked) {
pfio_digital_write(PIN_GLED,1);
usleep(200000);
pfio_digital_write(PIN_GLED,0);
usleep(200000);
}
#if DEBUG
printf("*** UNLOCK ***\n");
#endif
}
if(button) {
#if DEBUG
printf("Exit button pressed!!!\n");
#endif
open_door_start();
beep(100);
while((pfio_read_input() & MASK_EXIT)==0) sleep(1);
#if DEBUG
printf("Exit button released!!!\n");
#endif
sleep(DOOR_DELAY);
open_door_stop();
}
if(d0 && !last_d0) {
#if DEBUG
printf("0");
#endif
code = code << 1;
count++;
}
if(d1 && !last_d1) {
#if DEBUG
printf("1");
#endif
code = (code << 1) + 1;
count++;
}
if(count==BITSCOUNT) {
#if DEBUG
printf("[%li]\n",code);
#endif
struct card * c = cards;
bool allowed = 0;
while(c) {
if(c->code == code) {
allowed = 1;
break;
}
c = c->next;
};
if(allowed) {
// Accepte
#if DEBUG
printf("Access authorized!\n");
#endif
open_door(0);
#if DEBUG
printf("OK\n");
#endif
} else {
// Refuse
#if DEBUG
printf("Access denied!\n");
#endif
int n;
for(n=0; n<3; n++) {
usleep(200000);
beep(100);
}
#if DEBUG
printf("OK\n");
#endif
}
code = 0;
count = 0;
}
#if DEBUG
fflush(stdout);
#endif
last_d0 = d0;
last_d1 = d1;
last = now;
}
pfio_deinit();
return 0;
}