RobotControl::RobotOutput RobotControl::parse_robot_out()
{
const long N = 1000;
RobotOutput output;
char buffer[N];
qint64 n = port.readLine(buffer, N);
if (n < 3 || (buffer[1] != ':'))
{
output.type = INVALID;
}
else
{
switch(*buffer) {
case 'p':
output.type = POSITION;
break;
case 't':
output.type = TIMESTAMP;
break;
case 'm':
output.type = MOVE;
break;
case 's':
output.type = SPEED;
break;
}
scan_params(buffer, &output);
}
//qDebug() << output.type << ":" << output.param1 << "," <<
// output.param2;
return output;
}
int main(int argc, char **argv) {
struct sigaction sigact;
init_pagefile(); // init page file
open_logger(); // open logfile
/* Create shared memory and init vmem structure */
vmem_init();
TEST_AND_EXIT_ERRNO(!vmem, "Error initialising vmem");
PRINT_DEBUG((stderr, "vmem successfully created\n"));
// scan parameter
vmem->adm.program_name = argv[0];
vmem->adm.page_rep_algo = VMEM_ALGO_AGING;
scan_params(argc, argv);
/* Setup signal handler */
sigact.sa_handler = sighandler;
sigemptyset(&sigact.sa_mask);
sigact.sa_flags = 0;
TEST_AND_EXIT_ERRNO(sigaction(SIGUSR1, &sigact, NULL) == -1,
"Error installing signal handler for USR1");
PRINT_DEBUG((stderr, "USR1 handler successfully installed\n"));
TEST_AND_EXIT_ERRNO(sigaction(SIGUSR2, &sigact, NULL) == -1,
"Error installing signal handler for USR2");
PRINT_DEBUG((stderr, "USR2 handler successfully installed\n"));
TEST_AND_EXIT_ERRNO(sigaction(SIGINT, &sigact, NULL) == -1,
"Error installing signal handler for INT");
PRINT_DEBUG((stderr, "INT handler successfully installed\n"));
/* Signal processing loop */
while (1) {
signal_number = 0;
pause();
if (signal_number == SIGUSR1) { /* Page fault */
PRINT_DEBUG((stderr, "Processed SIGUSR1\n"));
signal_number = 0;
} else if (signal_number == SIGUSR2) { /* PT dump */
PRINT_DEBUG((stderr, "Processed SIGUSR2\n"));
signal_number = 0;
} else if (signal_number == SIGINT) {
PRINT_DEBUG((stderr, "Processed SIGINT\n"));
}
}
return 0;
}
