int main(void)
{
init();
BOOL motors_stopped = FALSE;
send_welcome();
while (1)
{
if (motors_stopped)
{
led_on ( STOP_LED );
led_off ( GO_LED );
} else
{
led_on( GO_LED );
led_off( STOP_LED );
}
read_buttons();
if (stop_button_pressed)
{
motors_stopped = TRUE;
stop_motors();
}
if (prog_button_pressed)
{
motors_stopped = FALSE;
resume_motors();
}
encoder_timeslice();
limit_switch_timeslice();
motor_timeslice_10ms();
serial_timeslice(); // handle incoming messages (if avail)
watchdog_reset();
//delay(one_second/10);
}
return (0);
}
/*
** This is the process spawned by pthread_create, into which we pass StateInfo.
** Using pthread_self, we relocate the appropriate instance and set up some
** variables for the game, log some stuff to log, send a welcome message, etc.
** We then enter the main game loop, waiting for messages from the client
** which we then handle with game_step. Once the game ends, we remove the
** appropriate instance, close the socket and print to log before finally
** exiting the thread.
*/
void *run_instance(void *param)
{
/*
** Because we can only pass one thing into this function, we pass the
** thing with the greatest amount of useful info, the Instances struct.
** We then find again the target Instance by using the thread_id,
** which we can find out using pthread_self() passed to get_instance().
*/
StateInfo *state_info = (StateInfo*)param;
Instance *instance = get_instance(state_info, pthread_self());
char *correct = instance->code;
int sock_id = instance->s;
char *ip4 = instance->ip4;
char log_buf[LOG_MSG_LEN];
send_welcome(sock_id);
// Add our own sentinel for printing purposes.
char msg[CODE_LENGTH+1];
// Main game loop. We don't have to worry about the len that recv returns
// because we know we will get 4 chars and these are all that concern us.
while (recv(sock_id, &msg, CODE_LENGTH, 0))
{
msg[CODE_LENGTH] = '\0';
if (game_step(msg, correct, instance) == 0)
break;
}
remove_instance(state_info, instance->t);
close(sock_id);
sprintf(log_buf, "(%s)(%d) Client disconnected.\n", ip4, sock_id);
write_log(log_buf);
pthread_exit(NULL);
}