diff options
Diffstat (limited to 'guardian.c')
| -rw-r--r-- | guardian.c | 153 |
1 files changed, 153 insertions, 0 deletions
@@ -4,6 +4,8 @@ #include<ctype.h> #include <sys/types.h> #include <dirent.h> +#include "rs232.h" +#include <unistd.h> /* struct describing the various templates that alerts can use * these are loaded from /etc/squishy */ @@ -33,6 +35,10 @@ struct template { struct template * * templates; unsigned int templates_len = 0; /* + * Comport number of the comport in use + */ +int comport_number; +/* * Reads alert template from file, returns null on failure, otherwise returns * pointer to the template w/ all data already allocated by the function */ @@ -292,6 +298,11 @@ char * str_concat(char * s1, char * s2) { strncpy(return_str + strlen(s1) + strlen(s2) ,"\0", sizeof(char) * 1); return return_str; } +/* + * Loads all templates + * looks in templates/ + * returns NULL on error + */ struct template * * load_templates() { /*ensures that templates is alteast 1 element big*/ struct template * * templates = (struct template * *)malloc(sizeof(struct template * )); @@ -347,6 +358,12 @@ struct template * * load_templates() { closedir(templates_dir); return templates; } +/* + * Sends alert to all pseudoterminals the process has permission to + * returns -1 on error + * template_name is used to select a template and not a pointer to a template + * class, this way broadcast handles template selection directly from arguments + */ int broadcast(char * template_name, char * message) { struct template * tm = NULL; /* @@ -409,13 +426,149 @@ int broadcast(char * template_name, char * message) { } } while (pts_entry != NULL); } +/* + * Initializes RS232 connection with the guardian, returns -1 on error + */ +int startcom (char * device_path) { + comport_number = -1; + /* + * Looks for device in the RS232 library array comports that match the + * device specified by the user. If one is not found then comport_number + * will remain -1; + */ + for (int i = 0; i < 38; i++) { + if (strcmp(comports[i], device_path) == 0) { + comport_number = i; + } + } + /* + * Deals with the condition described above + */ + if (comport_number == -1 ) { + fprintf(stderr, "Could not find device %s\n",device_path); + return -1; + } + /* + * Opens RS232 Connection w/ the Guardian. The connection is at + * 9600baud. 8N1 means 8 data bits and no parity bits + */ + int err = RS232_OpenComport(comport_number ,9600,"8N1"); + if (err != 0) { + fprintf(stderr, "Error opening comport %s, number %d\n", + device_path, comport_number); + return -1; + } + /* waits for arduino to respond, this indicates that it is ready to + * accept commands. We know for a fact that the response is less than + * 256 bytes so the buffer is more than safe + */ + char poll_buffer[256]; + /* + * Timeout is implemented with a timer w/ no regard to actual time + * passed. For now it will be 200 tries + */ + int timeout = 0; + do { + /*On EAGAIN( no data), the function returns 0, however if there + * is an error it returns <0. Otherwise it returns the number of + * bytes read + */ + err = RS232_PollComport(comport_number, poll_buffer, 256); + timeout++; + /* + * Checks for timeout + */ + if (timeout >= 200) { + fprintf(stderr, "Polling %s timed out\n",device_path); + err = -1; + } + + } while (err == 0); + if (err < 0) { + fprintf(stderr, "Error polling from comport %s, number %d\n", + device_path, comport_number); + return -1; + } + return 0; +} +/* + * Makes the Guardian block the keyboard, returns -1 on error + */ +int slap(char pos) { + /* positions commands are sent in the form of + * p[int] where the letter 'p' is followed by an integer ranging 0 to + * 180 that determines the angle of the servo. We will cast this as an + * char for simplicity. On the microcontroller side this gets casted + * into an int 180 flat to the extreme + * ------ + * =====O | 180 Degrees + * ------ + * + * | + * __|___ + * | O | 90 Degrees + * ------ + */ + char command[2] = {'p', pos}; + int error = RS232_SendBuf(comport_number,command, 2); + if (error != 0) { + fprintf(stderr, "Error sending command to comport %d\n", + comport_number); + return error; + } + return 0; +} int main (int argc, char * argv[]) { + + /* + * Checks for the proper number of arguments, also checks for argv[1] == + * "raise" and there are 2 arguments. + */ + if (argc < 4) { + /* + * Tests for raise + */ + if (argc >= 3) { + if (strcmp(argv[1], "raise") == 0 ) { + /* + * Starts com based on 2nd argument device and + * raises the arm + */ + startcom(argv[2]); + slap(90); + /* exits */ + return 0; + } + } + /* + * Not enough arguments, display help and exit + */ + fprintf(stdout, "Usage: guardian [template] [message] [guardian\ + device]\n\ + OR guardian raise"); + return -1; + } + /* + * Loads templates for the alert + */ templates = load_templates(); if (templates == NULL) { return -1; } + /* + * Sends the alert to all pttys + */ if (broadcast(argv[1],argv[2])) { return -1; } + /* + * Starts serial communications w/ the Arduino, uses 3rd argument as the + * device to connect to. + */ + startcom(argv[3]); + /* + * For normal operation it lowers the arm + */ + slap(180); } |