From 2fd81cbb90d135b2b5ee8a90820ecb197f7e9069 Mon Sep 17 00:00:00 2001
From: Timothy Stack <stack@flux.utah.edu>
Date: Tue, 10 May 2005 14:35:46 +0000
Subject: [PATCH] moved to garcia-pilot
---
robots/primotion/garcia_pilot.cc | 179 -------------------------------
robots/primotion/garcia_pilot.hh | 7 --
2 files changed, 186 deletions(-)
delete mode 100644 robots/primotion/garcia_pilot.cc
delete mode 100644 robots/primotion/garcia_pilot.hh
diff --git a/robots/primotion/garcia_pilot.cc b/robots/primotion/garcia_pilot.cc
deleted file mode 100644
index 53de357b09..0000000000
--- a/robots/primotion/garcia_pilot.cc
+++ /dev/null
@@ -1,179 +0,0 @@
-
-#include "config.h"
-
-#include <stdio.h>
-#include <assert.h>
-#include <signal.h>
-#include <unistd.h>
-
-#include "acpGarcia.h"
-#include "acpValue.h"
-
-#include "dashboard.hh"
-#include "wheelManager.hh"
-
-static int debug = 0;
-
-static int looping = 1;
-
-static void sigquit(int signal)
-{
- looping = 0;
-}
-
-static void sigpanic(int signal)
-{
- printf("panic %d\n", signal);
- exit(1);
-}
-
-static void usage(void)
-{
-}
-
-int find_range_start(unsigned long *range, unsigned long index)
-{
- int lpc, retval = -1;
-
- assert(range != NULL);
-
- for (lpc = 0; (retval == -1) && (range[lpc + 1] != 0); lpc++) {
- if ((range[lpc] <= index) && (index < range[lpc + 1])) {
- retval = lpc;
- }
- }
-
- return retval;
-}
-
-int main(int argc, char *argv[])
-{
- char *logfile = NULL, *pidfile = NULL;
- int c, lpc, retval = EXIT_SUCCESS;
- unsigned long now;
- acpGarcia garcia;
- aIOLib ioRef;
- aErr err;
-
- while ((c = getopt(argc, argv, "hdp:l:i:")) != -1) {
- switch (c) {
- case 'h':
- usage();
- exit(0);
- break;
- case 'd':
- debug += 1;
- break;
- case 'l':
- logfile = optarg;
- break;
- case 'i':
- pidfile = optarg;
- break;
- }
- }
-
- if (getuid() != 0) {
- fprintf(stderr, "error: must run as root!\n");
- exit(1);
- }
-
- if (!debug) {
- /* Become a daemon */
- daemon(0, 0);
-
- if (logfile) {
- FILE *file;
-
- if ((file = fopen(logfile, "w")) != NULL) {
- dup2(fileno(file), 1);
- dup2(fileno(file), 2);
- stdout = file;
- stderr = file;
- }
- }
- }
-
- if (pidfile) {
- FILE *fp;
-
- if ((fp = fopen(pidfile, "w")) != NULL) {
- fprintf(fp, "%d\n", getpid());
- (void) fclose(fp);
- }
- }
-
- signal(SIGQUIT, sigquit);
- signal(SIGTERM, sigquit);
- signal(SIGINT, sigquit);
-
- signal(SIGSEGV, sigpanic);
- signal(SIGBUS, sigpanic);
-
- signal(SIGPIPE, SIG_IGN);
-
- aIO_GetLibRef(&ioRef, &err);
-
- if (debug) {
- printf("Waiting for link to robot\n");
- }
-
- for (lpc = 0;
- (lpc < 30) && !garcia.getNamedValue("active")->getBoolVal();
- lpc++) {
- printf(".");
- fflush(stdout);
- aIO_MSSleep(ioRef, 100, NULL);
- }
- printf("\n");
-
- if (lpc == 30) {
- fprintf(stderr,
- "error: could not connect to robot %d\n",
- garcia.getNamedValue("status")->getIntVal());
- exit(1);
- }
-
- aIO_MSSleep(ioRef, 500, NULL);
-
- if (debug) {
- printf("Established link to robot\n");
- }
-
- {
- acpValue av;
-
- av.set("radians");
- garcia.setNamedValue("angle-units-string", &av);
-
- av.set("meters");
- garcia.setNamedValue("distance-units-string", &av);
- }
-
- {
- dashboard db;
- wheelManager wm;
- unsigned long first;
-
- wm.setDashboard(&db);
- garcia.queueBehavior(wm.createMove(garcia, 0.1));
- aIO_GetMSTicks(ioRef, &first, NULL);
- do {
- garcia.handleCallbacks(50);
- aIO_GetMSTicks(ioRef, &now, NULL);
-
- if ((now - first) > 1500) {
- printf("flushing\n");
- garcia.flushQueuedBehaviors();
- printf("done\n");
- first = now + 3000000;
- }
- } while (looping && db.update(garcia, now));
- }
-
- garcia.flushQueuedBehaviors();
-
- aIO_ReleaseLibRef(ioRef, &err);
-
- return retval;
-}
diff --git a/robots/primotion/garcia_pilot.hh b/robots/primotion/garcia_pilot.hh
deleted file mode 100644
index 83a696a2bf..0000000000
--- a/robots/primotion/garcia_pilot.hh
+++ /dev/null
@@ -1,7 +0,0 @@
-
-#ifndef _garcia_pilot_hh
-#define _garcia_pilot_hh
-
-int find_range_start(unsigned long *range, unsigned long index);
-
-#endif
--
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