WallyHackenslacker/Robotd
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Added error checking to the daemon.

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Wally Hackenslacker
2018-11-22 04:11:03 +00:00
parent 35cdf5823f
commit b86eac4488
1 changed files with 40 additions and 18 deletions
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58
robotd.c
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@@ -13,18 +13,46 @@
#define GPIO_PIN_4 4
#define GPIO_PIN_13 13
#define MRAA_CHECK_RESULT(X, Y, Z, Q) \
if (X == MRAA_SUCCESS) { \
syslog(LOG_DAEMON | LOG_NOTICE, Y); \
} else { \
syslog(LOG_DAEMON | LOG_ERR, Z); \
if (Q) { \
clean_up(); \
exit(EXIT_FAILURE); \
} \
}
#define PYTHON_CHECK_RESULT(X, Y, Z, W) \
if (X == 0) { \
syslog(LOG_DAEMON | LOG_NOTICE, Y); \
} else if (X == 1) { \
syslog(LOG_DAEMON | LOG_ERR, Z); \
clean_up(); \
exit(EXIT_FAILURE); \
} else if (X == 2) { \
syslog(LOG_DAEMON | LOG_ERR, W); \
clean_up(); \
exit(EXIT_FAILURE); \
} else { \
syslog(LOG_DAEMON | LOG_ERR, "Python returned %d", X); \
clean_up(); \
exit(EXIT_FAILURE); \
}
mraa_result_t mr;
mraa_gpio_context pin13, pin4;
void clean_up() {
syslog(LOG_DAEMON | LOG_WARNING, "Cleaning up.");
mr = mraa_gpio_write(pin4, 0);
// TODO: MRAA error handling
MRAA_CHECK_RESULT(mr, "Red LED turned off.", "Failed to turn off the red LED.", false)
closelog();
}
void sig_handler(int signal) {
// Turn off the red LED
syslog(LOG_DAEMON | LOG_WARNING, "Robot daemon interrupted.");
clean_up();
exit(EXIT_FAILURE);
@@ -70,25 +98,25 @@ int main(int argc, char ** argv) {
// Open PIN 13 as a PULLUP input pin for the push button
pin13 = mraa_gpio_init(GPIO_PIN_13);
mr = mraa_gpio_dir(pin13, MRAA_GPIO_IN);
MRAA_CHECK_RESULT(mr, "Opened push button pin.", "Failed to open push button pin.", true);
mr = mraa_gpio_mode(pin13, MRAA_GPIO_PULLUP);
syslog(LOG_DAEMON | LOG_NOTICE, "Push button ready.");
// TODO: MRAA error handling
MRAA_CHECK_RESULT(mr, "Push button ready.", "Failed to set push button mode.", true);
// Open PIN 4 as an output pin for the red indicator LED
pin4 = mraa_gpio_init(GPIO_PIN_4);
mr = mraa_gpio_dir(pin4, MRAA_GPIO_OUT);
syslog(LOG_DAEMON | LOG_NOTICE, "Red LED ready.");
// TODO: MRAA error handling
MRAA_CHECK_RESULT(mr, "Red LED ready.", "Failed to open red LED pin.", true);
// Start pin processing loop
while (!done) {
// Keep the red LED on and read from the push button pin
mr = mraa_gpio_write(pin4, 1);
rv = mraa_gpio_read(pin13);
// TODO: MRAA error handling
if (mr != MRAA_SUCCESS) {
syslog(LOG_DAEMON | LOG_ERR, "Failed to write to the red LED.");
}
rv = mraa_gpio_read(pin13);
if (rv == 0) {
// If the button is pressed then stop reading and go on with the program
@@ -97,11 +125,6 @@ int main(int argc, char ** argv) {
}
}
// Turn off the red LED
mr = mraa_gpio_write(pin4, 0);
// TODO: MRAA error handling
// Open the source code file for the Python script
syslog(LOG_DAEMON | LOG_NOTICE, "Opening Python source code.");
FILE * code = fopen("/home/root/Robotd/robot.py", "r");
@@ -127,11 +150,10 @@ int main(int argc, char ** argv) {
syslog(LOG_DAEMON | LOG_NOTICE, "Performing Python call.");
Py_SetProgramName(argv[0]);
Py_Initialize();
PyRun_SimpleFile(code, "/home/root/Robotd/robot.py");
rv = PyRun_SimpleFile(code, "/home/root/Robotd/robot.py");
PYTHON_CHECK_RESULT(rv, "robot.py success", "robot.py exception", "robot.py failure")
Py_Finalize();
// TODO: Python error handling
// Close the source code file
fclose(code);