Fixed init script. Better stopping code.

init.sh

@@ -1,4 +1,4 @@
-#! /bin/bash
+#! /bin/sh
 ### BEGIN INIT INFO
 # Provides: robotd
 # Required-Start: 
@@ -9,8 +9,7 @@
 ### END INIT INFO
 
 start() {
-    PID=`pidof robotd`
-    if [ $? -eq 0 ]
+    if pidof robotd > /dev/null
     then
 	echo "robotd already started."
 	return
@@ -22,8 +21,7 @@ start() {
 }
 
 stop() {
-    PID=`pidof weblabsd`
-    if [ $? -eq 0 ]
+    if pidof robotd > /dev/null
     then
 	echo "Stopping robotd"
         kill -s INT `pidof robotd`
@@ -34,15 +32,14 @@ stop() {
 }
 
 case "$1" in
-    start)
+    start|restart|force-reload)
         start
         ;;
     stop)
         stop
         ;;
     status)
-	PID=`pidof robotd`
-	if [ $? -eq 0 ]
+	if pidof robotd > /dev/null
 	then
 	    echo "robotd is running."
 	else
@@ -54,8 +51,7 @@ case "$1" in
         start
         ;;
     *)
-        echo "Usage:  {start|stop|restart|status}"
+        echo "Usage:  {start|stop|restart|force-reload|status}"
         exit 1
         ;;
 esac
-exit $?

robotd.c

@@ -2,21 +2,37 @@
 #include <stdio.h>
 #include <stdlib.h>
 #include <string.h>
+#include <signal.h>
 #include <unistd.h>
 #include <errno.h>
 #include <syslog.h>
 #include <stdbool.h>
-
 #include <mraa.h>
 
 #define GPIO_PIN_4 4
 #define GPIO_PIN_13 13
 
+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
+  closelog();
+}
+
+void sig_handler(int signal) {
+  // Turn off the red LED
+  syslog(LOG_DAEMON | LOG_WARNING, "Robot daemon interrupted.");
+  clean_up();
+  exit(EXIT_FAILURE);
+}
+
 int main(int argc, char ** argv) {
-  int               rv;
-  bool              done = false;
-  mraa_gpio_context pin13, pin4;
-  mraa_result_t     mr;
+  int          rv;
+  bool         done = false;
+  sighandler_t sh;
 
   // Turn the process into a daemon.
   rv = daemon(0, 1);
@@ -26,6 +42,14 @@ int main(int argc, char ** argv) {
     return EXIT_FAILURE;
   }
 
+  // Set SIGINT signal handler
+  sh = signal(SIGINT, sig_handler);
+
+  if (sh == SIG_ERR) {
+    perror("sh = signal(SIGINT, sig_handler)");
+    return EXIT_FAILURE;
+  }
+
   // Open a syslog connection
   openlog(argv[0], LOG_NDELAY | LOG_PID, LOG_DAEMON);
   syslog(LOG_DAEMON | LOG_NOTICE, "Started robot daemon.");
@@ -36,22 +60,22 @@ int main(int argc, char ** argv) {
   mr = mraa_gpio_mode(pin13, MRAA_GPIO_PULLUP);
   syslog(LOG_DAEMON | LOG_NOTICE, "Push button ready.");
 
-  // TODO: MRAA error handling.
+  // TODO: MRAA error handling
 
   // 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.
+  // TODO: MRAA error handling
 
-  // Star pin processing loop
+  // 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.
+    // TODO: MRAA error handling
 
     if (rv == 0) {
       // If the button is pressed then stop reading and go on with the program
@@ -63,26 +87,41 @@ int main(int argc, char ** argv) {
   // Turn off the red LED
   mr = mraa_gpio_write(pin4, 0);
 
-  // TODO: MRAA error handling.
+  // 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/robot.py", "r");
+  FILE * code = fopen("/home/root/Robotd/robot.py", "r");
 
   if (code == NULL) {
+    perror("FILE * code = fopen(\"/home/root/Robotd/robot.py\", \"r\")");
     syslog(LOG_DAEMON | LOG_NOTICE, "Failed to load Python program.");
+    clean_up();
     return EXIT_FAILURE;
   }
 
+  // Return SIGINT handler to it's default state
+  sh = signal(SIGINT, SIG_DFL);
+
+  if (sh == SIG_ERR) {
+    perror("sh = signal(SIGINT, SIG_DLF)");
+    syslog(LOG_DAEMON | LOG_NOTICE, "Failed to disable signal handler.");
+    clean_up();
+    return EXIT_FAILURE;
+  }
+  
   // Execute the Python code
   syslog(LOG_DAEMON | LOG_NOTICE, "Performing Python call.");  
   Py_SetProgramName(argv[0]);
   Py_Initialize();
-  PyRun_SimpleFile(code, "/home/root/robot.py");
+  PyRun_SimpleFile(code, "/home/root/Robotd/robot.py");
   Py_Finalize();
 
-  // TODO: Python error handling.
+  // TODO: Python error handling
 
+  // Close the source code file
+  fclose(code);
+  
   // Clean up and leave
   syslog(LOG_DAEMON | LOG_NOTICE, "Finishing.");
   closelog();