First code commit.

robotd.c

@@ -0,0 +1,92 @@
+#include <Python.h>
+#include <stdio.h>
+#include <stdlib.h>
+#include <string.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
+
+int main(int argc, char ** argv) {
+  int               rv;
+  bool              done = false;
+  mraa_gpio_context pin13, pin4;
+  mraa_result_t     mr;
+
+  // Turn the process into a daemon.
+  rv = daemon(0, 1);
+
+  if (rv != 0) {
+    perror("daemon(0, 1)");
+    return EXIT_FAILURE;
+  }
+
+  // Open a syslog connection
+  openlog(argv[0], LOG_NDELAY | LOG_PID, LOG_DAEMON);
+  syslog(LOG_DAEMON | LOG_NOTICE, "Started robot daemon.");
+
+  // 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);
+  mr = mraa_gpio_mode(pin13, MRAA_GPIO_PULLUP);
+  syslog(LOG_DAEMON | LOG_NOTICE, "Push button ready.");
+
+  // 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.
+
+  // Star 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 (rv == 0) {
+      // If the button is pressed then stop reading and go on with the program
+      syslog(LOG_DAEMON | LOG_NOTICE, "Button push detected.");
+      done = true;
+    }
+  }
+
+  // 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/robot.py", "r");
+
+  if (code == NULL) {
+    syslog(LOG_DAEMON | LOG_NOTICE, "Failed to load Python program.");
+    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");
+  Py_Finalize();
+
+  // TODO: Python error handling.
+
+  // Clean up and leave
+  syslog(LOG_DAEMON | LOG_NOTICE, "Finishing.");
+  closelog();
+  //execlp("shutdown", "shutdown", "-Ph", "now", (char *)NULL);
+
+  return EXIT_SUCCESS;
+}