First code commit.

.gitignore

@@ -50,3 +50,171 @@ modules.order
 Module.symvers
 Mkfile.old
 dkms.conf
+
+# -*- mode: gitignore; -*-
+*~
+\#*\#
+/.emacs.desktop
+/.emacs.desktop.lock
+*.elc
+auto-save-list
+tramp
+.\#*
+
+# Org-mode
+.org-id-locations
+*_archive
+
+# flymake-mode
+*_flymake.*
+
+# eshell files
+/eshell/history
+/eshell/lastdir
+
+# elpa packages
+/elpa/
+
+# reftex files
+*.rel
+
+# AUCTeX auto folder
+/auto/
+
+# cask packages
+.cask/
+dist/
+
+# Flycheck
+flycheck_*.el
+
+# server auth directory
+/server/
+
+# projectiles files
+.projectile
+
+# directory configuration
+.dir-locals.el
+
+# network security
+/network-security.data
+
+# Byte-compiled / optimized / DLL files
+__pycache__/
+*.py[cod]
+*$py.class
+
+# C extensions
+*.so
+
+# Distribution / packaging
+.Python
+build/
+develop-eggs/
+dist/
+downloads/
+eggs/
+.eggs/
+lib/
+lib64/
+parts/
+sdist/
+var/
+wheels/
+share/python-wheels/
+*.egg-info/
+.installed.cfg
+*.egg
+MANIFEST
+
+# PyInstaller
+#  Usually these files are written by a python script from a template
+#  before PyInstaller builds the exe, so as to inject date/other infos into it.
+*.manifest
+*.spec
+
+# Installer logs
+pip-log.txt
+pip-delete-this-directory.txt
+
+# Unit test / coverage reports
+htmlcov/
+.tox/
+.nox/
+.coverage
+.coverage.*
+.cache
+nosetests.xml
+coverage.xml
+*.cover
+.hypothesis/
+.pytest_cache/
+
+# Translations
+*.mo
+*.pot
+
+# Django stuff:
+*.log
+local_settings.py
+db.sqlite3
+
+# Flask stuff:
+instance/
+.webassets-cache
+
+# Scrapy stuff:
+.scrapy
+
+# Sphinx documentation
+docs/_build/
+
+# PyBuilder
+target/
+
+# Jupyter Notebook
+.ipynb_checkpoints
+
+# IPython
+profile_default/
+ipython_config.py
+
+# pyenv
+.python-version
+
+# celery beat schedule file
+celerybeat-schedule
+
+# SageMath parsed files
+*.sage.py
+
+# Environments
+.env
+.venv
+env/
+venv/
+ENV/
+env.bak/
+venv.bak/
+
+# Spyder project settings
+.spyderproject
+.spyproject
+
+# Rope project settings
+.ropeproject
+
+# mkdocs documentation
+/site
+
+# mypy
+.mypy_cache/
+.dmypy.json
+dmypy.json
+
+# Pyre type checker
+.pyre/
+
+# Project target
+robotd

LICENSE

@@ -1,6 +1,6 @@
 BSD 2-Clause License
 
-Copyright (c) 2018, Miguel Angel Astor Romero
+Copyright (c) 2018, Miguel Astor, Carlos Sanguña and Antonio Russoniello
 All rights reserved.
 
 Redistribution and use in source and binary forms, with or without

Makefile

@@ -0,0 +1,16 @@
+TARGET = robotd
+OBJECT = robotd.o
+SOURCE = robotd.c
+CFLAGS = -std=c11 -Wall -g -O0 `pkg-config --cflags python`
+LDLIBS = -lmraa `pkg-config --libs python`
+
+.PHONY: all
+all: $(TARGET)
+
+$(TARGET): $(OBJECT)
+
+$(OBJECT): $(SOURCE)
+
+.PHONY: clean
+clean:
+	$(RM) $(TARGET) $(OBJECT)

README.md

@@ -1,2 +1,3 @@
 # Robotd
+
 A control daemon for an Intel Galileo-based robot.

robot.py

@@ -0,0 +1,30 @@
+#! /usr/bin/env python
+
+import mraa
+import syslog
+
+GREEN_LED = 2
+RED_LED = 4
+
+syslog.openlog("robot.py", syslog.LOG_PID | syslog.LOG_NDELAY, syslog.LOG_USER)
+syslog.syslog(syslog.LOG_NOTICE, "Robot.py started.")
+
+try:
+    red = mraa.Gpio(RED_LED)
+    red.dir(mraa.DIR_OUT)
+    green = mraa.Gpio(GREEN_LED)
+    green.dir(mraa.DIR_OUT)
+
+    while True:
+        red.write(1)
+        green.write(1)
+
+except KeyboardInterrupt as e:
+    syslog.syslog(syslog.LOG_ERR, str(e))
+
+finally:
+    syslog.syslog(syslog.LOG_NOTICE, "Shutting down LEDs.")
+    red.write(0)
+    green.write(0)
+    syslog.syslog(syslog.LOG_NOTICE, "Robot.py finished.")
+    syslog.closelog()

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;
+}