mirror of
https://github.com/miky-kr5/Robotd.git
synced 2023-01-29 18:47:06 +00:00
First code commit.
This commit is contained in:
168
.gitignore
vendored
168
.gitignore
vendored
@@ -50,3 +50,171 @@ modules.order
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Module.symvers
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Mkfile.old
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dkms.conf
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# -*- mode: gitignore; -*-
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*~
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\#*\#
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/.emacs.desktop
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/.emacs.desktop.lock
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*.elc
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auto-save-list
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tramp
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.\#*
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# Org-mode
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.org-id-locations
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*_archive
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# flymake-mode
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*_flymake.*
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# eshell files
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/eshell/history
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/eshell/lastdir
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# elpa packages
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/elpa/
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# reftex files
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*.rel
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# AUCTeX auto folder
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/auto/
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# cask packages
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.cask/
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dist/
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# Flycheck
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flycheck_*.el
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# server auth directory
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/server/
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# projectiles files
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.projectile
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# directory configuration
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.dir-locals.el
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# network security
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/network-security.data
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# Byte-compiled / optimized / DLL files
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__pycache__/
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*.py[cod]
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*$py.class
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# C extensions
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*.so
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# Distribution / packaging
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.Python
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build/
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develop-eggs/
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dist/
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downloads/
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eggs/
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.eggs/
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lib/
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lib64/
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parts/
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sdist/
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var/
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wheels/
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share/python-wheels/
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*.egg-info/
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.installed.cfg
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*.egg
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MANIFEST
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# PyInstaller
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# Usually these files are written by a python script from a template
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# before PyInstaller builds the exe, so as to inject date/other infos into it.
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*.manifest
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*.spec
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# Installer logs
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pip-log.txt
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pip-delete-this-directory.txt
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# Unit test / coverage reports
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htmlcov/
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.tox/
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.nox/
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.coverage
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.coverage.*
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.cache
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nosetests.xml
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coverage.xml
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*.cover
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.hypothesis/
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.pytest_cache/
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# Translations
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*.mo
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*.pot
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# Django stuff:
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*.log
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local_settings.py
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db.sqlite3
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# Flask stuff:
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instance/
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.webassets-cache
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# Scrapy stuff:
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.scrapy
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# Sphinx documentation
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docs/_build/
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# PyBuilder
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target/
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# Jupyter Notebook
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.ipynb_checkpoints
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# IPython
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profile_default/
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ipython_config.py
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# pyenv
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.python-version
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# celery beat schedule file
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celerybeat-schedule
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# SageMath parsed files
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*.sage.py
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# Environments
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.env
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.venv
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env/
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venv/
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ENV/
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env.bak/
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venv.bak/
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# Spyder project settings
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.spyderproject
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.spyproject
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# Rope project settings
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.ropeproject
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# mkdocs documentation
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/site
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# mypy
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.mypy_cache/
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.dmypy.json
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dmypy.json
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# Pyre type checker
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.pyre/
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# Project target
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robotd
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2
LICENSE
2
LICENSE
@@ -1,6 +1,6 @@
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BSD 2-Clause License
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Copyright (c) 2018, Miguel Angel Astor Romero
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Copyright (c) 2018, Miguel Astor, Carlos Sanguña and Antonio Russoniello
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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16
Makefile
Normal file
16
Makefile
Normal file
@@ -0,0 +1,16 @@
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TARGET = robotd
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OBJECT = robotd.o
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SOURCE = robotd.c
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CFLAGS = -std=c11 -Wall -g -O0 `pkg-config --cflags python`
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LDLIBS = -lmraa `pkg-config --libs python`
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.PHONY: all
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all: $(TARGET)
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$(TARGET): $(OBJECT)
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$(OBJECT): $(SOURCE)
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.PHONY: clean
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clean:
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$(RM) $(TARGET) $(OBJECT)
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30
robot.py
Normal file
30
robot.py
Normal file
@@ -0,0 +1,30 @@
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#! /usr/bin/env python
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import mraa
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import syslog
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GREEN_LED = 2
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RED_LED = 4
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syslog.openlog("robot.py", syslog.LOG_PID | syslog.LOG_NDELAY, syslog.LOG_USER)
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syslog.syslog(syslog.LOG_NOTICE, "Robot.py started.")
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try:
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red = mraa.Gpio(RED_LED)
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red.dir(mraa.DIR_OUT)
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green = mraa.Gpio(GREEN_LED)
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green.dir(mraa.DIR_OUT)
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while True:
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red.write(1)
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green.write(1)
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except KeyboardInterrupt as e:
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syslog.syslog(syslog.LOG_ERR, str(e))
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finally:
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syslog.syslog(syslog.LOG_NOTICE, "Shutting down LEDs.")
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red.write(0)
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green.write(0)
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syslog.syslog(syslog.LOG_NOTICE, "Robot.py finished.")
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syslog.closelog()
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92
robotd.c
Normal file
92
robotd.c
Normal file
@@ -0,0 +1,92 @@
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#include <Python.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include <unistd.h>
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#include <errno.h>
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#include <syslog.h>
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#include <stdbool.h>
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#include <mraa.h>
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#define GPIO_PIN_4 4
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#define GPIO_PIN_13 13
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int main(int argc, char ** argv) {
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int rv;
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bool done = false;
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mraa_gpio_context pin13, pin4;
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mraa_result_t mr;
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// Turn the process into a daemon.
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rv = daemon(0, 1);
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if (rv != 0) {
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perror("daemon(0, 1)");
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return EXIT_FAILURE;
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}
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// Open a syslog connection
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openlog(argv[0], LOG_NDELAY | LOG_PID, LOG_DAEMON);
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syslog(LOG_DAEMON | LOG_NOTICE, "Started robot daemon.");
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// Open PIN 13 as a PULLUP input pin for the push button
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pin13 = mraa_gpio_init(GPIO_PIN_13);
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mr = mraa_gpio_dir(pin13, MRAA_GPIO_IN);
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mr = mraa_gpio_mode(pin13, MRAA_GPIO_PULLUP);
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syslog(LOG_DAEMON | LOG_NOTICE, "Push button ready.");
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// TODO: MRAA error handling.
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// Open PIN 4 as an output pin for the red indicator LED
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pin4 = mraa_gpio_init(GPIO_PIN_4);
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mr = mraa_gpio_dir(pin4, MRAA_GPIO_OUT);
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syslog(LOG_DAEMON | LOG_NOTICE, "Red LED ready.");
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// TODO: MRAA error handling.
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// Star pin processing loop
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while (!done) {
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// Keep the red LED on and read from the push button pin
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mr = mraa_gpio_write(pin4, 1);
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rv = mraa_gpio_read(pin13);
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// TODO: MRAA error handling.
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if (rv == 0) {
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// If the button is pressed then stop reading and go on with the program
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syslog(LOG_DAEMON | LOG_NOTICE, "Button push detected.");
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done = true;
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}
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}
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// Turn off the red LED
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mr = mraa_gpio_write(pin4, 0);
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// TODO: MRAA error handling.
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// Open the source code file for the Python script
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syslog(LOG_DAEMON | LOG_NOTICE, "Opening Python source code.");
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FILE * code = fopen("/home/root/robot.py", "r");
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if (code == NULL) {
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syslog(LOG_DAEMON | LOG_NOTICE, "Failed to load Python program.");
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return EXIT_FAILURE;
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}
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// Execute the Python code
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syslog(LOG_DAEMON | LOG_NOTICE, "Performing Python call.");
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Py_SetProgramName(argv[0]);
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Py_Initialize();
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PyRun_SimpleFile(code, "/home/root/robot.py");
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Py_Finalize();
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// TODO: Python error handling.
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// Clean up and leave
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syslog(LOG_DAEMON | LOG_NOTICE, "Finishing.");
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closelog();
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//execlp("shutdown", "shutdown", "-Ph", "now", (char *)NULL);
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return EXIT_SUCCESS;
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}
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