Added shutdown daemon

.gitignore

@@ -218,3 +218,4 @@ dmypy.json
 
 # Project target
 robotd
+shutdownd

Makefile

@@ -1,15 +1,32 @@
-TARGET = robotd
-OBJECT = robotd.o
-SOURCE = robotd.c
-CFLAGS = -std=c11 -Wall -g -O0 `pkg-config --cflags python`
-LDLIBS = -lmraa `pkg-config --libs python`
+TARGET = robotd shutdownd
+OBJECT = robotd.o shutdownd.o
+CFLAGS = -std=c11 -Wall -g -O0 -D _GNU_SOURCE
+LDLIBS = -lmraa
 
 .PHONY: all
-all: $(TARGET)
+all: robotd shutdownd
 
-$(TARGET): $(OBJECT)
+robotd: LDLIBS += `pkg-config --libs python`
+robotd: robotd.o
 
-$(OBJECT): $(SOURCE)
+robotd.o: CFLAGS += `pkg-config --cflags python`
+robotd.o: robotd.c
+
+shutdownd: shutdownd.o
+
+shutdownd.o: shutdownd.c
+
+install: robotd shutdownd init.sh shtdd.sh robot.service shutdown.service
+	cp robotd /usr/bin/robotd
+	cp shutdownd /usr/bin/shtdd
+	cp init.sh /etc/init.d/robot
+	cp shtdd.sh /etc/init.d/shtd
+	cp robot.service /lib/systemd/system
+	cp shutdown.service /lib/systemd/system
+	chmod a+x /etc/init.d/robot
+	chmod a+x /etc/init.d/shtd
+	systemctl enable robot.service
+	systemctl enable shutdown.service
 
 .PHONY: clean
 clean:

shtdd.sh

@@ -0,0 +1,57 @@
+#! /bin/sh
+### BEGIN INIT INFO
+# Provides: shtd
+# Required-Start: 
+# Required-Stop: 
+# Default-Start: 2 3 4 5
+# Default-Stop: 0 1 6
+# Short-Description: Shutdown daemon.
+### END INIT INFO
+
+start() {
+    if pidof shtdd > /dev/null
+    then
+	echo "shtdd already started."
+	return
+    else
+	echo "Starting shtdd"
+	shtdd
+	echo "Done."
+    fi
+}
+
+stop() {
+    if pidof shtdd > /dev/null
+    then
+	echo "Stopping shtdd"
+        kill -s INT `pidof shtdd`
+        echo "Done."
+    else
+	echo "shtdd already stopped."
+    fi
+}
+
+case "$1" in
+    start|restart|force-reload)
+        start
+        ;;
+    stop)
+        stop
+        ;;
+    status)
+	if pidof shtdd > /dev/null
+	then
+	    echo "shtdd is running."
+	else
+	    echo "shtdd is down."
+	fi
+        ;;
+    restart)
+        stop
+        start
+        ;;
+    *)
+        echo "Usage:  {start|stop|restart|force-reload|status}"
+        exit 1
+        ;;
+esac

shutdown.service

@@ -0,0 +1,12 @@
+#! /bin/sh
+[Unit]
+Description=Shutdown daemon
+[Service]
+Type=forking
+PIDFile=/var/run/shutdown.pid
+WorkingDirectory=/home/root/Robotd
+ExecStart=/etc/init.d/shtd start
+ExecReload=/etc/init.d/shtd restart
+ExecStop=/etc/init.d/shtd stop
+[Install]
+WantedBy=multi-user.target

shutdownd.c

@@ -0,0 +1,97 @@
+#include <stdlib.h>
+#include <string.h>
+#include <signal.h>
+#include <sys/types.h>
+#include <unistd.h>
+#include <errno.h>
+#include <syslog.h>
+#include <stdbool.h>
+#include <mraa.h>
+
+#define GPIO_PIN_12 12
+
+#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);			\
+    }						\
+  }
+
+void clean_up() {
+  syslog(LOG_DAEMON | LOG_WARNING, "Cleaning up.");
+  closelog();
+}
+
+void sig_handler(int signal) {
+  syslog(LOG_DAEMON | LOG_WARNING, "Shutdown daemon interrupted.");
+  clean_up();
+  exit(EXIT_FAILURE);
+}
+
+int main(int argc, char ** argv) {
+  int               rv;
+  bool              done = false;
+  sighandler_t      sh;
+  mraa_result_t     mr;
+  mraa_gpio_context pin12;
+
+  // Turn the process into a daemon.
+  rv = daemon(0, 1);
+
+  if (rv != 0) {
+    perror("daemon(0, 1)");
+    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;
+  }
+
+  // Create PID file
+  FILE * pid = fopen("/var/run/shutdown.pid", "w");
+
+  if (pid == NULL) {
+    perror("FILE * pid = fopen(\"/var/run/shutdown.pid\", \"w\")");
+    syslog(LOG_DAEMON | LOG_ERR, "Failed to create PID file.");
+    return EXIT_FAILURE;
+  }
+
+  fprintf(pid, "%d", getpid());
+  fclose(pid);
+  
+  // Open a syslog connection
+  openlog(argv[0], LOG_NDELAY | LOG_PID, LOG_DAEMON);
+  syslog(LOG_DAEMON | LOG_NOTICE, "Started shutdown daemon.");
+
+  // Open PIN 12 as a PULLUP input pin for the push button
+  pin12 = mraa_gpio_init(GPIO_PIN_12);
+  mr = mraa_gpio_dir(pin12, MRAA_GPIO_IN);
+  MRAA_CHECK_RESULT(mr, "Opened push button pin.", "Failed to open push button pin.", true);
+  mr = mraa_gpio_mode(pin12, MRAA_GPIO_PULLUP);
+  MRAA_CHECK_RESULT(mr, "Push button ready.", "Failed to set push button mode.", true);
+
+  // Start pin processing loop
+  while (!done) {    
+    rv = mraa_gpio_read(pin12);
+
+    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;
+    }
+  }
+
+  syslog(LOG_DAEMON | LOG_NOTICE, "Finishing.");
+  closelog();
+  execlp("shutdown", "shutdown", "-Ph", "now", (char *)NULL);
+
+  return EXIT_SUCCESS;
+}