CoffeePi/CoffeeCode/main.cpp

/*
 * main.cpp
 *
 *  Created on: Nov 2, 2015
 *      Author: Philipp Hinz
 */

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <errno.h>
#include <stdint.h>
#include <wiringPi.h>
#include <pthread.h>
#include <unistd.h>
#include <iostream>
#include <csignal>
#include "global.h"
#include "led.h"
#include "timer.h"
#include "database.h"
#include "logger.h"
#include "lcd.h"
#include "hal.h"

const int buildno = (1+(int)(
#include "buildno"
		));

int verbose = 0;
int optPoll = 0;
int optRes = 0;
bool optInc = false;
bool optEcho = false;
bool optLom = false;
bool optForce = false;
bool optTerm = false;
bool optAdd = false;
bool optDate = false;
bool optSuppress = false;

void *mainLoop(void *threadid);
void terminationHandler(int signum);
void usr1Handler(int signum);
void hupHandler(int signum);
pthread_t thread[3];
pthread_mutex_t mutex;

int main(int argc, char *argv[]) {
	pthread_attr_t attr;
	pthread_mutexattr_t mutexattr;
	void *status;
	int rc;
	int opt;
	int prev_ind;

	logger(V_NONE, LOG_INFO, "CoffeePi by Philipp Hinz - "
			"Build number %d\n", buildno);

	// Argument handling
	while (prev_ind = optind, (opt = getopt(argc, argv, "vV:r:teilfhads")) != -1) {
		if (argc > 3)
			if (optind == prev_ind + 2 && *optarg == '-') {
				opt = '?';
				--optind;
			}
		switch (opt) {
		case 'v': // be verbose
			/* Verbose levels:
			 * 1	Basic debugging
			 * 2	show CAN communication
			 * 3	show CAN speed changes
			 * 4	show SPI communication
			 */
			verbose++;
			break;
		case 'r': // set start resistance
			optRes = atoi(optarg);
			printf("Starting Poti with %d Ohms\n", optRes);
			break;
		case 'V':
			//printf("Build number %d\n", buildno);
			return EXIT_SUCCESS;
			break;
		case 't':
			printf(
					"I'm counting myself as a terminal node and terminate the CAN bus.\n");
			optTerm = true;
			break;
		case 'e':
			printf("Echoing all CAN messages\n");
			optEcho = true;
			break;
		case 'i':
			printf("Increasing Wiper step every second.\n");
			optInc = true;
			break;
		case 'l':
			printf("Setting MCP2510 to listen only mode on shutdown.\n");
			optLom = true;
			break;
		case 'f':
			printf("I'm forcing a speedtest.\n");
			optForce = true;
			break;
		case 'a':
			printf(
					"I will add new nodes if they don't appear in the nodes file.\n");
			optAdd = true;
			break;
		case 'd':
			optDate = true;
			break;
		case 's':
			printf("I will suppress a speedtest due to many RX/TX errors.\n");
			optSuppress = true;
			break;
		case '?':
		case 'h':
			printf("Usage: %s [-hvVteilfads] [-r ohms]\n", argv[0]);
			printf("\t-h\t\tPrints this help\n");
			printf("\t-v\t\tSets verbose output, can be used multiple times\n");
			printf(
					"\t-r ohms\t\tSets the start resistance of the digital potentiometer\n");
			printf("\t-V\t\tPrints only the version and exits\n");
			printf("\t-t\t\tTerminates the CAN Bus with a connected DiPoti\n");
			printf("\t-e\t\tEchoes all incoming CAN messages (Debugging)\n");
			printf("\t-i\t\tIncreases the Wiper of the DigiPot every second\n");
			printf(
					"\t-l\t\tSets the MCP2515 to listen only mode on shutdown\n");
			printf("\t-f\t\tForces a speedtest after startup\n");
			printf("\t-s\t\tSuppress a speedtest in case of errors\n");
			printf("\t-a\t\tAdd new nodes if not known in file nodes\n");
			printf("\t-d\t\tPrints a timestamp in front of every message\n");

			printf("Listening to the following signals:\n");
			printf("\tSIGUSR1(%u)\tPrints monitor data of all nodes\n",
			SIGUSR1);
			printf("\tSIGHUP(%u)\tRuns a speedtest starting at default speed\n",
			SIGHUP);
			return EXIT_SUCCESS;
		default:
			fprintf(stderr, "Usage: %s [-hvVteilfads] [-r ohms]\n", argv[0]);
			return EXIT_FAILURE;
			break;
		}
	}

	if (signal(SIGINT, terminationHandler)) { // Calls terminationHandler if SIGINT is received
		fprintf(stderr, "Unable to set signal handler for SIGINT: %s\n",
				strerror(errno));
	}
	if (signal(SIGUSR1, usr1Handler)) { // Calls terminationHandler if SIGINT is received
		fprintf(stderr, "Unable to set signal handler for SIGUSR1: %s\n",
				strerror(errno));
	}
	if (signal(SIGHUP, hupHandler)) { // Calls terminationHandler if SIGINT is received
		fprintf(stderr, "Unable to set signal handler for SIGHUP: %s\n",
				strerror(errno));
	}
	// sets up the wiringPi library
	if (wiringPiSetup() < 0) {
		fprintf(stderr, "Unable to setup wiringPi: %s\n", strerror(errno));
		return 1;
	}

	logger_reset();
	initTimers();
	halInit();
	//initLed();


//	timer statusT = timer(&printStatus);
//	statusT.setDivider(40);
//	statusT.start();
//	statusT.call();

	// http://www.tutorialspoint.com/cplusplus/cpp_multithreading.htm

	// Initialize and set thread joinable
	pthread_attr_init(&attr);
	pthread_attr_setdetachstate(&attr, PTHREAD_CREATE_JOINABLE);
	rc = pthread_mutexattr_settype(&mutexattr, PTHREAD_MUTEX_RECURSIVE_NP);
	if (rc != 0)
		throw(L"pthread_mutexattr_settype returns " + rc);
	pthread_mutex_init(&mutex, &mutexattr);
	rc = pthread_mutexattr_destroy(&mutexattr);
	if (rc != 0)
		throw(L"pthread_mutexattr_destroy returns " + rc);

	for (int i = 0; i < 1; i++) {
		if (i == THREAD_MAIN)
			rc = pthread_create(&thread[i], NULL, mainLoop, (void *) i);
		/*else if (i == THREAD_TEST)
			rc = pthread_create(&thread[i], NULL, testMain, (void *) i);
		else if (i == THREAD_CAN)
			rc = pthread_create(&thread[i], NULL, canThread, (void *) i);*/
		if (rc) {
			logger_error("Error:unable to create thread, %d\n", rc);
			exit(-1);
		}
	}

	// free attribute and wait for the other threads
	pthread_attr_destroy(&attr);

	// Insert main stuff here.
	int lcd = lcdInit();
	if (lcd < 0) logger_error("Error: unable to init LCD (%d)\n", lcd);
	lcdClear(lcd);
	lcdHome(lcd);
	lcdPrintf(lcd,"Wer das liest ist doof.");

	sleep(2);


	rc = pthread_join(thread[0], &status);
	if (rc) {
		logger_error("Error:unable to join, %d\n", rc);
		exit(-1);
	}
	logger(V_BASIC, "Completed thread with status %d\n", rc);
	pthread_exit(NULL);

	return EXIT_FAILURE;
}

/**
 * Handler for program termination caught via signal
 */

void terminationHandler(int signum) {
	logger(V_NONE, "Caught signal %d, exiting gracefully..\n", signum);
	logger(V_NONE, "Saving my state to the database..\n");
	sqlExecute("begin");
	// Save stuff here
	sqlExecute("end");

	sqlClose(); // Closing DB connection
	initLed(); // Turning all LEDs off

	exit(EXIT_SUCCESS);
}

/**
 * Handles the signal USR2
 */

void usr1Handler(int signum) {
	// Do something here?
	logger_reset();
}

/**
 * Handles the signal HUP and starts a speed test
 */

void hupHandler(int signum) {
	// Do something here?
}

/**
 * Sends a signal to a thread
 * @param threadid ID of the thread
 * @param sig Signal to send
 */

void killThread(int threadid, int sig) {
	//logger(V_BASIC, "pthread_kill on thread %d (%d)\n", threadid, sig);
	if (pthread_kill(thread[threadid], sig)) {
		logger_error("pthread_kill on thread %d failed (%d)\n", threadid, sig);
	}
}

/**
 * Main Thread, used for some initializations and error detection
 * @param threadid Thread ID
 */

void *mainLoop(void *threadid) {
	sqlOpen();

	/*sqlInsertNode((uint8_t*)"123    1", true, true);
	 sqlInsertNode((uint8_t*)"3525   2", false, false);
	 sqlInsertNode((uint8_t*)"sbw452 3", false, false);
	 sqlInsertNode((uint8_t*)"s4t4   4", true, true);
	 sqlInsertNode((uint8_t*)"te456  5", true, false);*/
	sqlSetup();

	// Do more stuff here

	logger(V_BASIC, "Thread goes Sleeping..\n");
	while (1) {
		pause();
		logger(V_NONE, LOG_ERROR, "Whoops. Something went wrong..\n");
	}
	pthread_exit(NULL);
}