start_gateway.c

#include <stdio.h>
#include "gateway.h"
#include <signal.h>
#include "simulationConnector.h"
#include "serialConnector.h"
#ifdef linux
#include "wiimoteConnector.h"
#endif

void ctrl_c(int s)
{
    printf("Ctrl-C\n");
    close_gateway();
    exit(0);
}


void toStringSensor(sensor_t sensor)
{
    printf("- Sensor ID:  %u -\n",sensor.ID.integer);
    printf("Type Sensor: %u\n",sensor.typeSensor.integer);
    printf("Size Otput: %u\n",sensor.sizeOutput);
    printf("Type Output: %u\n", sensor.typeOutput);
}

void toStringActuator(actuator_t actuator)
{
    printf("- Actuator ID:  %u -\n",actuator.ID.integer);
    printf("Type Actuator: %u\n",actuator.typeActuator.integer);
    printf("Size Input: %u\n",actuator.sizeInput);
    printf("Type Input: %u\n", actuator.typeInput);
}

void toStringDevice(device_t device)
{
    printf("==================================================\n");
    printf("Device, ID: %u, address: %u\n",device.ID.integer,device.address.integer);
    printf("Connector: \"%s\"\n",device.connector.name);
    printf("Size msg2dev: %u\n",device.sizeIO);
    printf("Size IDSen: %u, size IDAct: %u\n", device.sizeIDSensor,device.sizeIDActuator);
    printf("==================================================\n");
}

void printAll(unsigned int numDevices,device_t* devs)
{
    unsigned int d,s,a;
    for(d=0; d < numDevices; d++)
    {
        toStringDevice(devs[d]);

        for(s=0; s < devs[d].numSensors.integer; s++)
            toStringSensor(devs[d].sensors[s]);
        printf("~~~~~~~~\n");
        for(a=0; a < devs[d].numActuators.integer; a++)
            toStringActuator(devs[d].actuators[a]);
    }
}

int main()
{
    int loop = 1;
    int client;
    
    //atexit(close_gateway);
    signal(SIGINT, &ctrl_c);
    
    //load_table("./table.txt");

    init_gateway();
    //addConnector(createStaticConnector());
#ifdef __linux__
    //addConnector(createWiiMoteConnector());
    addConnector(createSerialConnector("/dev/ttyACM0",9600));
#endif
#ifdef __FreeBSD__
    addConnector(createSerialConnector("/dev/cuaU0",9600));
#endif
    discoveryAndCreateTable();

    printAll(getNumDevices(),getDevices());

    create_tcp_server(11003);

    while(loop)
    {
        client = wait_client();
        client_communication(client);
    }
    
    return 0;
                 
}