Gyropode/main.cpp at main · Robotek-Orleans/Gyropode · GitHub

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#include <bcm2835.h>
#include <csignal>
#include <sys/types.h>
#include <unistd.h>
// include threading library
#include <thread>

#include "motor.cpp"
#include "MPU6050.h"
bool isvalid = true;
//motor is a pointer to be deletable
Motor1 *motor1;
Motor2 *motor2;

void signalHandler(int signum)
{
#ifdef DEBUG
    std::cout << "\nsignal " << signum << " triggered" << std::endl;
#endif

    //disable motor
    bcm2835_gpio_write(ENABLE, HIGH);

    // disable the run loop for motors
    motor2->valid = false;
    motor1->valid = false;

    // set isvalid to false
    isvalid = false;

#ifdef DEBUG
//std::cout << "Sigterm signal ended" <<std::endl;
#endif
}

void runmotor(Motor *motor)
{
    motor->run();
}

int main(int argc, char **argv)
{
    std::cout << "Started ...\n";
    // print the process id
    std::cout << "PID: " << getpid() << std::endl;

    if (!bcm2835_init())
        return (1);
    I2Cdev::initialize();

    unsigned int delay = 00;
    int steps = 0;
    bool dir = true;

    //motor is a pointer to be deletable
    motor1 = new Motor1();
    motor2 = new Motor2();
    MPU6050 gyro;
    gyro.initialize();
    int16_t ax, az;

    motor1->dir = dir;
    motor2->dir = dir;
    //motor1->delay=delay;
    //motor2->delay=delay;

    // set the signal handler
    signal(SIGINT, signalHandler);
    signal(SIGTERM, signalHandler);

    // run the two motors in different threads
    std::thread tm1(runmotor, motor1);
    std::thread tm2(runmotor, motor2);

    for (int i = 10000; i > 12; i *= 0.99)
    {
        motor1->delay = i;
        motor2->delay = i;
        // print the delay
        printf("delay: %d \r", motor1->delay);
        fflush(stdout);

        std::this_thread::sleep_for(std::chrono::milliseconds(2));
        // if i is lower than 100, wait more
        if (i < 80)
        {
            std::this_thread::sleep_for(std::chrono::milliseconds(40));
        }

        if (!isvalid)
        {
            break;
        }
        // print the gyro value
        gyro.getAccelerationXZ(&ax, &az);
        std::cout << "Gyro: " << ax << " " << az << " " << std::endl;
    }
    while (isvalid)
    {
        gyro.getAccelerationXZ(&ax, &az);
        printf("  %d \t %d \r", ax, az);
        //fflush(stdout);
    }

    tm1.join();
    tm2.join();
    /*
    runmotor(motor1,isvalid,delay,steps,dir);
    isvalid=true;
    runmotor(motor2,isvalid,delay,steps,dir);
    */

    delete motor1;
    delete motor2;

    bcm2835_close();
    return 0;
}