equal
deleted
inserted
replaced
115 |
115 |
116 void catch_signal(int sig) |
116 void catch_signal(int sig) |
117 { |
117 { |
118 signal(SIGTERM, catch_signal); |
118 signal(SIGTERM, catch_signal); |
119 signal(SIGINT, catch_signal); |
119 signal(SIGINT, catch_signal); |
120 stopTimer(); |
120 eprintf("Got Signal %d\n",sig); |
121 eprintf("Got Sigterm - Finishing.\n"); |
121 } |
122 } |
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123 |
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124 |
122 |
125 void help() |
123 void help() |
126 { |
124 { |
127 printf("**************************************************************\n"); |
125 printf("**************************************************************\n"); |
128 printf("* TestMasterSlave *\n"); |
126 printf("* TestMasterSlave *\n"); |
187 |
185 |
188 // Open CAN devices |
186 // Open CAN devices |
189 SlaveCanHandle = canOpen(&SlaveBoard); |
187 SlaveCanHandle = canOpen(&SlaveBoard); |
190 MasterCanHandle = canOpen(&MasterBoard); |
188 MasterCanHandle = canOpen(&MasterBoard); |
191 |
189 |
192 // Will call InitNodes, and wait and handle next timer events. |
190 // Start timer thread |
193 TimerLoop(&InitNodes); |
191 StartTimerLoop(&InitNodes); |
194 |
192 |
195 // Close CAN devices |
193 // wait Ctrl-C |
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194 pause(); |
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195 eprintf("Finishing.\n"); |
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196 |
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197 // Stop timer thread |
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198 StopTimerLoop(); |
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199 |
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200 // Close CAN devices (and can threads) |
196 canClose(SlaveCanHandle); |
201 canClose(SlaveCanHandle); |
197 canClose(MasterCanHandle); |
202 canClose(MasterCanHandle); |
198 |
203 |
199 |
204 |
200 return 0; |
205 return 0; |