open and close threads

.gitignore

@@ -0,0 +1,4 @@
+/build
+/rogue_enemy
+*.o
+/depends

CMakeLists.txt

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+# Almost all CMake files should start with this
+# You should always specify a range with the newest
+# and oldest tested versions of CMake. This will ensure
+# you pick up the best policies.
+cmake_minimum_required(VERSION 3.1...3.27)
+
+project(
+  ROGueENEMY
+  VERSION 1.0
+  LANGUAGES CXX)
+
+set(THREADS_PREFER_PTHREAD_FLAG ON)
+find_package(Threads REQUIRED)
+
+# Adding something we can run - Output name matches target name
+add_executable(rogue_enemy main.c imu_output.c gamepad_output.c)
+
+target_link_libraries(rogue_enemy PRIVATE Threads::Threads)
+
+set_target_properties(rogue_enemy PROPERTIES LINKER_LANGUAGE C)

Makefile

@@ -0,0 +1,18 @@
+CFLAGS=-g -std=c11 -pedantic # -Wall -Werror
+LDFLAGS=-lpthread
+CC=gcc
+OBJECTS=main.o gamepad_output.o imu_output.o
+TARGET=rogue_enemy
+
+all: $(TARGET)
+
+$(TARGET): $(OBJECTS)
+	$(CC) $(OBJECTS) -o $@
+
+include depends
+
+depends:
+	$(CC) -MM $(OBJECTS:.o=.c) > depends
+
+clean:
+	rm ./$(TARGET) *.o

gamepad_output.c

@@ -0,0 +1,21 @@
+#include "gamepad_output.h"
+
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+void *gamepad_thread_func(void *ptr) {
+    output_dev_t *out_dev = (output_dev_t*)ptr;
+
+    for (;;) {
+        pthread_mutex_lock(&out_dev->ctrl_mutex);
+
+        if (out_dev->crtl_flags & OUTPUT_DEV_CTRL_FLAG_EXIT) {
+            pthread_mutex_unlock(&out_dev->ctrl_mutex);
+            break;
+        }
+
+        pthread_mutex_unlock(&out_dev->ctrl_mutex);
+    }
+
+    return NULL;
+}

gamepad_output.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#include "output_dev.h"
+
+void *gamepad_thread_func(void *ptr);

imu_output.c

@@ -0,0 +1,21 @@
+#include "imu_output.h"
+
+#include <linux/uinput.h>
+#include <linux/input.h>
+
+void *imu_thread_func(void *ptr) {
+    output_dev_t *out_dev = (output_dev_t*)ptr;
+
+    for (;;) {
+        pthread_mutex_lock(&out_dev->ctrl_mutex);
+
+        if (out_dev->crtl_flags & OUTPUT_DEV_CTRL_FLAG_EXIT) {
+            pthread_mutex_unlock(&out_dev->ctrl_mutex);
+            break;
+        }
+
+        pthread_mutex_unlock(&out_dev->ctrl_mutex);
+    }
+
+    return NULL;
+}

imu_output.h

@@ -0,0 +1,5 @@
+#pragma once
+
+#include "output_dev.h"
+
+void *imu_thread_func(void *ptr);

input_dev.h

@@ -0,0 +1,12 @@
+#pragma once
+
+#include <inttypes.h>
+#include <pthread.h>
+
+#define INPUT_DEV_CTRL_FLAG_EXIT 0x00000001U
+#define INPUT_DEV_CTRL_FLAG_DATA 0x00000002U
+
+typedef struct input_dev {
+    pthread_mutex_t ctrl_mutex;
+    uint32_t crtl_flags;
+} input_dev_t;

main.c

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+#include <stdio.h>
+#include <signal.h>
+#include <unistd.h>
+#include <string.h>
+#include <unistd.h>
+#include <fcntl.h>
+#include <errno.h>
+#include <termios.h>
+
+#include "imu_output.h"
+#include "gamepad_output.h"
+
+output_dev_t imu_dev = {
+  .fd = -1,
+  .ctrl_mutex = PTHREAD_MUTEX_INITIALIZER,
+  .crtl_flags = 0x00000000U,
+};
+
+output_dev_t gamepadd_dev = {
+  .fd = -1,
+  .ctrl_mutex = PTHREAD_MUTEX_INITIALIZER,
+  .crtl_flags = 0x00000000U,
+};
+
+void sig_handler(int signo)
+{
+  if (signo == SIGINT) {
+    pthread_mutex_lock(&imu_dev.ctrl_mutex);
+    imu_dev.crtl_flags |= OUTPUT_DEV_CTRL_FLAG_EXIT;
+    pthread_mutex_unlock(&imu_dev.ctrl_mutex);
+
+    pthread_mutex_lock(&gamepadd_dev.ctrl_mutex);
+    gamepadd_dev.crtl_flags |= OUTPUT_DEV_CTRL_FLAG_EXIT;
+    pthread_mutex_unlock(&gamepadd_dev.ctrl_mutex);
+  
+    printf("received SIGINT\n");
+  }
+}
+
+int main(int argc, char ** argv) {
+  
+  __sighandler_t sigint_hndl = signal(SIGINT, sig_handler); 
+  if (sigint_hndl == SIG_ERR) {
+    fprintf(stderr, "Error registering SIGINT handler");
+    return -1;
+  }
+
+  int ret = 0;
+
+  pthread_t imu_thread, gamepad_thread;
+
+  int imu_thread_creation = pthread_create(&imu_thread, NULL, imu_thread_func, (void*)(&imu_dev));
+  if (imu_thread_creation != 0) {
+    fprintf(stderr, "Error creating IMU output thread: %d", imu_thread_creation);
+    ret = -1;
+    goto imu_thread_err;
+  }
+  
+  int gamepad_thread_creation = pthread_create(&gamepad_thread, NULL, gamepad_thread_func, (void*)(&gamepadd_dev));
+  if (gamepad_thread_creation != 0) {
+    fprintf(stderr, "Error creating gamepad output thread: %d", gamepad_thread_creation);
+    ret = -1;
+    goto gamepad_thread_err;
+  }
+
+  pthread_join(gamepad_thread, NULL);
+
+gamepad_thread_err:
+  pthread_join(imu_thread, NULL); 
+
+imu_thread_err:
+  return ret;
+
+  int fd;
+  char buf[256];
+
+  fd = open("/dev/input/event3", O_RDONLY);
+  if (fd == -1) {
+    perror("open_port: Unable to open /dev/ttyAMA0 - ");
+    return(-1);
+  }
+
+  // Turn off blocking for reads, use (fd, F_SETFL, FNDELAY) if you want that
+  //fcntl(fd, F_SETFL, 0);
+
+  while(1){
+  int n = read(fd, (void*)buf, 255);
+    if (n < 0) {
+      perror("Read failed - ");
+      return -1;
+    } else if (n == 0) {
+      printf("No data on port\n");
+    } else {
+      buf[n] = '\0';
+      printf("%i bytes read : %s", n, buf);
+    }
+    sleep(1);
+    printf("i'm still doing something");
+  }
+  close(fd);
+  return 0;
+}

output_dev.h

@@ -0,0 +1,14 @@
+#pragma once
+
+#include <inttypes.h>
+#include <pthread.h>
+
+#define OUTPUT_DEV_CTRL_FLAG_EXIT 0x00000001U
+#define OUTPUT_DEV_CTRL_FLAG_DATA 0x00000002U
+
+typedef struct output_dev {
+    int fd;
+
+    pthread_mutex_t ctrl_mutex;
+    uint32_t crtl_flags;
+} output_dev_t;