ROBOT_DEMO: add proper destructor in C version

[orte.git] / orte / examples / robot / publisher.c

diff --git a/orte/examples/robot/publisher.c b/orte/examples/robot/publisher.c
index db4c6c230774615ea571d667404075064374d94f..ac30b9cfbc90fcd2a24032f8ed60e80d8d17d42e 100644 (file)
--- a/orte/examples/robot/publisher.c
+++ b/orte/examples/robot/publisher.c
@@ -1,5 +1,6 @@
 #include <stdlib.h>
 #include <stdio.h>
+#include <signal.h>
 #include "orte.h"
 
 typedef struct motion_speed_type motion_speed;
@@ -20,7 +21,16 @@ struct robottype_orte_data orte;
 
 void send_dummy_cb(const ORTESendInfo *info, void *vinstance, void *sendCallBackParam)
 {
-printf("sent1\n");
+       struct motion_speed_type *m = (struct motion_speed_type *)vinstance;
+
+       switch(info->status) {
+               case NEED_DATA:
+                       printf("Odeslana data: left: %d, right: %d\n", m->left, m->right);
+                       break;
+               case CQL:
+                       printf("Kriticka uroven fronty zprav na odeslani.\n");
+                       break;
+       }
 }
 
 int robottype_roboorte_init(struct robottype_orte_data *data) {
@@ -96,6 +106,12 @@ void robottype_publisher_motion_speed_create(struct robottype_orte_data *data, O
        data->publication_motion_speed = ORTEPublicationCreate(data->orte_domain, "motion_speed", "motion_speed", &data->motion_speed, &persistance, data->strength, callback, arg, &delay);
 }
 
+void destroy(int sig) {
+       ORTEPublicationDestroy(orte.publication_motion_speed);
+       ORTETypeRegisterDestroyAll(orte.orte_domain);
+       ORTEDomainAppDestroy(orte.orte_domain);
+}
+
 int main(void) {
        orte.strength = 30;
        robottype_roboorte_init(&orte);
@@ -105,9 +121,9 @@ int main(void) {
        orte.motion_speed.left = 20000;
        ORTEPublicationSend(orte.publication_motion_speed);
 
-       while (1) {
-               ORTESleepMs(1000);
-       }
+       signal(SIGINT, &destroy);
+       signal(SIGTERM, &destroy);
+       pause();
 
        return 0;
 }