Fixlibmkc partially

Author: RedFantom

libmkc/libmkc.c

@@ -73,7 +73,7 @@ LibMK_Result libmk_start_controller(LibMK_Controller* controller) {
         return r;
     pthread_create(
         &controller->thread, NULL,
-        (void*) libmk_run_controller, (void*) &controller);
+        (void*) libmk_run_controller, (void*) controller);
     return LIBMK_SUCCESS;
 }
 
@@ -95,12 +95,15 @@ void libmk_run_controller(LibMK_Controller* controller) {
         if (r != LIBMK_SUCCESS) {
             libmk_set_controller_error(controller, r);
             break;
-        } else {
-            // Move on to next instruction
-            LibMK_Instruction* old = controller->instr;
-            controller->instr = controller->instr->next;
-            libmk_free_instruction(old);
         }
+        // Sleep
+        struct timespec delay;
+        delay.tv_nsec = controller->instr->duration;
+        nanosleep(&delay, NULL);
+        // Move on to next instruction
+        LibMK_Instruction* old = controller->instr;
+        controller->instr = controller->instr->next;
+        libmk_free_instruction(old);
     }
     int r = libmk_disable_control(controller->handle);
     if (r != LIBMK_SUCCESS) {
@@ -153,8 +156,8 @@ LibMK_Controller_State libmk_join_controller(
         pthread_mutex_lock(&controller->state_lock);
         s = controller->state;
         pthread_mutex_unlock(&controller->state_lock);
-        if (s != LIBMK_STATE_ACTIVE)
-            break;
+        // if (s != LIBMK_STATE_ACTIVE)
+            // break;
         elapsed = ((double) (clock() - t)) / CLOCKS_PER_SEC;
         if (elapsed > timeout)
             return LIBMK_STATE_JOIN_ERR;

utils/ctrl.c

@@ -30,13 +30,24 @@ int main(void) {
             continue;
         }
 
+        fprintf(stdout, "  Starting controlller... ");
         libmk_start_controller(ctrl);
+        printf("Done.\n");
+        
+        fprintf(stdout, "  Scheduling instruction... ");
         unsigned char color[3] = {100, 0, 0};
         LibMK_Instruction* full = libmk_create_instruction_full(color);
         unsigned int n = libmk_sched_instruction(ctrl, full);
-        printf("  Scheduled instruction %d\n", n);
-        sleep(4);
+        printf("Done: %d.\n", full->id);
+        
+        fprintf(stdout, "  Waiting for instruction execution...");
+        sleep(1);
+        printf(" Done.\n");
+        
+        fprintf(stdout, "  Stopping controller... ");
         libmk_stop_controller(ctrl);
+        printf("Done.\n");
+        
         LibMK_Controller_State s = libmk_join_controller(ctrl, 3);
         if (s != LIBMK_STATE_STOPPED)
             printf("  Could not stop the Controller: %d\n", s);