| /* |
| * Copyright (c) 2017 FH Dortmund and others |
| * All rights reserved. This program and the accompanying materials |
| * are made available under the terms of the Eclipse Public License v1.0 |
| * which accompanies this distribution, and is available at |
| * http://www.eclipse.org/legal/epl-v10.html |
| * |
| * Description: |
| * Booth modes implemented for demonstration of the APP4MC-APPSTACLE Rover |
| * |
| * Contributors: |
| * M.Ozcelikors <mozcelikors@gmail.com>, created 23.10.2017 |
| * |
| */ |
| |
| #include <tasks/booth_modes_task.h> |
| |
| #include <ctime> |
| #include <unistd.h> |
| #include <libraries/timing/timing.h> |
| #include <interfaces.h> |
| #include <pthread.h> |
| #include <softPwm.h> |
| |
| #include <roverapp.h> |
| |
| void *Booth_Modes_Task(void * arg) |
| { |
| timing booth_task_tmr; |
| booth_task_tmr.setTaskID("BM"); |
| booth_task_tmr.setDeadline(0.1); |
| booth_task_tmr.setPeriod(0.1); |
| |
| while (1) |
| { |
| booth_task_tmr.recordStartTime(); |
| booth_task_tmr.calculatePreviousSlackTime(); |
| |
| //Task content starts here ----------------------------------------------- |
| |
| if (driving_mode == BOOTH1) |
| { |
| |
| } |
| |
| if (driving_mode == BOOTH2) |
| { |
| |
| } |
| |
| //Task content ends here ------------------------------------------------- |
| |
| booth_task_tmr.recordEndTime(); |
| booth_task_tmr.calculateExecutionTime(); |
| booth_task_tmr.calculateDeadlineMissPercentage(); |
| booth_task_tmr.incrementTotalCycles(); |
| pthread_mutex_lock(&booth_task_ti_l); |
| booth_task_ti.deadline = booth_task_tmr.getDeadline(); |
| booth_task_ti.deadline_miss_percentage = booth_task_tmr.getDeadlineMissPercentage(); |
| booth_task_ti.execution_time = booth_task_tmr.getExecutionTime(); |
| booth_task_ti.period = booth_task_tmr.getPeriod(); |
| booth_task_ti.prev_slack_time = booth_task_tmr.getPrevSlackTime(); |
| booth_task_ti.task_id = booth_task_tmr.getTaskID(); |
| booth_task_ti.start_time = booth_task_tmr.getStartTime(); |
| booth_task_ti.end_time = booth_task_tmr.getEndTime(); |
| pthread_mutex_unlock(&booth_task_ti_l); |
| booth_task_tmr.sleepToMatchPeriod(); |
| } |
| |
| /* the function must return something - NULL will do */ |
| return NULL; |
| } |
| |
| |
| |