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1085 | pj | 1 | /* |
2 | * Project: S.Ha.R.K. |
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3 | * |
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4 | * Coordinators: |
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5 | * Giorgio Buttazzo <giorgio@sssup.it> |
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6 | * Paolo Gai <pj@gandalf.sssup.it> |
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7 | * |
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8 | * Authors : |
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9 | * Paolo Gai <pj@gandalf.sssup.it> |
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10 | * Massimiliano Giorgi <massy@gandalf.sssup.it> |
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11 | * Luca Abeni <luca@gandalf.sssup.it> |
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12 | * (see the web pages for full authors list) |
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13 | * |
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14 | * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy) |
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15 | * |
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16 | * http://www.sssup.it |
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17 | * http://retis.sssup.it |
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18 | * http://shark.sssup.it |
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19 | */ |
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20 | |||
21 | |||
22 | /** |
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23 | ------------ |
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24 | CVS : $Id: auto.h,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $ |
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25 | |||
26 | File: $File$ |
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27 | Revision: $Revision: 1.1.1.1 $ |
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28 | Last update: $Date: 2002-09-02 09:37:42 $ |
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29 | ------------ |
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30 | **/ |
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31 | |||
32 | /* |
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33 | * Copyright (C) 2000 Marco Dallera and Marco Fiocca |
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34 | * |
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35 | * This program is free software; you can redistribute it and/or modify |
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36 | * it under the terms of the GNU General Public License as published by |
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37 | * the Free Software Foundation; either version 2 of the License, or |
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38 | * (at your option) any later version. |
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39 | * |
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40 | * This program is distributed in the hope that it will be useful, |
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41 | * but WITHOUT ANY WARRANTY; without even the implied warranty of |
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42 | * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the |
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43 | * GNU General Public License for more details. |
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44 | * |
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45 | * You should have received a copy of the GNU General Public License |
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46 | * along with this program; if not, write to the Free Software |
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47 | * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA |
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48 | * |
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49 | */ |
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50 | |||
51 | /* |
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52 | * AUTO |
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53 | * |
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54 | * Another Unuseful Track simulatOr |
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55 | * |
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56 | * Authors: Marco Dallera |
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57 | * Marco Fiocca |
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58 | * |
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59 | */ |
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60 | |||
61 | /* ------------------- */ |
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62 | /* Useful structures */ |
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63 | /* ------------------- */ |
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64 | |||
65 | #ifndef __CAR_H_ |
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66 | |||
67 | #define __CAR_H_ |
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68 | |||
69 | #include <modules/cabs.h> |
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70 | #include <kernel/func.h> |
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71 | #include <kernel/model.h> |
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72 | #include <kernel/types.h> |
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73 | #include <drivers/keyb.h> |
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74 | #include <drivers/glib.h> |
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75 | #include <semaphore.h> |
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76 | #include <math.h> |
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77 | #include <stdio.h> |
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78 | #include <stdlib.h> |
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79 | #include <string.h> |
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80 | #include "const.h" |
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81 | |||
82 | #define degree_to_rad(a) ((M_PI/180.0)*(a)) |
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83 | #define rad_to_degree(a) ((180.0/M_PI)*(a)) |
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84 | |||
85 | typedef struct { |
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86 | int x; |
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87 | int y; |
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88 | } point; |
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89 | |||
90 | typedef struct { |
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91 | float x,y; |
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92 | } point_f; |
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93 | |||
94 | typedef struct { |
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95 | float mod; |
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96 | float phase; |
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97 | } vector; |
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98 | |||
99 | typedef struct { |
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100 | point_f pos; |
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101 | float orient; |
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102 | } car_status; |
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103 | |||
104 | typedef struct { |
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105 | int left_border; |
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106 | int right_border; |
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107 | int distance; |
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108 | float curve; |
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109 | point opps_list[MAX_CAR_NUMBER]; |
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110 | int opps_number; |
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111 | int collision; |
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112 | int flag; |
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113 | } road_info; |
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114 | |||
115 | typedef struct { |
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116 | int left,center,right; |
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117 | } road_strip; |
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118 | |||
119 | typedef struct { |
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120 | PID sensor_pid,control_pid; |
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121 | int number; |
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122 | char driver[MAX_DRIVER_NAME_LENGTH]; |
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123 | float max_speed, min_acc, max_acc; |
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124 | float rage; |
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125 | CAB road_status_cab; |
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126 | CAB car_status_cab; |
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127 | int color; |
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128 | } car_params; |
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129 | |||
130 | typedef struct { |
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131 | char name[MAX_TRACK_NAME_LENGTH]; // il nome del file |
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132 | point pole_pos; // la posizione di partenza |
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133 | float pole_orient; // la direzione di partenza |
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134 | int lap; // il senso di marcia: CLOCK, ANTICLOCK |
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135 | int selected; // it's a flag marking the actually selected track |
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136 | } track; |
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137 | |||
138 | typedef struct { |
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139 | int min; |
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140 | int sec; |
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141 | int dec; |
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142 | } time; |
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143 | |||
144 | extern car_params cars[MAX_CAR_NUMBER]; |
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145 | extern char track_img[TRACK_WIDTH*TRACK_HEIGHT]; |
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146 | extern track track_list[TRACK_NUMBER]; |
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147 | |||
148 | /* ---------------------------------------- */ |
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149 | /* Functions definition */ |
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150 | /* ---------------------------------------- */ |
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151 | |||
152 | /* CABs R/W functions */ |
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153 | int set_car_status(car_status, CAB); // sends the new status according to the control law |
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154 | car_status get_car_status(CAB); // reads car status from a CAB |
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155 | int set_road_info(road_info, CAB); // sends the new road informations |
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156 | road_info get_road_info(CAB); // reads road status values from a CAB |
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157 | |||
158 | /* Keyboard functions */ |
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159 | void keyb_handler(); |
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160 | void endfun(KEY_EVT *); |
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161 | void my_close(void *); |
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162 | |||
163 | /* Display functions */ |
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164 | void bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name); |
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165 | void bidir_bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name); |
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166 | void cmd_display(); |
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167 | |||
168 | /* Closing function */ |
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169 | void byebye(); |
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170 | void error_msg(); |
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171 | |||
172 | /* Tasks */ |
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173 | TASK sensor(); // Camera car task |
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174 | TASK control(); // Car controller task |
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175 | TASK manual(); // Manual driving task |
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176 | TASK actuator(); // Graphic drawing task |
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177 | TASK info(); // Car informations display task |
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178 | |||
179 | /* Tasks management */ |
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180 | void hard_car_create(); |
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181 | void soft_car_create(); |
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182 | void killcar(); |
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183 | |||
184 | /* Tracks management */ |
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185 | int track_init(); |
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186 | |||
187 | #endif |
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188 |