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/*
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 * Project: S.Ha.R.K.
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 *
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 * Coordinators:
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 *   Giorgio Buttazzo    <giorgio@sssup.it>
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *
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 * Authors     :
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 *   Paolo Gai           <pj@gandalf.sssup.it>
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 *   Massimiliano Giorgi <massy@gandalf.sssup.it>
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 *   Luca Abeni          <luca@gandalf.sssup.it>
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 *   (see the web pages for full authors list)
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 *
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 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
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 *
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 * http://www.sssup.it
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 * http://retis.sssup.it
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 * http://shark.sssup.it
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 */
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/**
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 ------------
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 CVS :        $Id: auto.h,v 1.1.1.1 2002-09-02 09:37:42 pj Exp $
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 File:        $File$
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 Revision:    $Revision: 1.1.1.1 $
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 Last update: $Date: 2002-09-02 09:37:42 $
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 ------------
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**/
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/*
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 * Copyright (C) 2000 Marco Dallera and Marco Fiocca
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 *
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 * This program is free software; you can redistribute it and/or modify
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 * it under the terms of the GNU General Public License as published by
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 * the Free Software Foundation; either version 2 of the License, or
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 * (at your option) any later version.
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 *
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 * This program is distributed in the hope that it will be useful,
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 * but WITHOUT ANY WARRANTY; without even the implied warranty of
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 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
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 * GNU General Public License for more details.
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 *
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 * You should have received a copy of the GNU General Public License
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 * along with this program; if not, write to the Free Software
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 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA
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 *
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 */
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/*
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 *              AUTO
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 *
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 * Another Unuseful Track simulatOr
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 *
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 * Authors: Marco Dallera
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 *          Marco Fiocca
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 *
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 */
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/* ------------------- */
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/*  Useful structures  */
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/* ------------------- */
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#ifndef __CAR_H_
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#define __CAR_H_
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#include <modules/cabs.h>
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#include <kernel/func.h>
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#include <kernel/model.h>
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#include <kernel/types.h>
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#include <drivers/keyb.h>
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#include <drivers/glib.h>
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#include <semaphore.h>
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#include <math.h>
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#include <stdio.h>
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#include <stdlib.h>
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#include <string.h>
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#include "const.h"
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#define degree_to_rad(a) ((M_PI/180.0)*(a))
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#define rad_to_degree(a) ((180.0/M_PI)*(a))
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typedef struct {
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  int x;
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  int y;
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} point;
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typedef struct {
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  float x,y;
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} point_f;
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typedef struct {
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  float mod;
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  float phase;
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} vector;
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typedef struct {
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  point_f pos;
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  float orient;
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} car_status;
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typedef struct {
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  int left_border;
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  int right_border;
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  int distance;
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  float curve;
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  point opps_list[MAX_CAR_NUMBER];
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  int opps_number;
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  int collision;
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  int flag;
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} road_info;
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typedef struct {
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  int left,center,right;
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} road_strip;
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typedef struct {
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  PID sensor_pid,control_pid;
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  int number;
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  char driver[MAX_DRIVER_NAME_LENGTH];
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  float max_speed, min_acc, max_acc;
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  float rage;
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  CAB road_status_cab;
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  CAB car_status_cab;
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  int color;
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} car_params;
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typedef struct {
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  char name[MAX_TRACK_NAME_LENGTH];     // il nome del file
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  point pole_pos;               // la posizione di partenza
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  float pole_orient;    // la direzione di partenza
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  int lap;                      // il senso di marcia: CLOCK, ANTICLOCK
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  int selected;         // it's a flag marking the actually selected track
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} track;
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typedef struct {
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  int min;
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  int sec;
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  int dec;
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} time;
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extern car_params cars[MAX_CAR_NUMBER];
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extern char track_img[TRACK_WIDTH*TRACK_HEIGHT];
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extern track track_list[TRACK_NUMBER];
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/* ---------------------------------------- */
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/*  Functions definition                    */
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/* ---------------------------------------- */
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/* CABs R/W functions */
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int set_car_status(car_status, CAB);    // sends the new status according to the control law
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car_status get_car_status(CAB);                 // reads car status from a CAB
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int set_road_info(road_info, CAB);              // sends the new road informations
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road_info get_road_info(CAB);                   // reads road status values from a CAB
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/* Keyboard functions */
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void keyb_handler();
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void endfun(KEY_EVT *);
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void my_close(void *);
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/* Display functions */
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void bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name);
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void bidir_bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name);
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void cmd_display();
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/* Closing function */
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void byebye();
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void error_msg();
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/* Tasks */
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TASK sensor();                  // Camera car task
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TASK control();                 // Car controller task
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TASK manual();                  // Manual driving task
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TASK actuator();                // Graphic drawing task
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TASK info();                    // Car informations display task
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/* Tasks management */
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void hard_car_create();
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void soft_car_create();
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void killcar();
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/* Tracks management */
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int track_init();
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#endif
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