WebSVN - shark - Blame - Rev 1656 - /unsupported/trunk/auto/include/auto.h

Rev	Author	Line No.	Line
1655	giacomo	1	/*
		2	* Project: S.Ha.R.K.
		3	*
		4	* Coordinators:
		5	* Giorgio Buttazzo <giorgio@sssup.it>
		6	* Paolo Gai <pj@gandalf.sssup.it>
		7	*
		8	* Authors :
		9	* Paolo Gai <pj@gandalf.sssup.it>
		10	* Massimiliano Giorgi <massy@gandalf.sssup.it>
		11	* Luca Abeni <luca@gandalf.sssup.it>
		12	* (see the web pages for full authors list)
		13	*
		14	* ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)
		15	*
		16	* http://www.sssup.it
		17	* http://retis.sssup.it
		18	* http://shark.sssup.it
		19	*/
		20
		21
		22	/**
		23	------------
		24	CVS : $Id: auto.h,v 1.1.1.1 2004-05-24 18:03:39 giacomo Exp $
		25
		26	File: $File$
		27	Revision: $Revision: 1.1.1.1 $
		28	Last update: $Date: 2004-05-24 18:03:39 $
		29	------------
		30	**/
		31
		32	/*
		33	* Copyright (C) 2000 Marco Dallera and Marco Fiocca
		34	*
		35	* This program is free software; you can redistribute it and/or modify
		36	* it under the terms of the GNU General Public License as published by
		37	* the Free Software Foundation; either version 2 of the License, or
		38	* (at your option) any later version.
		39	*
		40	* This program is distributed in the hope that it will be useful,
		41	* but WITHOUT ANY WARRANTY; without even the implied warranty of
		42	* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
		43	* GNU General Public License for more details.
		44	*
		45	* You should have received a copy of the GNU General Public License
		46	* along with this program; if not, write to the Free Software
		47	* Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA
		48	*
		49	*/
		50
		51	/*
		52	* AUTO
		53	*
		54	* Another Unuseful Track simulatOr
		55	*
		56	* Authors: Marco Dallera
		57	* Marco Fiocca
		58	*
		59	*/
		60
		61	/* ------------------- */
		62	/* Useful structures */
		63	/* ------------------- */
		64
		65	#ifndef __CAR_H_
		66
		67	#define __CAR_H_
		68
		69	#include <modules/cabs.h>
		70	#include <kernel/func.h>
		71	#include <kernel/model.h>
		72	#include <kernel/types.h>
		73	#include <drivers/keyb.h>
		74	#include <drivers/glib.h>
		75	#include <semaphore.h>
		76	#include <math.h>
		77	#include <stdio.h>
		78	#include <stdlib.h>
		79	#include <string.h>
		80	#include "const.h"
		81
		82	#define degree_to_rad(a) ((M_PI/180.0)*(a))
		83	#define rad_to_degree(a) ((180.0/M_PI)*(a))
		84
		85	typedef struct {
		86	int x;
		87	int y;
		88	} point;
		89
		90	typedef struct {
		91	float x,y;
		92	} point_f;
		93
		94	typedef struct {
		95	float mod;
		96	float phase;
		97	} vector;
		98
		99	typedef struct {
		100	point_f pos;
		101	float orient;
		102	} car_status;
		103
		104	typedef struct {
		105	int left_border;
		106	int right_border;
		107	int distance;
		108	float curve;
		109	point opps_list[MAX_CAR_NUMBER];
		110	int opps_number;
		111	int collision;
		112	int flag;
		113	} road_info;
		114
		115	typedef struct {
		116	int left,center,right;
		117	} road_strip;
		118
		119	typedef struct {
		120	PID sensor_pid,control_pid;
		121	int number;
		122	char driver[MAX_DRIVER_NAME_LENGTH];
		123	float max_speed, min_acc, max_acc;
		124	float rage;
		125	CAB road_status_cab;
		126	CAB car_status_cab;
		127	int color;
		128	} car_params;
		129
		130	typedef struct {
		131	char name[MAX_TRACK_NAME_LENGTH]; // il nome del file
		132	point pole_pos; // la posizione di partenza
		133	float pole_orient; // la direzione di partenza
		134	int lap; // il senso di marcia: CLOCK, ANTICLOCK
		135	int selected; // it's a flag marking the actually selected track
		136	} track;
		137
		138	typedef struct {
		139	int min;
		140	int sec;
		141	int dec;
		142	} time;
		143
		144	extern car_params cars[MAX_CAR_NUMBER];
		145	extern char track_img[TRACK_WIDTH*TRACK_HEIGHT];
		146	extern track track_list[TRACK_NUMBER];
		147
		148	/* ---------------------------------------- */
		149	/* Functions definition */
		150	/* ---------------------------------------- */
		151
		152	/* CABs R/W functions */
		153	int set_car_status(car_status, CAB); // sends the new status according to the control law
		154	car_status get_car_status(CAB); // reads car status from a CAB
		155	int set_road_info(road_info, CAB); // sends the new road informations
		156	road_info get_road_info(CAB); // reads road status values from a CAB
		157
		158	/* Keyboard functions */
		159	void keyb_handler();
		160	void endfun(KEY_EVT *);
		161	void my_close(void *);
		162
		163	/* Display functions */
		164	void bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name);
		165	void bidir_bar_display(point p1, int width, int height, int border, float var, float max, int color, char *name);
		166	void cmd_display();
		167
		168	/* Closing function */
		169	void byebye();
		170	void error_msg();
		171
		172	/* Tasks */
		173	TASK sensor(); // Camera car task
		174	TASK control(); // Car controller task
		175	TASK manual(); // Manual driving task
		176	TASK actuator(); // Graphic drawing task
		177	TASK info(); // Car informations display task
		178
		179	/* Tasks management */
		180	void hard_car_create();
		181	void soft_car_create();
		182	void killcar();
		183
		184	/* Tracks management */
		185	int track_init();
		186
		187	#endif
		188

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