Subversion Repositories shark

/*

 * Project: S.Ha.R.K.

 *

 * Coordinators: Giorgio Buttazzo <giorgio@sssup.it>

 *

 * ReTiS Lab (Scuola Superiore S.Anna - Pisa - Italy)

 *

 * http://www.sssup.it

 * http://retis.sssup.it

 * http://shark.sssup.it

 */

/*

 * Copyright (C) 2000 Paolo Gai

 *

 * This program is free software; you can redistribute it and/or modify

 * it under the terms of the GNU General Public License as published by

 * the Free Software Foundation; either version 2 of the License, or

 * (at your option) any later version.

 *

 * This program is distributed in the hope that it will be useful,

 * but WITHOUT ANY WARRANTY; without even the implied warranty of

 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the

 * GNU General Public License for more details.

 *

 * You should have received a copy of the GNU General Public License

 * along with this program; if not, write to the Free Software

 * Foundation, Inc., 59 Temple Place, Suite 330, Boston, MA  02111-1307  USA

 *

 */

#include "chimera.h"

void my_close(void *arg)

{

        int i;

        TIME tmp;

        end_send();

        for (i=3; i<MAX_PROC; i++){

                if (!jet_getstat(i, NULL, &tmp, NULL, NULL))

                        kern_printf("Task Name : %s - Max Time  : %d\n", proc_table[i].name, (int)tmp);

        }

}

void action_stand_up(void) {

  static struct action_event e[20];

  int i = 0;

  status.power = 1;

  kern_gettime(&(e[i].time));

  ADDUSEC2TIMESPEC(10000000,&(e[i].time));

  e[i].type = EVT_SET_MASK_LEG_ANGLE;

  e[i].mask = 31;

  e[i].ang.a = 0 * 3600;

  e[i].ang.b = 80 * 3600;

  e[i].ang.c = 0;

  e[i].pwm = 7;

  insert_action_event(&(e[i]));

  kern_gettime(&(e[i+1].time));

  ADDUSEC2TIMESPEC(11000000,&(e[i+1].time));

  e[i+1].type = EVT_SET_MASK_LEG_ANGLE;

  e[i+1].mask = 31;

  e[i+1].ang.a = 90 * 3600;

  e[i+1].ang.b = 80 * 3600;

  e[i+1].ang.c = 0;

  e[i+1].pwm = 7;    

  insert_action_event(&(e[i+1]));

  kern_gettime(&(e[i+2].time));

  ADDUSEC2TIMESPEC(12000000,&(e[i+2].time));

  e[i+2].type = EVT_SET_MASK_LEG_ANGLE;

  e[i+2].mask = 31;

  e[i+2].ang.a = 90 * 3600;

  e[i+2].ang.b = -50 * 3600;

  e[i+2].ang.c = 0;

  e[i+2].pwm = 7;

  insert_action_event(&(e[i+2]));

  kern_gettime(&(e[i+3].time));

  ADDUSEC2TIMESPEC(13000000,&(e[i+3].time));

  e[i+3].type = EVT_SET_MASK_LEG_ANGLE;

  e[i+3].mask = 31;

  e[i+3].ang.a = 90 * 3600;

  e[i+3].ang.b = 0 * 3600;

  e[i+3].ang.c = 0;

  e[i+3].pwm = 7;

  insert_action_event(&(e[i+3]));

  kern_gettime(&(e[i+4].time));

  ADDUSEC2TIMESPEC(15000000,&(e[i+4].time));

  e[i+4].type = EVT_SET_MASK_LEG_ANGLE;

  e[i+4].mask = 31;

  e[i+4].ang.a = 90 * 3600;

  e[i+4].ang.b = 0 * 3600;

  e[i+4].ang.c = 0;

  e[i+4].pwm = 7;

  insert_action_event(&(e[i+4]));

}

int main(int argc, char **argv)

{

        TIME seme;

        seme = sys_gettime(NULL);

        srand(seme);

        sys_atrunlevel(my_close, NULL, RUNLEVEL_BEFORE_EXIT);

        clear();

        init_send();            /* Comunication */

        init_key();             /* Keyboard */

        action_stand_up();

        return 0;

}