/advdemos/tags/rel_1_5_beta1/rtw/control.c |
---|
1,5 → 1,5 |
#include "kernel/kern.h" |
#include "modules/cabs.h" |
#include "cabs/cabs/cabs.h" |
#include "tmwtypes.h" |
56,7 → 56,7 |
CONTROL_pid = task_create("CONTROL",CONTROL_body,&CONTROL_task,NULL); |
if (CONTROL_pid == NIL) { |
cprintf("Error: Cannot create RealTime Workshop [CONTROL] Task\n"); |
sys_end(); |
exit(1); |
} |
task_activate(CONTROL_pid); |
/advdemos/tags/rel_1_5_beta1/rtw/initfile.c |
---|
18,11 → 18,11 |
/* |
------------ |
CVS : $Id: initfile.c,v 1.1.1.1 2004-05-24 17:54:50 giacomo Exp $ |
CVS : $Id: initfile.c,v 1.2 2005-02-26 10:57:27 pj Exp $ |
File: $File$ |
Revision: $Revision: 1.1.1.1 $ |
Last update: $Date: 2004-05-24 17:54:50 $ |
Revision: $Revision: 1.2 $ |
Last update: $Date: 2005-02-26 10:57:27 $ |
------------ |
System initialization file |
67,14 → 67,14 |
*/ |
#include "kernel/kern.h" |
#include "modules/edf.h" |
#include "modules/cbs.h" |
#include "modules/rr.h" |
#include "modules/dummy.h" |
#include "edf/edf/edf.h" |
#include "cbs/cbs/cbs.h" |
#include "rr/rr/rr.h" |
#include "dummy/dummy/dummy.h" |
#include "modules/sem.h" |
#include "modules/hartport.h" |
#include "modules/cabs.h" |
#include "sem/sem/sem.h" |
#include "hartport/hartport/hartport.h" |
#include "cabs/cabs/cabs.h" |
#include "drivers/keyb.h" |
/advdemos/tags/rel_1_5_beta1/rtw/actuators.c |
---|
1,5 → 1,5 |
#include "kernel/kern.h" |
#include "modules/cabs.h" |
#include "cabs/cabs/cabs.h" |
#include "tmwtypes.h" |
51,7 → 51,7 |
ACTUATOR_pid = task_create("ACTUATOR0",ACTUATOR_body,&ACTUATOR_task,NULL); |
if (ACTUATOR_pid == NIL) { |
cprintf("Error: Cannot create RealTime Workshop [ACTUATOR0] Task\n"); |
sys_end(); |
exit(1); |
} |
task_activate(ACTUATOR_pid); |
/advdemos/tags/rel_1_5_beta1/rtw/rtw.c |
---|
8,7 → 8,7 |
#include "rt_nonfinite.h" |
#include "kernel/kern.h" |
#include "modules/cabs.h" |
#include "cabs/cabs/cabs.h" |
#include "percorso.h" |
#include "rtw.h" |
206,7 → 206,7 |
break; |
default: |
cprintf("Error: Unable to initialize rtInf, rtMinusInf and rtNaN\n"); |
sys_end(); |
exit(1); |
break; |
} |
292,7 → 292,7 |
if (rtmGetErrorStatus(S) != NULL) { |
cprintf("Error: Model registration: %s\n", |
rtmGetErrorStatus(S)); |
sys_end(); |
exit(1); |
} |
if (finaltime >= 0.0 || finaltime == RUN_FOREVER) rtmSetTFinal(S,finaltime); |
312,7 → 312,7 |
if (status != NULL) { |
cprintf("Error: Failed to initialize sample time engine: %s\n", status); |
sys_end(); |
exit(1); |
} |
rt_CreateIntegrationData(S); |
350,17 → 350,17 |
if (GBLbuf.errmsg) { |
cprintf("Error: %s\n",GBLbuf.errmsg); |
sys_end(); |
exit(1); |
} |
if (GBLbuf.isrOverrun) { |
cprintf("Error: %s: ISR overrun - base sampling rate is too fast\n",QUOTE(MODEL)); |
sys_end(); |
exit(1); |
} |
if (rtmGetErrorStatus(S) != NULL) { |
cprintf("Error: %s\n", rtmGetErrorStatus(S)); |
sys_end(); |
exit(1); |
} |
MdlTerminate(); |
537,7 → 537,7 |
RTW_pid = task_create("RTW",RTW_body,&RTW_task,NULL); |
if (RTW_pid == NIL) { |
cprintf("Error: Cannot create RealTime Workshop [RTW] Task\n"); |
sys_end(); |
exit(1); |
} |
hard_task_default_model(OUTPUT_task); |
549,7 → 549,7 |
OUTPUT_pid = task_create("OUTPUT",OUTPUT_body,&OUTPUT_task,NULL); |
if (OUTPUT_pid == NIL) { |
cprintf("Error: Cannot create RealTime Workshop [OUTPUT] Task\n"); |
sys_end(); |
exit(1); |
} |
hard_task_def_mit(OUTPUT_task,OUTPUT_period); |
558,7 → 558,7 |
OUTPUT_w_pid = task_create("OUTPUTW",OUTPUT_w_body,&OUTPUT_task,NULL); |
if (OUTPUT_pid == NIL) { |
cprintf("Error: Cannot create RealTime Workshop [OUTPUTW] Task\n"); |
sys_end(); |
exit(1); |
} |
task_activate(RTW_pid); |
578,7 → 578,7 |
Close_RealTime_Workshop(); |
sys_end(); |
exit(1); |
return 0; |
/advdemos/tags/rel_1_5_beta1/rtw/sensors.c |
---|
1,5 → 1,5 |
#include "kernel/kern.h" |
#include "modules/cabs.h" |
#include "cabs/cabs/cabs.h" |
#include "tmwtypes.h" |
50,7 → 50,7 |
DISTANCE_pid = task_create("DISTANCE",SENSOR_body,&SENSOR_task,NULL); |
if (DISTANCE_pid == NIL) { |
cprintf("Error: Cannot create RealTime Workshop [DISTACE] Task\n"); |
sys_end(); |
exit(1); |
} |
hard_task_def_arg(SENSOR_task,(void *)(1)); |
57,7 → 57,7 |
ANGLE_pid = task_create("ANGLE",SENSOR_body,&SENSOR_task,NULL); |
if (DISTANCE_pid == NIL) { |
cprintf("Error: Cannot create RealTime Workshop [DISTACE] Task\n"); |
sys_end(); |
exit(1); |
} |
hard_task_def_arg(SENSOR_task,(void *)(2)); |
64,7 → 64,7 |
CURVE_pid = task_create("CURVE",SENSOR_body,&SENSOR_task,NULL); |
if (CURVE_pid == NIL) { |
cprintf("Error: Cannot create RealTime Workshop [CURVE] Task\n"); |
sys_end(); |
exit(1); |
} |
hard_task_def_arg(SENSOR_task,(void *)(3)); |
71,7 → 71,7 |
WR_pid = task_create("WR",SENSOR_body,&SENSOR_task,NULL); |
if (WR_pid == NIL) { |
cprintf("Error: Cannot create RealTime Workshop [WR] Task\n"); |
sys_end(); |
exit(1); |
} |
hard_task_def_arg(SENSOR_task,(void *)(4)); |
78,7 → 78,7 |
WL_pid = task_create("CURVE",SENSOR_body,&SENSOR_task,NULL); |
if (WR_pid == NIL) { |
cprintf("Error: Cannot create RealTime Workshop [WL] Task\n"); |
sys_end(); |
exit(1); |
} |
task_activate(DISTANCE_pid); |