16,7 → 16,7 |
sem_t mx_mat, mx_grf, mx_pos, mx_vel, mx_xy, mx_rk, mx_rn; /* mutex semaphores */ |
sem_t mx_st_nrg, mx_st_scr, mx_st_kil, mx_st_liv; /* mutex semaphores */ |
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volatile int shark_running = 1; |
PID shutdown_task_PID = -1; |
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double dist_xy(int x1, int y1, int x2, int y2) |
{ |
65,7 → 65,7 |
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void end_func(KEY_EVT *k) { |
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shark_running = 0; |
task_activate(shutdown_task_PID); |
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} |
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106,11 → 106,39 |
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} |
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TASK shutdown_task_body(void *arg) { |
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device_drivers_close(); |
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sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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sys_end(); |
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return NULL; |
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} |
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void set_shutdown_task() { |
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NRT_TASK_MODEL nrt; |
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nrt_task_default_model(nrt); |
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shutdown_task_PID = task_create("Shutdown Task",shutdown_task_body,&nrt,NULL); |
if (shutdown_task_PID == NIL) { |
sys_shutdown_message("Error: Cannot create shutdown task\n"); |
sys_end(); |
} |
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} |
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int main(int argc, char **argv) |
{ |
KEY_EVT k; |
TIME seme; |
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set_shutdown_task(); |
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device_drivers_init(); |
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k.flag = CNTR_BIT; |
146,14 → 174,6 |
init_astro(); |
init_rock(); |
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while(shark_running); |
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device_drivers_close(); |
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sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
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sys_end(); |
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return 0; |
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} |