| 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 */ |
| |
| volatile int shark_running = 1; |
| PID shutdown_task_PID = -1; |
| |
| double dist_xy(int x1, int y1, int x2, int y2) |
| { |
| 65,7 → 65,7 |
|---|
| |
| void end_func(KEY_EVT *k) { |
| |
| shark_running = 0; |
| task_activate(shutdown_task_PID); |
| |
| } |
| |
| 106,11 → 106,39 |
|---|
| |
| } |
| |
| TASK shutdown_task_body(void *arg) { |
| |
| device_drivers_close(); |
| |
| sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
| |
| sys_end(); |
| |
| return NULL; |
| |
| } |
| |
| void set_shutdown_task() { |
| |
| NRT_TASK_MODEL nrt; |
| |
| nrt_task_default_model(nrt); |
| |
| 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(); |
| } |
| |
| } |
| |
| int main(int argc, char **argv) |
| { |
| KEY_EVT k; |
| TIME seme; |
| |
| set_shutdown_task(); |
| |
| device_drivers_init(); |
| |
| k.flag = CNTR_BIT; |
| 146,14 → 174,6 |
|---|
| init_astro(); |
| init_rock(); |
| |
| while(shark_running); |
| |
| device_drivers_close(); |
| |
| sys_shutdown_message("-- S.Ha.R.K. Closed --\n"); |
| |
| sys_end(); |
| |
| return 0; |
| |
| } |