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/*
* 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
*/
#include "chimera.h"
void program_key_end
(KEY_EVT
* e
)
{
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
);
}
trace_send
();
sys_end
();
}
void action_stand_up
(void) {
struct action_event e
;
int event
;
status.
power = 1;
kern_gettime
(&(e.
time));
ADDUSEC2TIMESPEC
(5000000,&(e.
time));
e.
type = EVT_SET_MASK_LEG_ANGLE
;
e.
mask = 0x3F;
e.
ang.
a = 0 * 3600;
e.
ang.
b = 70 * 3600;
e.
ang.
c = 0;
e.
pwm = 7;
event
= insert_action_event
(&(e
));
cprintf
("Event num = %d\n",event
);
ADDUSEC2TIMESPEC
(1000000,&(e.
time));
e.
type = EVT_SET_MASK_LEG_ANGLE
;
e.
mask = 0x3F;
e.
ang.
a = 0 * 3600;
e.
ang.
b = 0 * 3600;
e.
ang.
c = 0;
e.
pwm = 7;
event
= insert_action_event
(&(e
));
cprintf
("Event num = %d\n",event
);
}
int main
(int argc
, char **argv
)
{
TIME seme
;
KEY_EVT k
;
seme
= sys_gettime
(NULL
);
srand(seme
);
k.
flag = ALTL_BIT
;
k.
scan = KEY_C
;
k.
ascii = 'c';
keyb_hook
(k
,program_key_end
);
clear
();
trace_init
(1000000);
init_send
(); /* Comunication */
init_key
(); /* Keyboard */
init_action_event
(100);
action_stand_up
();
return 0;
}