void
fire_sonar(void)
{
for(;;){
trigger_sonar(FRONT);
Task_Next();
trigger_sonar(RIGHT);
Task_Next();
trigger_sonar(LEFT);
Task_Next();
}
}
void
listen_sonar(void)
{
for(;;)
{
s_forward= read_distance();
Task_Next();
s_right = read_distance();
Task_Next();
s_left = read_distance();
Task_Next();
}
}
void sonarTask(void) {
while (true) {
sonarMeasureDistance();
Task_Next();
}
}
void task2(void) {
for (;;) {
digitalWrite(ONBOARD_LED, LOW);
Serial.println("off");
servoSet(900);
Task_Next();
}
}
void task1(void) {
for (;;) {
digitalWrite(ONBOARD_LED, HIGH);
Serial.println("on");
analogWrite(9, 100);
Task_Next();
}
}
void blinkLEDs(void)
{
for (;;)
{
_delay_ms(500);
PORTB = ~PORTB;
Task_Next();
}
}
void
sendRadio(void){
for(;;){
sendMovements(r_duty,l_duty,r_dir,r_duty);
reportToBase(r_speed,l_speed, s_forward, s_right, s_left);
send ++;
if(send == 3)
Event_Signal(stop);
Task_Next();
}
}
void generic_task(void)
{
int arg = 0;
arg = Task_GetArg();
for(;;)
{
add_to_trace(arg);
Task_Next();
}
}
/**
* \param s an Service descriptor
* \param v pointer to memory where the received value will be written
*
* The calling task waits for the next published value associated with service "s".
* More than one task may wait for a service. When a new value "v" is published to
* "s", all waiting tasks resume and obtain the same value.
*/
void Service_Subscribe( SERVICE *s, int16_t *v ) {
if(cur_task->level != PERIODIC) {
enqueue(&s->list_of_tasks_who_are_subscribed, cur_task);
cur_task->state = WAITING;
Task_Next();
cur_task->state = RUNNING;
*v = s->data;
} else {
error_msg = ERR_RUN_7_PERIODIC_ATTEMPTED_SUBSCRIBE;
OS_Abort();
}
}
void controlTask(void) {
while (true) {
if (ctrlDivider == 0)
{
control();
}
ctrlDivider++;
if (ctrlDivider >= 4)
{
ctrlDivider = 0;
}
Task_Next();
}
}
void actuateTask(void) {
while (true) {
if (actuateDivider == 0)
{
actuate();
}
actuateDivider++;
if (actuateDivider >= 4)
{
actuateDivider = 0;
}
Task_Next();
}
}
void generic_task(void)
{
int arg = 0;
arg = Task_GetArg();
for(;;)
{
add_to_trace(arg);
if(trace_counter >= TRACE_ARRAY_SIZE)
{
Event_Signal(print_event);
}
Task_Next();
}
}
