/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_2, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_10, result_inst_11, result_inst_12, result_inst_14;
TickType result_inst_3, result_inst_13;
AlarmBaseType result_inst_1;
SCHEDULING_CHECK_INIT(1);
result_inst_2 = GetAlarmBase(Alarm1, &result_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(1,OSMAXALLOWEDVALUE_Counter1, (int)(result_inst_1.maxallowedvalue));
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(1,OSTICKSPERBASE_Counter1, (int)(result_inst_1.ticksperbase));
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(1,OSMINCYCLE_Counter1, (int)(result_inst_1.mincycle));
SCHEDULING_CHECK_AND_EQUAL_INT(1,E_OK, result_inst_2);
SCHEDULING_CHECK_INIT(2);
result_inst_4 = GetAlarm(Alarm1, &result_inst_3);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OS_NOFUNC, result_inst_4);
SCHEDULING_CHECK_INIT(3);
result_inst_5 = CancelAlarm(Alarm1);
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OS_NOFUNC, result_inst_5);
SCHEDULING_CHECK_INIT(4);
result_inst_6 = SetAbsAlarm(Alarm1, 2, 2);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OK, result_inst_6);
SCHEDULING_CHECK_INIT(5);
result_inst_7 = SetAbsAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(5,E_OS_STATE, result_inst_7);
WaitActivationPeriodicAlarm(Alarm1);
WaitActivationPeriodicAlarm(Alarm1);
SCHEDULING_CHECK_INIT(8);
result_inst_10 = CancelAlarm(Alarm1);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OK, result_inst_10);
SCHEDULING_CHECK_INIT(9);
result_inst_11 = SetRelAlarm(Alarm1, 2, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OK, result_inst_11);
SCHEDULING_CHECK_INIT(10);
result_inst_12 = SetRelAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OS_STATE, result_inst_12);
SCHEDULING_CHECK_INIT(11);
result_inst_14 = GetAlarm(Alarm1, &result_inst_13);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(11,2, result_inst_13);
SCHEDULING_CHECK_AND_EQUAL_INT(11,E_OK, result_inst_14);
WaitActivationOneShotAlarm(Alarm1);
SCHEDULING_CHECK_STEP(13);
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_1, result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_9, result_inst_10;
TickType result_inst_8;
SCHEDULING_CHECK_INIT(2);
result_inst_1 = SetAbsAlarm(Alarm1, 2, 2);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OK, result_inst_1);
SCHEDULING_CHECK_INIT(3);
result_inst_2 = SetAbsAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OS_STATE, result_inst_2);
WaitActivationPeriodicAlarm(Alarm1);
SCHEDULING_CHECK_INIT(4);
result_inst_3 = Schedule();
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OK, result_inst_3);
WaitActivationPeriodicAlarm(Alarm1);
SCHEDULING_CHECK_INIT(7);
result_inst_4 = Schedule();
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OK, result_inst_4);
SCHEDULING_CHECK_INIT(10);
result_inst_5 = CancelAlarm(Alarm1);
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OK, result_inst_5);
SCHEDULING_CHECK_INIT(11);
result_inst_6 = SetRelAlarm(Alarm1, 2, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(11,E_OK, result_inst_6);
SCHEDULING_CHECK_INIT(12);
result_inst_7 = SetRelAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(12,E_OS_STATE, result_inst_7);
SCHEDULING_CHECK_INIT(13);
result_inst_9 = GetAlarm(Alarm1, &result_inst_8);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(13,2, result_inst_8);
SCHEDULING_CHECK_AND_EQUAL_INT(13,E_OK, result_inst_9);
WaitActivationOneShotAlarm(Alarm1);
SCHEDULING_CHECK_INIT(14);
result_inst_10 = Schedule();
SCHEDULING_CHECK_AND_EQUAL_INT(15,E_OK, result_inst_10);
}
u32_t
sys_arch_sem_wait(sys_sem_t Sema,u32_t u32Timeout)
{
//Wait u32Timeout msec for the Sema to receive a signal.
dbgprintf("sys_arch_sem_wait: Sema: %d, Timeout: %x (TID: %d)\n",Sema,u32Timeout,GetThreadId());
if(u32Timeout==0)
{
//Wait with no timeouts.
return WaitSema(Sema)==0 ? 0:SYS_ARCH_TIMEOUT;
}
else if(u32Timeout==1)
{
//Poll.
return PollSema(Sema)==0 ? 0:SYS_ARCH_TIMEOUT;
}
else
{
//Use alarm to timeout.
iop_sys_clock_t ClockTicks;
iop_sys_clock_t Start;
iop_sys_clock_t End;
int iPID=GetThreadId();
u32_t u32WaitTime;
GetSystemTime(&Start);
USec2SysClock(u32Timeout*1000,&ClockTicks);
SetAlarm(&ClockTicks,TimeoutHandler,(void*)iPID);
if(WaitSema(Sema)!=0)
{
return SYS_ARCH_TIMEOUT;
}
CancelAlarm(TimeoutHandler,(void*)iPID);
GetSystemTime(&End);
u32WaitTime=ComputeTimeDiff(&Start,&End);
return u32WaitTime<=u32Timeout ? u32WaitTime:u32Timeout;
}
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_1;
SCHEDULING_CHECK_STEP(1);
WaitActivationOneShotAlarm(Alarm1);
SCHEDULING_CHECK_STEP(3);
WaitActivationPeriodicAlarm(Alarm2);
SCHEDULING_CHECK_INIT(5);
result_inst_1 = CancelAlarm(Alarm2);
SCHEDULING_CHECK_AND_EQUAL_INT(5,E_OK, result_inst_1);
SCHEDULING_CHECK_STEP(6);
}
static u32_t sys_arch_mbox_fetch_internal(sys_mbox_t pMBox, void** ppvMSG, u32_t TimeElaspedout, char block)
{
void *pmsg;
u32_t TimeElasped = 0;
iop_sys_clock_t ClockTicks;
iop_sys_clock_t Start;
iop_sys_clock_t End;
int result, iPID;
if(block){
iPID=GetThreadId();
if(TimeElaspedout > 0)
{
GetSystemTime(&Start);
USec2SysClock(TimeElaspedout * 1000, &ClockTicks);
SetAlarm(&ClockTicks, &TimeoutHandler, (void*)iPID);
}
if((result=ReceiveMbx(&pmsg, pMBox))!= 0) { return(SYS_ARCH_TIMEOUT); }
if(TimeElaspedout > 0)
{
CancelAlarm(TimeoutHandler,(void*)iPID);
GetSystemTime(&End);
TimeElasped = ComputeTimeDiff(&Start, &End);
}
}
else{
TimeElasped=((result=PollMbx(&pmsg, pMBox))!=0)?SYS_MBOX_EMPTY:0;
}
if(result==0){
*ppvMSG = ((arch_message *)pmsg)->sys_msg;
free_msg((arch_message *) pmsg);
}
//Return the number of msec waited.
return TimeElasped;
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_1, result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_7;
TickType result_inst_6;
SCHEDULING_CHECK_INIT(1);
result_inst_1 = SetAbsAlarm(Alarm1, 2, 2);
SCHEDULING_CHECK_AND_EQUAL_INT(1,E_OK, result_inst_1);
SCHEDULING_CHECK_INIT(2);
result_inst_2 = SetAbsAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OS_STATE, result_inst_2);
WaitActivationPeriodicAlarm(Alarm1);
SCHEDULING_CHECK_STEP(4);
WaitActivationPeriodicAlarm(Alarm1);
SCHEDULING_CHECK_INIT(6);
result_inst_3 = CancelAlarm(Alarm1);
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OK, result_inst_3);
SCHEDULING_CHECK_INIT(7);
result_inst_4 = SetRelAlarm(Alarm1, 2, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(7,E_OK, result_inst_4);
SCHEDULING_CHECK_INIT(8);
result_inst_5 = SetRelAlarm(Alarm1, 3, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OS_STATE, result_inst_5);
SCHEDULING_CHECK_INIT(9);
result_inst_7 = GetAlarm(Alarm1, &result_inst_6);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(9,2, result_inst_6);
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OK, result_inst_7);
WaitActivationOneShotAlarm(Alarm1);
SCHEDULING_CHECK_STEP(11);
}
u32_t sys_arch_sem_wait(sys_sem_t *sem, u32_t timeout)
{
//Wait TimeElaspedout msec for the Sema to receive a signal.
dbgprintf("sys_arch_sem_wait: Sema: %d, Timeout: %x (TID: %d)\n", *sem, timeout, GetThreadId());
u32_t result;
if(timeout==0)
{
//Wait with no timeouts.
result=(WaitSema(*sem)==0)?0:SYS_ARCH_TIMEOUT;
}
else if(timeout==1)
{
//Poll.
result=(PollSema(*sem)==0)?0:SYS_ARCH_TIMEOUT;
}
else
{
//Use alarm to timeout.
iop_sys_clock_t ClockTicks;
iop_sys_clock_t Start;
iop_sys_clock_t End;
int iPID=GetThreadId();
u32_t u32WaitTime;
GetSystemTime(&Start);
USec2SysClock(timeout*1000,&ClockTicks);
SetAlarm(&ClockTicks, &TimeoutHandler, (void*)iPID);
if(WaitSema(*sem)==0){
CancelAlarm(TimeoutHandler,(void*)iPID);
GetSystemTime(&End);
u32WaitTime=ComputeTimeDiff(&Start, &End);
result=(u32WaitTime<=timeout)?u32WaitTime:timeout;
}else result=SYS_ARCH_TIMEOUT;
}
return result;
}
u32_t
sys_arch_mbox_fetch(sys_mbox_t pMBox,void** ppvMSG,u32_t u32Timeout)
{
void *pmsg;
u32 u32Time = 0;
iop_sys_clock_t ClockTicks;
iop_sys_clock_t Start;
iop_sys_clock_t End;
if(PollMbx(&pmsg, pMBox) != 0)
{
int iPID=GetThreadId();
if(u32Timeout > 0)
{
GetSystemTime(&Start);
USec2SysClock(u32Timeout * 1000, &ClockTicks);
SetAlarm(&ClockTicks, TimeoutHandler, (void*)iPID);
}
if(ReceiveMbx(&pmsg, pMBox) != 0) { return(SYS_ARCH_TIMEOUT); }
if(u32Timeout > 0)
{
CancelAlarm(TimeoutHandler,(void*)iPID);
GetSystemTime(&End);
u32Time = ComputeTimeDiff(&Start,&End);
}
}
if(ppvMSG) { *ppvMSG = ((arch_message *) pmsg)->sys_msg; }
free_msg((arch_message *) pmsg);
//Return the number of msec waited.
return u32Time;
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
StatusType result_inst_2, result_inst_4, result_inst_6, result_inst_7, result_inst_8, result_inst_9, result_inst_10, result_inst_11, result_inst_12, result_inst_13, result_inst_14, result_inst_15, result_inst_16, result_inst_17;
AlarmBaseType result_inst_1, result_inst_5;
TickType result_inst_3;
SCHEDULING_CHECK_INIT(1);
result_inst_2 = GetAlarmBase(INVALID_ALARM, &result_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(1,E_OS_ID, result_inst_2);
SCHEDULING_CHECK_INIT(2);
result_inst_4 = GetAlarm(INVALID_ALARM, &result_inst_3);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OS_ID, result_inst_4);
SCHEDULING_CHECK_INIT(3);
result_inst_6 = GetAlarmBase(Alarm1, &result_inst_5);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(3,OSMAXALLOWEDVALUE, (int)(result_inst_5.maxallowedvalue));
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(3,OSTICKSPERBASE, (int)(result_inst_5.ticksperbase));
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(3,OSMINCYCLE, (int)(result_inst_5.mincycle));
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OK, result_inst_6);
SCHEDULING_CHECK_INIT(4);
result_inst_7 = SetRelAlarm(INVALID_ALARM, 0, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OS_ID, result_inst_7);
SCHEDULING_CHECK_INIT(5);
result_inst_8 = SetRelAlarm(Alarm1, -1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(5,E_OS_VALUE, result_inst_8);
SCHEDULING_CHECK_INIT(6);
result_inst_9 = SetRelAlarm(Alarm1, result_inst_5.maxallowedvalue + 1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OS_VALUE, result_inst_9);
SCHEDULING_CHECK_INIT(7);
result_inst_10 = SetRelAlarm(Alarm1, 0, result_inst_5.mincycle - 1);
SCHEDULING_CHECK_AND_EQUAL_INT(7,E_OS_VALUE, result_inst_10);
SCHEDULING_CHECK_INIT(8);
result_inst_11 = SetRelAlarm(Alarm1, 0, result_inst_5.maxallowedvalue + 1);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OS_VALUE, result_inst_11);
SCHEDULING_CHECK_INIT(9);
result_inst_12 = SetAbsAlarm(INVALID_ALARM, 0, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OS_ID, result_inst_12);
SCHEDULING_CHECK_INIT(10);
result_inst_13 = SetAbsAlarm(Alarm1, -1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OS_VALUE, result_inst_13);
SCHEDULING_CHECK_INIT(11);
result_inst_14 = SetAbsAlarm(Alarm1, result_inst_5.maxallowedvalue + 1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(11,E_OS_VALUE, result_inst_14);
SCHEDULING_CHECK_INIT(12);
result_inst_15 = SetAbsAlarm(Alarm1, 0, result_inst_5.mincycle - 1);
SCHEDULING_CHECK_AND_EQUAL_INT(12,E_OS_VALUE, result_inst_15);
SCHEDULING_CHECK_INIT(13);
result_inst_16 = SetAbsAlarm(Alarm1, 0, result_inst_5.maxallowedvalue + 1);
SCHEDULING_CHECK_AND_EQUAL_INT(13,E_OS_VALUE, result_inst_16);
SCHEDULING_CHECK_INIT(14);
result_inst_17 = CancelAlarm(INVALID_ALARM);
SCHEDULING_CHECK_AND_EQUAL_INT(14,E_OS_ID, result_inst_17);
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_t1_instance(void)
{
AlarmBaseType AlarmBaseType_inst_1;
EventMaskType EventMaskType_inst_1;
StatusType result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_8, result_inst_9, result_inst_10, result_inst_11, result_inst_12, result_inst_13, result_inst_14, result_inst_15, result_inst_16, result_inst_17, result_inst_18, result_inst_19;
TaskStateType TaskStateType_inst_1;
TaskType TaskType_inst_1;
TickType TickType_inst_1;
SCHEDULING_CHECK_STEP(1);
SCHEDULING_CHECK_STEP(2);
SuspendAllInterrupts();
SCHEDULING_CHECK_INIT(3);
result_inst_2 = ActivateTask(t2);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OS_DISABLEDINT, result_inst_2);
SCHEDULING_CHECK_INIT(5);
result_inst_3 = TerminateTask();
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OS_DISABLEDINT, result_inst_3);
SCHEDULING_CHECK_INIT(7);
result_inst_4 = ChainTask(t2);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OS_DISABLEDINT, result_inst_4);
SCHEDULING_CHECK_INIT(9);
result_inst_5 = Schedule();
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OS_DISABLEDINT, result_inst_5);
SCHEDULING_CHECK_INIT(11);
result_inst_6 = GetTaskID(&TaskType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(12,E_OS_DISABLEDINT, result_inst_6);
SCHEDULING_CHECK_INIT(13);
result_inst_7 = GetTaskState(t2, &TaskStateType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(14,E_OS_DISABLEDINT, result_inst_7);
SCHEDULING_CHECK_INIT(15);
result_inst_8 = GetResource(Resource1);
SCHEDULING_CHECK_AND_EQUAL_INT(16,E_OS_DISABLEDINT, result_inst_8);
SCHEDULING_CHECK_INIT(17);
result_inst_9 = ReleaseResource(Resource1);
SCHEDULING_CHECK_AND_EQUAL_INT(18,E_OS_DISABLEDINT, result_inst_9);
SCHEDULING_CHECK_INIT(19);
result_inst_10 = SetEvent(t2, Event1);
SCHEDULING_CHECK_AND_EQUAL_INT(20,E_OS_DISABLEDINT, result_inst_10);
SCHEDULING_CHECK_INIT(21);
result_inst_11 = ClearEvent(Event1);
SCHEDULING_CHECK_AND_EQUAL_INT(22,E_OS_DISABLEDINT, result_inst_11);
SCHEDULING_CHECK_INIT(23);
result_inst_12 = GetEvent(t2, &EventMaskType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(24,E_OS_DISABLEDINT, result_inst_12);
SCHEDULING_CHECK_INIT(25);
result_inst_13 = WaitEvent(Event1);
SCHEDULING_CHECK_AND_EQUAL_INT(26,E_OS_DISABLEDINT, result_inst_13);
SCHEDULING_CHECK_INIT(27);
result_inst_14 = GetAlarmBase(Alarm1, &AlarmBaseType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(28,E_OS_DISABLEDINT, result_inst_14);
SCHEDULING_CHECK_INIT(29);
result_inst_15 = GetAlarm(Alarm1, &TickType_inst_1);
SCHEDULING_CHECK_AND_EQUAL_INT(30,E_OS_DISABLEDINT, result_inst_15);
SCHEDULING_CHECK_INIT(31);
result_inst_16 = SetRelAlarm(Alarm1, 1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(32,E_OS_DISABLEDINT, result_inst_16);
SCHEDULING_CHECK_INIT(33);
result_inst_17 = SetAbsAlarm(Alarm1, 1, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(34,E_OS_DISABLEDINT, result_inst_17);
SCHEDULING_CHECK_INIT(35);
result_inst_18 = CancelAlarm(Alarm1);
SCHEDULING_CHECK_AND_EQUAL_INT(36,E_OS_DISABLEDINT, result_inst_18);
SCHEDULING_CHECK_INIT(37);
result_inst_19 = GetActiveApplicationMode();
SCHEDULING_CHECK_AND_EQUAL_INT(38,OSDEFAULTAPPMODE, result_inst_19);
SCHEDULING_CHECK_STEP(39);
ResumeAllInterrupts();
}
/*test case:test the reaction of the system called with
an activation of a task*/
static void test_isr1_instance(void)
{
StatusType result_inst_1, result_inst_1_5, result_inst_2, result_inst_3, result_inst_4, result_inst_5, result_inst_6, result_inst_7, result_inst_8, result_inst_9, result_inst_10, result_inst_11, result_inst_12, result_inst_13, result_inst_14, result_inst_15;
StatusType result_inst_16, result_inst_17, result_inst_18, result_inst_19, result_inst_20, result_inst_21, result_inst_22, result_inst_23, result_inst_24, result_inst_25, result_inst_26, result_inst_27, result_inst_28, result_inst_29, result_inst_30, result_inst_31, result_inst_32, result_inst_33, result_inst_34, result_inst_35;
AlarmBaseType alarmbase;
TickType tik;
SCHEDULING_CHECK_INIT(2);
result_inst_1 = ActivateTask(t4);
SCHEDULING_CHECK_AND_EQUAL_INT(2,E_OK, result_inst_1);
SCHEDULING_CHECK_INIT(3);
result_inst_1_5 = ActivateTask(t3);
SCHEDULING_CHECK_AND_EQUAL_INT(3,E_OK, result_inst_1_5);
SCHEDULING_CHECK_INIT(4);
result_inst_2 = GetAlarmBase(INVALID_ALARM, &alarmbase);
SCHEDULING_CHECK_AND_EQUAL_INT(4,E_OS_ID, result_inst_2);
SCHEDULING_CHECK_INIT(5);
result_inst_3 = GetAlarmBase(Alarm0, &alarmbase);
SCHEDULING_CHECK_AND_EQUAL_INT(5,E_OK, result_inst_3);
SCHEDULING_CHECK_INIT(6);
result_inst_4 = GetAlarm(INVALID_ALARM, &tik);
SCHEDULING_CHECK_AND_EQUAL_INT(6,E_OS_ID, result_inst_4);
SCHEDULING_CHECK_INIT(7);
result_inst_5 = GetAlarm(Alarm0, &tik);
SCHEDULING_CHECK_AND_EQUAL_INT(7,E_OS_NOFUNC, result_inst_5);
SCHEDULING_CHECK_INIT(8);
result_inst_6 = SetRelAlarm(INVALID_ALARM, 0, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(8,E_OS_ID, result_inst_6);
SCHEDULING_CHECK_INIT(9);
result_inst_7 = SetRelAlarm(Alarm0, -1 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(9,E_OS_VALUE, result_inst_7);
SCHEDULING_CHECK_INIT(10);
result_inst_8 = SetRelAlarm(Alarm0, alarmbase.maxallowedvalue + 1 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(10,E_OS_VALUE, result_inst_8);
SCHEDULING_CHECK_INIT(11);
result_inst_9 = SetRelAlarm(Alarm0, 0 , alarmbase.mincycle - 1);
SCHEDULING_CHECK_AND_EQUAL_INT(11,E_OS_VALUE, result_inst_9);
SCHEDULING_CHECK_INIT(12);
result_inst_10 = SetRelAlarm(Alarm0, 0 , alarmbase.maxallowedvalue + 1);
SCHEDULING_CHECK_AND_EQUAL_INT(12,E_OS_VALUE, result_inst_10);
SCHEDULING_CHECK_INIT(13);
result_inst_11 = SetAbsAlarm(INVALID_ALARM, 0, 0);
SCHEDULING_CHECK_AND_EQUAL_INT(13,E_OS_ID, result_inst_11);
SCHEDULING_CHECK_INIT(14);
result_inst_12 = SetAbsAlarm(Alarm0, -1 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(14,E_OS_VALUE, result_inst_12);
SCHEDULING_CHECK_INIT(15);
result_inst_13 = SetAbsAlarm(Alarm0, alarmbase.maxallowedvalue + 1 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(15,E_OS_VALUE, result_inst_13);
SCHEDULING_CHECK_INIT(16);
result_inst_14 = SetAbsAlarm(Alarm0, 0 , alarmbase.mincycle - 1);
SCHEDULING_CHECK_AND_EQUAL_INT(16,E_OS_VALUE, result_inst_14);
SCHEDULING_CHECK_INIT(17);
result_inst_15 = SetAbsAlarm(Alarm0, 0 , alarmbase.maxallowedvalue + 1);
SCHEDULING_CHECK_AND_EQUAL_INT(17,E_OS_VALUE, result_inst_15);
SCHEDULING_CHECK_INIT(18);
result_inst_16 = CancelAlarm(INVALID_ALARM);
SCHEDULING_CHECK_AND_EQUAL_INT(18,E_OS_ID, result_inst_16);
SCHEDULING_CHECK_INIT(19);
result_inst_17 = CancelAlarm(Alarm0);
SCHEDULING_CHECK_AND_EQUAL_INT(19,E_OS_NOFUNC, result_inst_17);
SCHEDULING_CHECK_INIT(20);
result_inst_18 = SetRelAlarm(Alarm1_1, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(20,E_OK, result_inst_18);
SCHEDULING_CHECK_INIT(21);
result_inst_19 = SetRelAlarm(Alarm1_1, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(21,E_OS_STATE, result_inst_19);
SCHEDULING_CHECK_INIT(22);
result_inst_20 = GetAlarm(Alarm1_1, &tik);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(22,E_OK, result_inst_20);
SCHEDULING_CHECK_AND_EQUAL_INT(22,2, tik);
WaitActivationPeriodicAlarm(Alarm1_1);
SCHEDULING_CHECK_INIT(23);
result_inst_21 = CancelAlarm(Alarm1_1);
SCHEDULING_CHECK_AND_EQUAL_INT(23,E_OK, result_inst_21);
SCHEDULING_CHECK_INIT(24);
result_inst_22 = SetAbsAlarm(Alarm1_2, 2 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(24,E_OK, result_inst_22);
SCHEDULING_CHECK_INIT(25);
result_inst_23 = SetAbsAlarm(Alarm1_2, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(25,E_OS_STATE, result_inst_23);
WaitActivationOneShotAlarm(Alarm1_2);
SCHEDULING_CHECK_INIT(26);
result_inst_24 = SetRelAlarm(Alarm2_1, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(26,E_OK, result_inst_24);
SCHEDULING_CHECK_INIT(27);
result_inst_25 = SetRelAlarm(Alarm2_1, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(27,E_OS_STATE, result_inst_25);
SCHEDULING_CHECK_INIT(28);
result_inst_26 = GetAlarm(Alarm2_1, &tik);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(28,E_OK, result_inst_26);
SCHEDULING_CHECK_AND_EQUAL_INT(28,2, tik);
WaitActivationPeriodicAlarm(Alarm2_1);
SCHEDULING_CHECK_INIT(29);
result_inst_27 = CancelAlarm(Alarm2_1);
SCHEDULING_CHECK_AND_EQUAL_INT(29,E_OK, result_inst_27);
SCHEDULING_CHECK_INIT(30);
result_inst_28 = SetAbsAlarm(Alarm2_2, 2 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(30,E_OK, result_inst_28);
SCHEDULING_CHECK_INIT(31);
result_inst_29 = SetAbsAlarm(Alarm2_2, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(31,E_OS_STATE, result_inst_29);
WaitActivationOneShotAlarm(Alarm2_2);
SCHEDULING_CHECK_INIT(32);
result_inst_30 = SetRelAlarm(Alarm3, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(32,E_OK, result_inst_30);
SCHEDULING_CHECK_INIT(33);
result_inst_31 = SetRelAlarm(Alarm3, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(33,E_OS_STATE, result_inst_31);
SCHEDULING_CHECK_INIT(34);
result_inst_32 = GetAlarm(Alarm3, &tik);
SCHEDULING_CHECK_AND_EQUAL_INT_FIRST(34,E_OK, result_inst_32);
SCHEDULING_CHECK_AND_EQUAL_INT(34,2, tik);
WaitActivationPeriodicAlarm(Alarm3);
SCHEDULING_CHECK_INIT(36);
result_inst_33 = CancelAlarm(Alarm3);
SCHEDULING_CHECK_AND_EQUAL_INT(36,E_OK, result_inst_33);
SCHEDULING_CHECK_INIT(37);
result_inst_34 = SetAbsAlarm(Alarm3, 2 , 0);
SCHEDULING_CHECK_AND_EQUAL_INT(37,E_OK, result_inst_34);
SCHEDULING_CHECK_INIT(38);
result_inst_35 = SetAbsAlarm(Alarm3, 2 , 2);
SCHEDULING_CHECK_AND_EQUAL_INT(38,E_OS_STATE, result_inst_35);
WaitActivationOneShotAlarm(Alarm3);
SCHEDULING_CHECK_STEP(40);
}
void tempo(int ms)
{
CancelAlarm(0);
SetRelAlarm (0, ms, T_ORDO) ;
}
/** 走行中の処理 */
SINT Driver::state_driving(void){
//DEBUG_PRINT1("s", "state_driving()");
RobotInfo r_info;
NavInfo n_info;
RobotCmd cmd;
bool ret;
navigator_.Init();
//Position prePos;
//Position now_position;
// F32 r = 41.34; // タイヤの半径 []
// F32 d = 82.6; // 左右のタイヤ間距離 [mm]
// S32 angR = nxt_motor_get_count(1);
// S32 angL = nxt_motor_get_count(2);
// S32 angR_bak;
// S32 angL_bak;
navigator_.Init();
r_info = robot_.GetInfo();
//angR = r_info.rot_encoderR_val;
//angL = r_info.rot_encoderL_val;
n_info = navigator_.GetInfo(r_info);
// 最初のミッションを設定＆初期化
cur_mission_iter_ = this->mission_list_.Begin();
if ( cur_mission_iter_ != this->mission_list_.End() ){
(*cur_mission_iter_)->Init(r_info, n_info);
} else {
this->status_ = STATE_ERROR;
}
this->ClearEventFlag();
SetRelAlarm(Alarm4msec, 1, DRIVE_PERIOD); // ドライブ用Alarmタイマーのセット
// 走行開始
// ステータスが運転中ならループを繰り返す
while(this->status_ == STATE_DRIVING){
//DEBUG_PRINT1("s", (*cur_mission_iter_)->Name());
ClearEvent(EventDrive); // ドライブイベントのクリア
WaitEvent(EventDrive); // ドライブイベント待ち
// タッチセンサON,もしくは転倒情報より走行停止
if ( event_flag_.is_SetEvent(Robot::EVENT_TOUCH_SENSOR_ON) || event_flag_.is_SetEvent(Robot::EVENT_FAIL) ){
status_ = STATE_WAIT_START;
break;
}
// デバッグ用
if ( event_flag_.is_SetEvent(Robot::EVENT_GYRO) ){
// robot_.Beep();
}
if ( event_flag_.is_SetEvent(Robot::EVENT_GYRO2) ){
// robot_.Beep();
}
if ( event_flag_.is_SetEvent(Robot::EVENT_SONAR_SENSOR_ON) ){
// robot_.Beep();
}
r_info = robot_.GetInfo();
n_info = navigator_.GetInfo(r_info);
//prePos = now_position;
//angR_bak = angR;
//angL_bak = angL;
//angR = r_info.rot_encoderR_val;
//angL = r_info.rot_encoderL_val;
//now_position = getPositionEstimation(prePos, angR - angR_bak, angL - angL_bak, r, d);
while(1){
ret = (*cur_mission_iter_)->Run(r_info, n_info, this->event_flag_, cmd);
if ( ret == true ){
robot_.Drive(cmd);
break;
} else if ( ret == false ){
// 次のミッションに遷移
++cur_mission_iter_;
if ( cur_mission_iter_ == mission_list_.End() ){
// ミッションリストがなくなったので終了
// ただし、最後のミッションは倒立したまま停止を続けるはずなので、
// 基本的にこの処理には入らない
this->status_ = STATE_COMPLETE;
break;
} else {
(*cur_mission_iter_)->Init(r_info, n_info);
continue;
}
} else {
// ここに入ることはないはず
this->status_ = STATE_WAIT_START;
break;
}
}
#if 1
// Bluetooth データ送信
if ( this->is_bt_connect_ ){
robot_.BTSend(cmd, r_info, n_info);
//robot_.BTSend(cmd, now_position);
}
#endif
this->ClearEventFlag();
}
robot_.Stop();
this->ClearEventFlag();
CancelAlarm(Alarm4msec); // ドライブ用Alarmタイマーのキャンセル
ClearEvent(EventDrive); // ドライブイベントのクリア
return 0;
}
