void routeFinder( ) {
track_node track[TRACK_MAX];
init_tracka(track);
RegisterAs( "route" );
// int printer = MyParentTid();
ComReqStruct reply;
int sender;
FOREVER {
Receive( &sender, (char *)&reply, sizeof(ComReqStruct) );
int src = reply.data1; // No offset right now
int dest = reply.data2;
// Begin finding the shortest path from the src to the dest
Path shortest;
route( track, &shortest, src, dest );
ComReqStruct fus, roh;
fus.type = UPDATE_STAT;
fus.data1 = (int *)&shortest;
Send( MyParentTid(), (char *)&fus, sizeof(ComReqStruct), (char *)&roh, sizeof(ComReqStruct) );
Reply( sender, (char *)&shortest, sizeof(Path) );
}
}
void stopping_distance_task() {
TRAIN = 38;
// int term_tid = WhoIs("term_tid");
int train_tid = WhoIs("train_server");
int uart_tid = WhoIs("uart_server");
int sensor_tid = WhoIs("sensor_server");
int clock_tid = WhoIs("clock_server");
init_tracka(track);
Delay(100, clock_tid);
TrainCommandSwitchStraight(16, train_tid);
TrainCommandSwitchCurved(15, train_tid);
TrainCommandSwitchStraight(9, train_tid);
Printf("press 'a' for train 37, 'b' for 38\r");
if (Getc(COM2, uart_tid) == 'a') TRAIN = 37;
else TRAIN = 38;
TrainCommandSpeed(TRAIN, 0, train_tid);
int speed;
for (speed = 14; speed >= 1; speed--) {
Printf("\rPress enter to start at speed %d .. ", speed);
Getc(COM2, uart_tid);
TrainCommandSpeed(TRAIN, 14, train_tid);
int module, sensor, time;
struct track_node *sensor_node;
int sample_time = 0;
do {
SensorGetNextTriggered(&module, &sensor, &time, sensor_tid);
sensor_node = &track[SENSOR_TO_NODE(module,sensor)];
// Printf("\rTriggered %s", sensor_node->name);
} while (strcmp(sensor_node->name,"D14"));
TrainCommandSpeed(TRAIN, speed, train_tid);
do {
SensorGetNextTriggered(&module, &sensor, &time, sensor_tid);
sensor_node = &track[SENSOR_TO_NODE(module,sensor)];
// Printf("\rTriggered %s", sensor_node->name);
} while (strcmp(sensor_node->name,"E8"));
TrainCommandSpeed(TRAIN, 0, train_tid);
}
}
void loadTrackStructure(char track) {
// draw track
drawTrackLayoutGraph(track);
if(track == 'a') {
init_tracka(g_track);
setTurnout(5, 'c');
}
else {
init_trackb(g_track);
}
}
void command_track( struct char_buffer* cbuff, int* track, struct track_node * track_data ) {
char str_arg1[CONFIG_CLI_MAX_CHARACTERS];
char str_arg2[CONFIG_CLI_MAX_CHARACTERS];
if(
next_token( cbuff, str_arg1 ) == 0 ||
str_arg1[0] == '\0' ||
str_arg1[1] != '\0' ||
next_token( cbuff, str_arg2 ) != 0 ) {
CommandOutput( "[TRACK]\tInvalid Arguments" );
return;
}
//check the switch state
if( str_arg1[0] != 'a' && str_arg1[0] != 'b' ) {
CommandOutput( "[TRACK]\tInvalid track designation" );
return;
}
if( *track != TRACK_UNINITIALIZED ) {
CommandOutput( "[TRACK]\tTrack Already Selected" );
return;
}
if( str_arg1[0] == 'a' ) {
*track = TRACK_A;
CommandOutput( "[TRACK]\tSelecting Track A" );
init_tracka( track_data );
} else {
*track = TRACK_B;
CommandOutput( "[TRACK]\tSelecting Track B" );
init_trackb( track_data );
}
//Send a message to the route server, telling them which track should be used
struct number_message msg, rpl;
int tid = WhoIs( "routeserv" );
while( tid < 0 ) {
tid = WhoIs( "routeserv" );
}
msg.message_type = ROUTE_SERVER_INIT_MESSAGE;
msg.num = *track;
Send( tid, (char *)&msg, sizeof (msg), (char *)&rpl, sizeof (msg) );
}
void routeFinder( ) {
track_node track[TRACK_MAX];
init_tracka(track);
RegisterAs( "route" );
int myAdmin = MyParentTid();
int monitor = WhoIs( "monitor" );
// int printer = MyParentTid();
ComReqStruct reply, reservation,send;
int sender;
int trains[2]; // first train use the first Path structure, second train use the second path
trains[0] = 0;
trains[1] = 0;
Path paths[2];
FOREVER {
Receive( &sender, (char *)&reply, sizeof(ComReqStruct) );
int src = reply.data1; // No offset right now
int dest = reply.data2;
// Begin finding the shortest path from the src to the dest
int i;
if ( trains[0] == 0 || sender == trains[0] ) {
trains[0] = sender;
i = 0;
} else if ( trains[1] == 0 || sender == trains[1] ) {
trains[1] = sender;
i = 1;
}
route( track, &paths[i], src, dest );
// ComReqStruct fus, roh;
// fus.type = UPDATE_STAT;
// fus.data1 = (int *)&paths[i];
// Send( MyParentTid(), (char *)&fus, sizeof(ComReqStruct), (char *)&roh, sizeof(ComReqStruct) );
Reply( sender, (char *)&paths[i], sizeof(Path) );
}
}
// Initialize track data structures
static void track_init() {
#if TRACK_TYPE == TRACK_TYPE_A
init_tracka(track);
#else
init_trackb(track);
#endif
// Initialize the switch table
int switch_tid = WhoIs(SWITCH_SERVER);
int i;
for (i = 1; i <= 18; i++) {
switch_table[i] = (char)SwitchGetDirection(i, switch_tid);
}
switch_table[0x99] = (char)SwitchGetDirection(0x99, switch_tid);
switch_table[0x9A] = (char)SwitchGetDirection(0x9A, switch_tid);
switch_table[0x9B] = (char)SwitchGetDirection(0x9B, switch_tid);
switch_table[0x9C] = (char)SwitchGetDirection(0x9C, switch_tid);
}
void init(void) {
#ifdef TRACKA
init_tracka(track);
#else
init_trackb(track);
#endif
start_servers();
#if CALIBRATE
calibratesrv_start();
#else
tracksrv_start();
displaysrv_start();
commandsrv_start();
trains_start();
routesrv_start();
heartbeat_start();
#endif
sensorsrv_start();
}
