/*
* performance evaluation routine
*/
void
perf_eval(uint_t n)
{
uint_t i;
intptr_t data;
PRI pri;
ini_pdq(PDQ1);
init_hist(1, MAX_TIME, histarea1);
for (i = 0; i < n; i++) {
data = i;
snd_pdq(PDQ1, data, 1);
}
for (i = 0; i < NO_MEASURE; i++) {
data = i;
begin_measure(1);
snd_pdq(PDQ1, data, 2);
end_measure(1);
rcv_pdq(PDQ1, &data, &pri);
}
syslog_1(LOG_NOTICE, "Execution times of snd_pdq"
" when %d data are queued.", n);
print_hist(1);
syslog_flush();
}
void main_task(intptr_t unused) {
ev3_lcd_set_font(EV3_FONT_MEDIUM);
ev3_font_get_size(EV3_FONT_MEDIUM, &fontw, &fonth);
memfile_t memfile;
ev3_memfile_load("/test.bmp", &memfile);
image_t image;
ev3_image_load(&memfile, &image);
ev3_lcd_draw_image(&image, 0, fonth * 2);
//ev3_sta_cyc(TEST_EV3_CYC1);
// Enable TEST_EV3_CYC2 for 5 seconds
ev3_sta_cyc(TEST_EV3_CYC2);
tslp_tsk(5000);
ev3_stp_cyc(TEST_EV3_CYC2);
syslog(LOG_NOTICE, "TEST DTQ");
intptr_t data = 0xdeadbeef;
assert(snd_dtq(DTQ1, data) == E_OK);
data = 0;
assert(rcv_dtq(DTQ1, &data) == E_OK);
assert(data == 0xdeadbeef);
syslog(LOG_NOTICE, "TEST PDQ");
data = 0xdeadbeef;
assert(snd_pdq(PDQ1, data, 1) == E_OK);
data = 0xdeadbee2;
assert(snd_pdq(PDQ1, data, 2) == E_OK);
PRI datapri;
assert(rcv_pdq(PDQ1, &data, &datapri) == E_OK);
assert(data == 0xdeadbeef && datapri == 1);
assert(rcv_pdq(PDQ1, &data, &datapri) == E_OK);
assert(data == 0xdeadbee2 && datapri == 2);
syslog(LOG_NOTICE, "TEST MTX");
assert(loc_mtx(MTX1) == E_OK);
assert(unl_mtx(MTX1) == E_OK);
syslog(LOG_NOTICE, "TEST DONE");
#if 0
// Register button handlers
ev3_button_set_on_clicked(BACK_BUTTON, button_clicked_handler, BACK_BUTTON);
ev3_button_set_on_clicked(ENTER_BUTTON, button_clicked_handler, ENTER_BUTTON);
ev3_button_set_on_clicked(LEFT_BUTTON, button_clicked_handler, LEFT_BUTTON);
// Configure sensors
ev3_sensor_config(gyro_sensor, GYRO_SENSOR);
// Configure motors
ev3_motor_config(left_motor, LARGE_MOTOR);
ev3_motor_config(right_motor, LARGE_MOTOR);
// Start task for self-balancing
act_tsk(BALANCE_TASK);
// Open Bluetooth file
bt = ev3_serial_open_file(EV3_SERIAL_BT);
assert(bt != NULL);
// Start task for printing message while idle
act_tsk(IDLE_TASK);
while(1) {
uint8_t c = fgetc(bt);
sus_tsk(IDLE_TASK);
switch(c) {
case 'w':
if(motor_control_drive < 0)
motor_control_drive = 0;
else
motor_control_drive += 10;
fprintf(bt, "motor_control_drive: %d\n", motor_control_drive);
break;
case 's':
if(motor_control_drive > 0)
motor_control_drive = 0;
else
motor_control_drive -= 10;
fprintf(bt, "motor_control_drive: %d\n", motor_control_drive);
break;
case 'a':
if(motor_control_steer < 0)
motor_control_steer = 0;
else
motor_control_steer += 10;
fprintf(bt, "motor_control_steer: %d\n", motor_control_steer);
break;
case 'd':
if(motor_control_steer > 0)
motor_control_steer = 0;
else
motor_control_steer -= 10;
fprintf(bt, "motor_control_steer: %d\n", motor_control_steer);
break;
case 'h':
fprintf(bt, "==========================\n");
fprintf(bt, "Usage:\n");
fprintf(bt, "Press 'w' to speed up\n");
fprintf(bt, "Press 's' to speed down\n");
fprintf(bt, "Press 'a' to turn left\n");
fprintf(bt, "Press 'd' to turn right\n");
fprintf(bt, "Press 'i' for idle task\n");
fprintf(bt, "Press 'h' for this message\n");
fprintf(bt, "==========================\n");
break;
case 'i':
fprintf(bt, "Idle task started.\n");
rsm_tsk(IDLE_TASK);
break;
default:
fprintf(bt, "Unknown key '%c' pressed.\n", c);
}
}
#endif
}
