void *test8_thread4(void* ptr) {
printf("Task 4: I am going to force some interrupts\n");
printf("Task4: Registering ISR's for INT0, INT1, INT2 and INT3\n");
Pr_IRQManager::Install(test8_handler, INT0);
Pr_IRQManager::Install(test8_handler, INT1);
Pr_IRQManager::Install(test8_handler, INT2);
Pr_IRQManager::Install(test8_handler, INT3);
printf("Task 4: forcing the INT0 at 2.0 time\n");
Pr_DelayAt(Pr_Time(2.0f) += Test8.start_time);
Pr_IRQManager::Force((INT0 - 0x10));
printf("Task 4: forcing the INT1 at 4.0 time\n");
Pr_DelayAt(Pr_Time(4.0f) += Test8.start_time);
Pr_IRQManager::Force((INT1 - 0x10));
printf("Task 4: forcing the INT2 at 6.5 time\n");
Pr_DelayAt(Pr_Time(6.5f) += Test8.start_time);
Pr_IRQManager::Force((INT2 - 0x10));
printf("Task 4: forcing the INT3 at 7.0 time\n");
Pr_DelayAt(Pr_Time(7.0f) += Test8.start_time);
Pr_IRQManager::Force((INT3 - 0x10));
printf("Task 4: End\n");
Pr_IRQManager::Restore(INT0);
Pr_IRQManager::Restore(INT1);
Pr_IRQManager::Restore(INT2);
Pr_IRQManager::Restore(INT3);
return NULL;
}
void *test1_thread1(void *ptr){
printf("Task 2: Begin\n");
printf("Task 2: Delay at 2.5\n");
Pr_DelayAt(Pr_Time(2.5) += Test1.start_time);
printf("Task 2: This must be the message 3\n");
semrec[0]->Wait();
printf("Task 2: This must be the Message 4\n");
task[1]->SetMaxPrioMsg(EDROOMprioHigh);
task[0]->SetMaxPrioMsg(EDROOMprioVeryHigh);
semrec[0]->Signal();
printf("Task 2: This must be the Message 6\n");
semrec[0]->Wait();
task[1]->RestorePrioMsg();
semrec[0]->Signal();
printf("Task 2: This must be the Message 8\n");
return NULL;
}
void *test1_thread2(void *ptr){
printf("Task 3: Begin\n");
printf("Task 3: Delay at 2.0\n");
Pr_DelayAt(Pr_Time(2.0) += Test1.start_time);
printf("Task 3: Waits the semaphore\n");
semrec[0]->Wait();
printf("Task 3: This must be the message 2\n");
printf("Task 3: Decrease my priority\n");
task[2]->SetPriority(EDROOMprioVeryLow);
printf("Task 3: Signals the semaphore\n");
semrec[0]->Signal();
printf("Task 3: This must be the last message\n");
Test1.End();
return NULL;
}
void *test1_thread0(void *ptr){
printf("Task 1: Begin\n");
semrec[0]->Wait();
printf("Task 1: Delay at 2.5\n");
Pr_DelayAt(Pr_Time(2.5) += Test1.start_time);
printf("Task 1: This must be the Message 1\n");
semrec[0]->Signal();
printf("Task 1: This must be the Message 5\n");
semrec[0]->Wait();
task[1]->SetMaxPrioTmp(EDROOMprioURGENT);
semrec[0]->Signal();
printf("Task 1: This must be the Message 7\n");
return NULL;
}
void CCAvoidObstacles::EDROOMTopContext::FProgNextDetection()
{
//Define interval
Pr_Time interval;
interval=Pr_Time(0,500000);
//Program relative timer
Timer.InformIn( interval );
}
