/**
* Function : Priority_DeletMin
* Description : delete a priority queue node
* Input :
* Output : nothing
* return : OK or ERROR
*/
status Priority_DeletMin(Queue_Pat *Prio_Que) {
if(!(Prio_Que->base)) return ERROR;
if(PriorityQue_Empty(*Prio_Que)) return ERROR;
//写入就诊状态
(Prio_Que->base)[Prio_Que->front].succorfail = 1;//就诊成功
//写入日志
LogSave((Prio_Que->base)[Prio_Que->front]);
//清除堆栈
free((Prio_Que->base)[Prio_Que->front].arrive_time);
Prio_Que->front ++ ;
Prio_Que->length -- ;
return OK;
}
/**
* Function : Clear_PriorityQue
* Description : clear a priority queue
* Input :
* Output : nothing
* return : OK or ERROR
*/
status Clear_PriorityQue(Queue_Pat *Prio_Que) {
if(!(Prio_Que -> base)) return ERROR;
while(!PriorityQue_Empty(*Prio_Que)) {
(Prio_Que->base)[Prio_Que->front].succorfail = 0;//未就诊
//写入日志
LogSave((Prio_Que->base)[Prio_Que->front]);
//释放堆栈
free((Prio_Que->base)[Prio_Que->front].arrive_time);
Prio_Que -> front ++ ;
Prio_Que -> length -- ;
}
Prio_Que -> front = Prio_Que -> tail = 1 ;
return OK;
}
/**
* Periodic code for disabled mode should go here.
*
* Use this method for code which will be called periodically at a regular
* rate while the robot is in disabled mode.
*/
void DisabledPeriodic()
{
// Keep watching wheel speeds during spin-down
RunWheels();
// respond to log dump request even when disabled
if (!eio->GetDigital(13))
{
if (!dump)
{
LogSave("/ni-rt/system/k9.csv");
}
dump = true;
}
else
{
dump = false;
}
}
/**
* Function : Pat_LeaveJudge
* Description : determine whether the patient left
* Input :
* Output : nothing
* return : nothing
*/
void Pat_LeaveJudge(Queue_Pat *Prio_Que) {
//检查队列中是否有病人到时离开
int i;
time_t nowtime;
struct tm *timeinfo;
time ( &nowtime );
timeinfo = localtime ( &nowtime );
for(i = Prio_Que->length ; i > 0 ; -- i) {
//删除离开病人
if(((Prio_Que->base)[i].arrive_time)->tm_hour * hour +
((Prio_Que->base)[i].arrive_time)->tm_min +
(Prio_Que->base)[i].wait_time <= timeinfo->tm_hour * hour +
timeinfo->tm_min) {//达到删除条件
//写入就诊状态
(Prio_Que->base)[i].succorfail = 0;//未就诊
//写入日志
LogSave((Prio_Que->base)[i]);
(Prio_Que->base)[i] = (Prio_Que->base)[Prio_Que->tail - 1];
Prio_Que->tail -- ;
Prio_Que->length -- ;
}
}//for
}
/**
* Periodic code for teleop mode should go here.
*
* Use this method for code which will be called periodically at a regular
* rate while the robot is in teleop mode.
*/
void TeleopPeriodic()
{
if (!eio->GetDigital(1))
{
StartWheels();
}
else if (!eio->GetDigital(2))
{
StopWheels();
}
RunWheels();
#ifdef HAVE_LEGS
if (!eio->GetDigital(3))
{
legs->Set(true);
}
else if (!eio->GetDigital(4))
{
legs->Set(false);
}
#endif
#ifdef HAVE_INJECTOR
if (!eio->GetDigital(5))
{
injectorL->Set(DoubleSolenoid::kForward);
injectorR->Set(DoubleSolenoid::kForward);
}
else if (!eio->GetDigital(6))
{
injectorL->Set(DoubleSolenoid::kReverse);
injectorR->Set(DoubleSolenoid::kReverse);
}
else
{
injectorL->Set(DoubleSolenoid::kOff);
injectorR->Set(DoubleSolenoid::kOff);
}
#endif
#ifdef HAVE_EJECTOR
if (!eio->GetDigital(7))
{
ejector->Set(true);
}
else if (!eio->GetDigital(8))
{
ejector->Set(false);
}
#endif
if (!eio->GetDigital(13))
{
if (!dump)
{
LogSave("/ni-rt/system/k9.csv");
}
dump = true;
}
else
{
dump = false;
}
}
