2018-08-27 16:39:49 +02:00
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/*
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* To change this license header, choose License Headers in Project Properties.
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* To change this template file, choose Tools | Templates
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* and open the template in the editor.
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*/
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/*
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* File: functions.h
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* Author: pehladik
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*
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* Created on 15 janvier 2018, 12:50
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*/
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#ifndef FUNCTIONS_H
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#define FUNCTIONS_H
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#include <stdio.h>
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#include <stdlib.h>
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#include <unistd.h>
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#include <sys/mman.h>
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#include <alchemy/task.h>
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#include <alchemy/timer.h>
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#include <alchemy/mutex.h>
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#include <alchemy/sem.h>
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#include <alchemy/queue.h>
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2018-10-19 10:53:20 +02:00
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#include "monitor.h"
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#include "robot.h"
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#include "image.h"
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#include "message.h"
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2018-10-19 16:48:02 +02:00
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#include "server.h"
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2018-08-27 16:39:49 +02:00
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extern RT_TASK th_server;
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extern RT_TASK th_sendToMon;
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extern RT_TASK th_receiveFromMon;
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extern RT_TASK th_openComRobot;
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extern RT_TASK th_startRobot;
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extern RT_TASK th_move;
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extern RT_MUTEX mutex_robotStarted;
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extern RT_MUTEX mutex_move;
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extern RT_SEM sem_barrier;
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extern RT_SEM sem_openComRobot;
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extern RT_SEM sem_serverOk;
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extern RT_SEM sem_startRobot;
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extern RT_QUEUE q_messageToMon;
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extern int etatCommMoniteur;
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extern int robotStarted;
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2018-10-19 10:53:20 +02:00
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extern char robotMove;
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2018-08-27 16:39:49 +02:00
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extern int MSG_QUEUE_SIZE;
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extern int PRIORITY_TSERVER;
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extern int PRIORITY_TOPENCOMROBOT;
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extern int PRIORITY_TMOVE;
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extern int PRIORITY_TSENDTOMON;
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extern int PRIORITY_TRECEIVEFROMMON;
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extern int PRIORITY_TSTARTROBOT;
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void f_server(void *arg);
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void f_sendToMon(void *arg);
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void f_receiveFromMon(void *arg);
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void f_openComRobot(void * arg);
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void f_move(void *arg);
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void f_startRobot(void *arg);
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#endif /* FUNCTIONS_H */
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