/* * Copyright (C) 2018 dimercur * * This program is free software: you can redistribute it and/or modify * it under the terms of the GNU General Public License as published by * the Free Software Foundation, either version 3 of the License, or * (at your option) any later version. * * This program is distributed in the hope that it will be useful, * but WITHOUT ANY WARRANTY; without even the implied warranty of * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the * GNU General Public License for more details. * * You should have received a copy of the GNU General Public License * along with this program. If not, see . */ /** * \file functions.h * \author PE.Hladik * \version 1.0 * \date 06/06/2017 * \brief Miscellaneous functions used for destijl project. */ #ifndef FUNCTIONS_H #define FUNCTIONS_H #include #include #include #include #include #include #include #include #include #include "monitor.h" #include "robot.h" #include "image.h" #include "message.h" #include "server.h" extern RT_TASK th_server; extern RT_TASK th_sendToMon; extern RT_TASK th_receiveFromMon; extern RT_TASK th_openComRobot; extern RT_TASK th_startRobot; extern RT_TASK th_move; extern RT_MUTEX mutex_robotStarted; extern RT_MUTEX mutex_move; extern RT_SEM sem_barrier; extern RT_SEM sem_openComRobot; extern RT_SEM sem_serverOk; extern RT_SEM sem_startRobot; extern RT_QUEUE q_messageToMon; extern int etatCommMoniteur; extern int robotStarted; extern char robotMove; extern int MSG_QUEUE_SIZE; extern int PRIORITY_TSERVER; extern int PRIORITY_TOPENCOMROBOT; extern int PRIORITY_TMOVE; extern int PRIORITY_TSENDTOMON; extern int PRIORITY_TRECEIVEFROMMON; extern int PRIORITY_TSTARTROBOT; /** * \brief Thread handling server communication. */ void f_server(void *arg); /** * \brief Thread handling communication to monitor. */ void f_sendToMon(void *arg); /** * \brief Thread handling communication from monitor. */ void f_receiveFromMon(void *arg); /** * \brief Thread handling opening of robot communication. */ void f_openComRobot(void * arg); /** * \brief Thread handling robot mouvements. */ void f_move(void *arg); /** * \brief Thread handling robot activation. */ void f_startRobot(void *arg); #endif /* FUNCTIONS_H */