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Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.
CtrlBridge
- fonction quelquonque pour communiquer avec les module
- fonction quelquonque pour faire des recherche dans les module dispo
- autre fonction pour jouer avec MemRegistre
Version 1.2.0
- Ajout d'un mode de simulation pour tester le code avec seulement un contrôleur stm32
source/Task/TTask.h@7:dcfd81d7f93f, 2015-03-19 (annotated)
- Committer:
- salco
- Date:
- Thu Mar 19 00:20:09 2015 +0000
- Revision:
- 7:dcfd81d7f93f
- Parent:
- 3:e0d6e081a9d3
- Child:
- 11:496453b45e25
Ajout de fonction dans comSpi et jai renomer 2-3 doccument.
Who changed what in which revision?
User | Revision | Line number | New contents of line |
---|---|---|---|
salco | 2:4c5b0f6d0a6b | 1 | /** |
salco | 2:4c5b0f6d0a6b | 2 | * @file TTask.h |
salco | 2:4c5b0f6d0a6b | 3 | * @brief Cette classe est le modele des 3 taches de controle. |
salco | 2:4c5b0f6d0a6b | 4 | * @author Salco |
salco | 2:4c5b0f6d0a6b | 5 | * @version 2.00 |
salco | 2:4c5b0f6d0a6b | 6 | * @date 11 mars 2015 |
salco | 2:4c5b0f6d0a6b | 7 | */ |
salco | 2:4c5b0f6d0a6b | 8 | #ifndef TTASK_H |
salco | 2:4c5b0f6d0a6b | 9 | #define TTASK_H |
salco | 2:4c5b0f6d0a6b | 10 | |
salco | 2:4c5b0f6d0a6b | 11 | #include "mouvement.h" |
salco | 7:dcfd81d7f93f | 12 | #include "CtrlBridge.h" |
salco | 2:4c5b0f6d0a6b | 13 | |
salco | 2:4c5b0f6d0a6b | 14 | class TTask |
salco | 2:4c5b0f6d0a6b | 15 | { |
salco | 2:4c5b0f6d0a6b | 16 | private: |
salco | 2:4c5b0f6d0a6b | 17 | int m_priorityCount;//m_countCycle; |
salco | 2:4c5b0f6d0a6b | 18 | int m_priority;//m_cycleSet; |
salco | 2:4c5b0f6d0a6b | 19 | //bool startSignal; |
salco | 2:4c5b0f6d0a6b | 20 | |
salco | 2:4c5b0f6d0a6b | 21 | protected: |
salco | 2:4c5b0f6d0a6b | 22 | static TTask *ptrThis; |
salco | 2:4c5b0f6d0a6b | 23 | |
salco | 2:4c5b0f6d0a6b | 24 | public: |
salco | 2:4c5b0f6d0a6b | 25 | TTask(int priority=0){m_priority=priority; m_priorityCount=0;} |
salco | 2:4c5b0f6d0a6b | 26 | virtual ~TTask(){ |
salco | 2:4c5b0f6d0a6b | 27 | } |
salco | 2:4c5b0f6d0a6b | 28 | |
salco | 3:e0d6e081a9d3 | 29 | virtual void exec(void){ |
salco | 2:4c5b0f6d0a6b | 30 | if(m_priorityCount >= m_priority) |
salco | 2:4c5b0f6d0a6b | 31 | { |
salco | 2:4c5b0f6d0a6b | 32 | m_priorityCount=0; |
salco | 2:4c5b0f6d0a6b | 33 | this->task(); |
salco | 2:4c5b0f6d0a6b | 34 | } |
salco | 2:4c5b0f6d0a6b | 35 | else |
salco | 2:4c5b0f6d0a6b | 36 | m_priorityCount++; |
salco | 2:4c5b0f6d0a6b | 37 | } |
salco | 2:4c5b0f6d0a6b | 38 | |
salco | 2:4c5b0f6d0a6b | 39 | //virtual void signalStart(void); |
salco | 2:4c5b0f6d0a6b | 40 | virtual void task(void) = 0; |
salco | 2:4c5b0f6d0a6b | 41 | |
salco | 2:4c5b0f6d0a6b | 42 | void setPriority(int value){m_priority = value;} |
salco | 2:4c5b0f6d0a6b | 43 | int getPriority() { return m_priority;} |
salco | 2:4c5b0f6d0a6b | 44 | |
salco | 2:4c5b0f6d0a6b | 45 | }; |
salco | 2:4c5b0f6d0a6b | 46 | #endif // TTASK_H |