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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@31:ed23647fd16e, 2015-08-31 (annotated)
- Committer:
- salco
- Date:
- Mon Aug 31 13:36:39 2015 +0000
- Revision:
- 31:ed23647fd16e
- Parent:
- 19:0ac80045ba4c
reduc the #ifdef in TTaskCritique
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 | 31:ed23647fd16e | 11 | #include "AnsiGraphicalConsole.h"//pt une bonne ider |
salco | 31:ed23647fd16e | 12 | #include "settingDebug.h" |
salco | 31:ed23647fd16e | 13 | |
salco | 2:4c5b0f6d0a6b | 14 | #include "mouvement.h" |
salco | 14:ca1a9230ba7f | 15 | #include "OSNAPprotocoleDefine.h" |
salco | 7:dcfd81d7f93f | 16 | #include "CtrlBridge.h" |
salco | 2:4c5b0f6d0a6b | 17 | |
salco | 2:4c5b0f6d0a6b | 18 | class TTask |
salco | 2:4c5b0f6d0a6b | 19 | { |
salco | 11:496453b45e25 | 20 | private: |
salco | 2:4c5b0f6d0a6b | 21 | int m_priorityCount;//m_countCycle; |
salco | 2:4c5b0f6d0a6b | 22 | int m_priority;//m_cycleSet; |
salco | 2:4c5b0f6d0a6b | 23 | //bool startSignal; |
salco | 11:496453b45e25 | 24 | |
salco | 11:496453b45e25 | 25 | |
salco | 11:496453b45e25 | 26 | protected: |
salco | 2:4c5b0f6d0a6b | 27 | static TTask *ptrThis; |
salco | 19:0ac80045ba4c | 28 | string m_ListDesModules; |
salco | 19:0ac80045ba4c | 29 | CtrlBridge* m_CtrlBridge; |
salco | 11:496453b45e25 | 30 | |
salco | 11:496453b45e25 | 31 | public: |
salco | 11:496453b45e25 | 32 | TTask(int priority=0) { |
salco | 11:496453b45e25 | 33 | m_priority=priority; |
salco | 11:496453b45e25 | 34 | m_priorityCount=0; |
salco | 19:0ac80045ba4c | 35 | m_CtrlBridge = m_CtrlBridge->getInstance(); |
salco | 19:0ac80045ba4c | 36 | |
salco | 11:496453b45e25 | 37 | } |
salco | 11:496453b45e25 | 38 | virtual ~TTask() { |
salco | 11:496453b45e25 | 39 | } |
salco | 11:496453b45e25 | 40 | |
salco | 11:496453b45e25 | 41 | virtual void exec(void) { |
salco | 11:496453b45e25 | 42 | if(m_priorityCount >= m_priority) { |
salco | 2:4c5b0f6d0a6b | 43 | m_priorityCount=0; |
salco | 2:4c5b0f6d0a6b | 44 | this->task(); |
salco | 11:496453b45e25 | 45 | } else |
salco | 11:496453b45e25 | 46 | m_priorityCount++; |
salco | 11:496453b45e25 | 47 | } |
salco | 11:496453b45e25 | 48 | |
salco | 2:4c5b0f6d0a6b | 49 | //virtual void signalStart(void); |
salco | 2:4c5b0f6d0a6b | 50 | virtual void task(void) = 0; |
salco | 11:496453b45e25 | 51 | |
salco | 11:496453b45e25 | 52 | void setPriority(int value) { |
salco | 11:496453b45e25 | 53 | m_priority = value; |
salco | 11:496453b45e25 | 54 | } |
salco | 11:496453b45e25 | 55 | int getPriority() { |
salco | 11:496453b45e25 | 56 | return m_priority; |
salco | 11:496453b45e25 | 57 | } |
salco | 11:496453b45e25 | 58 | |
salco | 2:4c5b0f6d0a6b | 59 | }; |
salco | 2:4c5b0f6d0a6b | 60 | #endif // TTASK_H |