task.h File Reference

#include <stdio.h>
#include <stdlib.h>
#include <string.h>
#include <time.h>
#include "config.h"
#include "def.h"
#include "enviroment.h"
#include "serialport.h"
#include "openinterface.h"
#include "rfid.h"
#include "robot.h"
#include "pf.h"
#include "queue.h"
#include "protocol.h"
#include "udp.h"
#include "pheromone.h"
#include "timelib.h"
#include "doublylinkedlist.h"
#include "debug.h"

Go to the source code of this file.

Data Structures
struct	s_TASK_STRUCT
	Task structure. More...
struct	s_TASK_MISSION_STRUCT
	Task mission structure. More...
struct	s_TASK_CONTROL_STRUCT
	Task control structure. More...
struct	s_TASKPIPE_REFINE_REPORT_STRUCT
	Task pipe: refine -> report. More...
struct	s_TASKPIPE_REPORT_MISSION_STRUCT
	Task pipe: report -> mission. More...
struct	s_TASKPIPE_NAVIGATE_CONTROL_STRUCT
	Task pipe: navigate -> control. More...

Macros
#define	s_TASK_EVENT_SET   1
#define	s_TASK_EVENT_RESET   0
#define	s_TASK_NOP_ID   0
#define	s_TASK_MISSION_ID   1
#define	s_TASK_NAVIGATE_ID   2
#define	s_TASK_CONTROL_ID   3
#define	s_TASK_REFINE_ID   4
#define	s_TASK_REPORT_ID   5
#define	s_TASK_COMMUNICATE_ID   6
#define	s_TASK_AVOID_ID   7

Typedefs
typedef struct s_TASK_STRUCT	task_t
	Task structure. More...
typedef struct s_TASK_MISSION_STRUCT	task_mission_t
	Task mission structure. More...
typedef struct s_TASK_CONTROL_STRUCT	task_control_t
	Task control structure. More...
typedef struct s_TASKPIPE_REFINE_REPORT_STRUCT	taskpipe_refine_report_t
	Task pipe: refine -> report. More...
typedef struct s_TASKPIPE_REPORT_MISSION_STRUCT	taskpipe_report_mission_t
	Task pipe: report -> mission. More...
typedef struct s_TASKPIPE_NAVIGATE_CONTROL_STRUCT	taskpipe_navigate_control_t
	Task pipe: navigate -> control. More...

Functions
void	task_init (int enable)
void	task_destroy (void)
void	task_mission (void)
void	task_navigate (void)
void	task_control (void)
void	task_avoid (void)
void	task_refine (void)
void	task_report (void)
void	task_communicate (void)

Variables
enviroment_t *	g_envs
openinterface_t *	g_ois
rfid_t *	g_rfids
pf_t *	g_pfs
robot_t *	g_robot
pheromone_t *	g_phs
udp_t *	g_udps
doublylinkedlist_t *	g_list_send
queue_t *	g_queue_mission
queue_t *	g_queue_navigate
task_t	g_task_mission
task_t	g_task_navigate
task_t	g_task_control
task_t	g_task_refine
task_t	g_task_report
task_t	g_task_communicate
task_t	g_task_avoid
task_t	g_task_gen_data_stream
task_mission_t	g_task_mission_data
task_control_t	g_task_control_data
taskpipe_refine_report_t	g_tp_refine_report
taskpipe_report_mission_t	g_tp_report_mission
taskpipe_navigate_control_t	g_tp_navigate_control
int	g_message_sequence_id
int	g_tdma_slot
int	g_go_ahead

Macro Definition Documentation

#define s_TASK_AVOID_ID   7

Definition at line 122 of file task.h.

#define s_TASK_COMMUNICATE_ID   6

Definition at line 121 of file task.h.

#define s_TASK_CONTROL_ID   3

Definition at line 118 of file task.h.

#define s_TASK_EVENT_RESET   0

Definition at line 112 of file task.h.

#define s_TASK_EVENT_SET   1

Definition at line 111 of file task.h.

#define s_TASK_MISSION_ID   1

Definition at line 116 of file task.h.

#define s_TASK_NAVIGATE_ID   2

Definition at line 117 of file task.h.

#define s_TASK_NOP_ID   0

Definition at line 115 of file task.h.

#define s_TASK_REFINE_ID   4

Definition at line 119 of file task.h.

#define s_TASK_REPORT_ID   5

Definition at line 120 of file task.h.

Typedef Documentation

typedef struct s_TASK_CONTROL_STRUCT task_control_t

Task control structure.

typedef struct s_TASK_MISSION_STRUCT task_mission_t

Task mission structure.

typedef struct s_TASK_STRUCT task_t

Task structure.

typedef struct s_TASKPIPE_NAVIGATE_CONTROL_STRUCT taskpipe_navigate_control_t

Task pipe: navigate -> control.

typedef struct s_TASKPIPE_REFINE_REPORT_STRUCT taskpipe_refine_report_t

Task pipe: refine -> report.

typedef struct s_TASKPIPE_REPORT_MISSION_STRUCT taskpipe_report_mission_t

Task pipe: report -> mission.

Function Documentation

void task_avoid

(

void

)

Check the bump sensors for collision

Definition at line 20 of file task_avoid.c.

void task_communicate

(

void

)

Communication (receive and send data)

Definition at line 20 of file task_communicate.c.

void task_control

(

void

)

Sense, control, localization

Definition at line 20 of file task_control.c.

void task_destroy

(

void

)

Deinitialize tasks

Definition at line 162 of file task.c.

void task_init

(

int

enable

)

Initialize tasks

Parameters

enable

If larger than 0, then enable all tasks at the start. Otherwise only Mission and Communicate tasks are enabled

Definition at line 69 of file task.c.

void task_mission

(

void

)

Control mission

Definition at line 20 of file task_mission.c.

void task_navigate

(

void

)

Control navigation

Definition at line 20 of file task_navigate.c.

void task_refine

(

void

)

Refine position, localization

Definition at line 20 of file task_refine.c.

void task_report

(

void

)

Report victim

Definition at line 20 of file task_report.c.

Variable Documentation

enviroment_t* g_envs

Definition at line 23 of file task.c.

int g_go_ahead

Definition at line 60 of file task.c.

doublylinkedlist_t* g_list_send

Definition at line 32 of file task.c.

int g_message_sequence_id

Definition at line 57 of file task.c.

openinterface_t* g_ois

Definition at line 24 of file task.c.

pf_t* g_pfs

Definition at line 26 of file task.c.

pheromone_t* g_phs

Definition at line 28 of file task.c.

queue_t* g_queue_mission

Definition at line 35 of file task.c.

queue_t* g_queue_navigate

Definition at line 36 of file task.c.

rfid_t* g_rfids

Definition at line 25 of file task.c.

robot_t* g_robot

Definition at line 27 of file task.c.

task_t g_task_avoid

Definition at line 45 of file task.c.

task_t g_task_communicate

Definition at line 44 of file task.c.

task_t g_task_control

Definition at line 41 of file task.c.

task_control_t g_task_control_data

Definition at line 49 of file task.c.

task_t g_task_gen_data_stream

task_t g_task_mission

Definition at line 39 of file task.c.

task_mission_t g_task_mission_data

Definition at line 48 of file task.c.

task_t g_task_navigate

Definition at line 40 of file task.c.

task_t g_task_refine

Definition at line 42 of file task.c.

task_t g_task_report

Definition at line 43 of file task.c.

int g_tdma_slot

Definition at line 58 of file task.c.

taskpipe_navigate_control_t g_tp_navigate_control

Definition at line 54 of file task.c.

taskpipe_refine_report_t g_tp_refine_report

Definition at line 52 of file task.c.

taskpipe_report_mission_t g_tp_report_mission

Definition at line 53 of file task.c.

udp_t* g_udps

Definition at line 29 of file task.c.