TP1f

/* helloworld.c for TOPPERS/ATK(OSEK) */
#include "kernel.h"
#include "kernel_id.h"
#include "ecrobot_interface.h"

#define seuil 600
#define lightsensor NXT_PORT_S2
#define sonarsensor NXT_PORT_S1
#define touchsensor NXT_PORT_S3
#define motorl NXT_PORT_B
#define motord NXT_PORT_A
#define etatchercheadroite 0
#define etatchercheagauche 1

DeclareCounter( SysTimerCnt);
DeclareAlarm( Alarme_acq);
DeclareAlarm( Alarme_acqultrason);
DeclareAlarm( Alarme_acqchoc);
DeclareAlarm( Alarme_afficher);
DeclareTask( AcqInfra);
DeclareTask( SuivrePiste);
DeclareTask( AcqUltrason);
DeclareTask( AcqChoc);
DeclareTask( Afficher);
DeclareResource( Piste);
DeclareResource( AvanceRecule);

typedef struct {
	int surPiste; // vaut 1 si sur la piste et 0 sinon
} type_SurPiste;
static volatile type_SurPiste donneePiste;
static int etatcourant = 0;
static volatile int ultrason = 1, choc = 1;
static int coulavt, chocvalue, sonarvalue;

/* nxtOSEK hook to be invoked from an ISR in category 2 */
void user_1ms_isr_type2(void) {
	StatusType ercd;
	/* Increment System Timer Count */
	ercd = SignalCounter(SysTimerCnt);
	if (ercd != E_OK) {
		ShutdownOS(ercd);
	}
}

void ecrobot_device_initialize(void) {
	ecrobot_set_light_sensor_active(lightsensor);
	ecrobot_init_sonar_sensor(sonarsensor);
}

TASK( AcqInfra) {
	coulavt = ecrobot_get_light_sensor(lightsensor);
	int surpiste;
	static int compteur = 1, limite = 5;
	if (coulavt > seuil) {
		surpiste = 1;
		compteur = 0;
		limite = 0;
	} else {
		surpiste = 0;
		if (compteur == limite) {
			compteur = 0;
			if (etatcourant == etatchercheadroite)
				etatcourant = etatchercheagauche;
			else if (etatcourant == etatchercheagauche)
				etatcourant = etatchercheadroite;
			limite += 5;
		}
		compteur++;
	}
	GetResource(Piste);
	donneePiste.surPiste = surpiste;
	ReleaseResource(Piste);
	ChainTask(SuivrePiste);
}

TASK( SuivrePiste) {
	int surpiste = 0;
	GetResource(Piste);
	surpiste = donneePiste.surPiste;
	ReleaseResource(Piste);
	int avrechoc, avreultra;
	GetResource(AvanceRecule);
	avrechoc = choc;
	avreultra = ultrason;
	ReleaseResource(AvanceRecule);
	if (surpiste == 1) {
		if (avrechoc == 0 && avreultra == 0) {
			nxt_motor_set_speed(motorl, 70, 0);
			nxt_motor_set_speed(motord, 70, 0);
		} else {
			nxt_motor_set_speed(motorl, -70, 0);
			nxt_motor_set_speed(motord, -70, 0);
		}
	} else if (etatcourant == etatchercheadroite) {
		if (avrechoc == 0 && avreultra == 0) {
			nxt_motor_set_speed(motorl, 40, 1);
			nxt_motor_set_speed(motord, -40, 1);
		} else {
			nxt_motor_set_speed(motorl, -40, 1);
			nxt_motor_set_speed(motord, 40, 1);
		}
	} else if (etatcourant == etatchercheagauche) {
		if (avrechoc == 0 && avreultra == 0) {
			nxt_motor_set_speed(motorl, -40, 1);
			nxt_motor_set_speed(motord, 40, 1);
		} else {
			nxt_motor_set_speed(motorl, 40, 1);
			nxt_motor_set_speed(motord, -40, 1);
		}
	}
	TerminateTask();
}

TASK( AcqUltrason) {
	sonarvalue = ecrobot_get_sonar_sensor(sonarsensor);
	if (sonarvalue <= 30) {
		GetResource(AvanceRecule);
		ultrason = 1;
		ReleaseResource(AvanceRecule);
	} else {
		GetResource(AvanceRecule);
		ultrason = 0;
		ReleaseResource(AvanceRecule);
	}
	TerminateTask();
}

TASK( AcqChoc) {
	chocvalue = ecrobot_get_touch_sensor(touchsensor);
	if (chocvalue == 1) {
		GetResource(AvanceRecule);
		choc = 1;
		ReleaseResource(AvanceRecule);
	} else if (chocvalue == 0) {
		GetResource(AvanceRecule);
		choc = 0;
		ReleaseResource(AvanceRecule);
	}
	TerminateTask();
}

TASK( Afficher) {
	display_clear(0);
	display_goto_xy(7, 1);
	display_int(coulavt, 3);
	display_goto_xy(7, 3);
	display_int(chocvalue, 3);
	display_goto_xy(7, 5);
	display_int(sonarvalue, 3);
	display_update();
	TerminateTask();
}

===================================================================

#include "implementation.oil"

CPU ATMEL_AT91SAM7S256
{
  OS LEJOS_OSEK
  {
    STATUS = EXTENDED;
    STARTUPHOOK = FALSE;
    ERRORHOOK = FALSE;
    SHUTDOWNHOOK = FALSE;
    PRETASKHOOK = FALSE;
    POSTTASKHOOK = FALSE;
    USEGETSERVICEID = FALSE;
    USEPARAMETERACCESS = FALSE;
    USERESSCHEDULER = FALSE;
  };

  /* Definition of application mode */
  APPMODE appmode1{};

  COUNTER SysTimerCnt
  {
  	MINCYCLE = 1;
  	MAXALLOWEDVALUE = 10000;
  	TICKSPERBASE = 1;
  };

  ALARM Alarme_acq
 {
   COUNTER = SysTimerCnt;
   ACTION = ACTIVATETASK
    {
     TASK = AcqInfra;
    };
   AUTOSTART = TRUE
    {
     ALARMTIME = 5;
     CYCLETIME = 20;
     APPMODE = appmode1;
    };
 };

   ALARM Alarme_acqultrason
 {
   COUNTER = SysTimerCnt;
   ACTION = ACTIVATETASK
    {
     TASK = AcqUltrason;
    };
   AUTOSTART = TRUE
    {
     ALARMTIME = 5;
     CYCLETIME = 50;
     APPMODE = appmode1;
    };
 };

    ALARM Alarme_acqchoc
 {
   COUNTER = SysTimerCnt;
   ACTION = ACTIVATETASK
    {
     TASK = AcqChoc;
    };
   AUTOSTART = TRUE
    {
     ALARMTIME = 5;
     CYCLETIME = 50;
     APPMODE = appmode1;
    };
 };

    ALARM Alarme_afficher
 {
   COUNTER = SysTimerCnt;
   ACTION = ACTIVATETASK
    {
     TASK = Afficher;
    };
   AUTOSTART = TRUE
    {
     ALARMTIME = 5;
     CYCLETIME = 100;
     APPMODE = appmode1;
    };
 };

    RESOURCE Piste
  {
    RESOURCEPROPERTY = STANDARD;
  };

  RESOURCE AvanceRecule
  {
    RESOURCEPROPERTY = STANDARD;
  };

  TASK AcqInfra
  {
    AUTOSTART = FALSE;
    PRIORITY = 1;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
    RESOURCE = Piste;
  };

  TASK SuivrePiste
  {
    AUTOSTART = FALSE;
    PRIORITY = 1;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
    RESOURCE = Piste;
  };

    TASK AcqUltrason
  {
    AUTOSTART = FALSE;
    PRIORITY = 1;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
    RESOURCE = AvanceRecule;
  };

    TASK AcqChoc
  {
    AUTOSTART = FALSE;
    PRIORITY = 1;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
    RESOURCE = AvanceRecule;
  };

    TASK Afficher
  {
    AUTOSTART = FALSE;
    PRIORITY = 1;
    ACTIVATION = 1;
    SCHEDULE = FULL;
    STACKSIZE = 512;
  };
};