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fix everything

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This commit is contained in:
Joeri Exelmans 2025-06-04 17:43:29 +02:00
parent e8f246cfa5
commit 675efff85c
8 changed files with 71 additions and 41 deletions
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29
robot_cdt/src/controller.c
View file

@ -15,18 +15,18 @@ static sc_timer_t timers[MAX_TIMERS];
static sc_timer_service_t timer_service;
// Observers are stateless (they just link to callbacks) so it's safe to use global variables here
static sc_single_subscription_observer_sc_integer observer_motorL;
static sc_single_subscription_observer_sc_integer observer_motorR;
static sc_single_subscription_observer_int32_t observer_motorL;
static sc_single_subscription_observer_int32_t observer_motorR;
static sc_integer motor_left_speed;
static sc_integer motor_right_speed;
static int32_t motor_left_speed;
static int32_t motor_right_speed;
// event handler callback functions
void on_motorL(Statechart* sc, sc_integer value) {
void on_motorL(Statechart* sc, int32_t value) {
fprintf(stderr, "got event motorL: %f\n", value);
motor_left_speed = value;
}
void on_motorR(Statechart* sc, sc_integer value) {
void on_motorR(Statechart* sc, int32_t value) {
fprintf(stderr, "got event motorR: %f\n", value);
motor_right_speed = value;
}
@ -42,16 +42,16 @@ void controller_init(Statechart* sc) {
// subscribe to output events:
// motorL observer
sc_single_subscription_observer_sc_integer_init(&observer_motorL, sc, (sc_observer_next_sc_integer_fp) on_motorL);
sc_single_subscription_observer_sc_integer_subscribe(&observer_motorL, statechart_get_setMotorL(sc));
sc_single_subscription_observer_int32_t_init(&observer_motorL, sc, (sc_observer_next_int32_t_fp) on_motorL);
sc_single_subscription_observer_int32_t_subscribe(&observer_motorL, statechart_get_setMotorL(sc));
// motorR observer
sc_single_subscription_observer_sc_integer_init(&observer_motorR, sc, (sc_observer_next_sc_integer_fp) on_motorR);
sc_single_subscription_observer_sc_integer_subscribe(&observer_motorR, statechart_get_setMotorR(sc));
sc_single_subscription_observer_int32_t_init(&observer_motorR, sc, (sc_observer_next_int32_t_fp) on_motorR);
sc_single_subscription_observer_int32_t_subscribe(&observer_motorR, statechart_get_setMotorR(sc));
}
// to be called every 10 ms
void controller_poll(sc_integer* _motor_left_speed, sc_integer* _motor_right_speed) {
void controller_poll(int32_t* _motor_left_speed, int32_t* _motor_right_speed) {
sc_time elapsed = 10; // ms
sc_timer_service_proceed(&timer_service, elapsed);
fprintf(stderr, "made 10ms step\n");
@ -61,13 +61,13 @@ void controller_poll(sc_integer* _motor_left_speed, sc_integer* _motor_right_spe
}
// finally, we need to implemented these functions (defined in "Statechart_required.h")
sc_integer statechart_pid(Statechart* handle, const sc_integer sensor, pid_vars_t pid_vars) {
sc_integer error = TARGET_DIST - sensor; // is this correct?
int32_t statechart_pid(Statechart* handle, const int32_t sensor, pid_vars_t pid_vars) {
int32_t error = TARGET_DIST - sensor; // is this correct?
return pid(pid_vars, error);
}
// here you see the reason we need global variables for the timer service:
// the signature of these functions is mandated by YAKINDU, and there is no 'timer service' parameter
void statechart_set_timer(Statechart *sc, const sc_eventid evid, const sc_integer time_ms, const sc_boolean periodic) {
void statechart_set_timer(Statechart *sc, const sc_eventid evid, const int32_t time_ms, const sc_boolean periodic) {
sc_timer_set(&timer_service, sc, evid, time_ms, periodic);
}
void statechart_unset_timer(Statechart *sc, const sc_eventid evid) {
@ -76,5 +76,6 @@ void statechart_unset_timer(Statechart *sc, const sc_eventid evid) {
void main() {
// find out how big the Statechart-struct is:
fprintf(stderr, "%d", sizeof(Statechart));
}

6
robot_cdt/src/sc_rxc_int32_t.c Normal file
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@ -0,0 +1,6 @@
/* Generated by itemis CREATE code generator. */
#include "sc_rxc_int32_t.h"
define_sc_reactive_extensions(int32_t)

19
robot_cdt/src/sc_rxc_int32_t.h Normal file
View file

@ -0,0 +1,19 @@
/* Generated by itemis CREATE code generator. */
#ifndef SC_RXC_INT32_T_H_
#define SC_RXC_INT32_T_H_
#include "sc_rxc.h"
#ifdef __cplusplus
extern "C" {
#endif
declare_sc_reactive_extensions(int32_t)
#ifdef __cplusplus
}
#endif
#endif /* SC_RXC_INT32_T_H_ */