APPLICATION DESIGN ISSUES - Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications - page 414

vision display

cab

"path"

cab

"force"

force control

camera sensor robot monitor

Figure 11.11 Process structure for the surface exploration example.

/*-----------------------------------------------------------*/
/* Global constants */
/*-----------------------------------------------------------*/
#include "dick.h" /* DICK header file */

#define TICK 1.0 /* system tick (1 ms) */

#define T1 20.0 /* period for force (20 ms) */

#define T2 80.0 /* period for vision (80 ms) */

#define T3 28.0 /* period for control (28 ms) */

#define T4 60.0 /* period for display (60 ms) */

#define WCET1 0.300 /* exec-time for force (ms) */

#define WCET2 4.780 /* exec-time for vision (ms) */

#define WCET3 1.183 /* exec-time for control (ms) */

#define WCET4 2.230 /* exec-time for display (ms) */