APPLICATION DESIGN ISSUES - Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications - page 415

/*-----------------------------------------------------------*/
/* Global variables */
/*-----------------------------------------------------------*/
cab

fdata; /* CAB for force data */

cab angle; /* CAB for path angles */

proc force; /* force sensor acquisition */

proc vision; /* camera acq. and processing */

proc control; /* robot control process */

proc display; /* robot trajectory display */

/*-----------------------------------------------------------*/
/* main -- initializes the system and creates all tasks */
/*-----------------------------------------------------------*/
proc main()
{ ini system(TICK);
fdata = open cab("force", 3*sizeof(float), 3);
angle = open cab("path", sizeof(float), 3);
create(force, HARD, PERIODIC, T1, WCET1);
create(vision, HARD, PERIODIC, T2, WCET2);
create(control, HARD, PERIODIC, T3, WCET3);
create(display, SOFT, PERIODIC, T4, WCET4);
activate all();
while (sys clock() < LIFETIME) /* do nothing */;
end system();

}