APPLICATION DESIGN ISSUES - Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications - page 416

/*-----------------------------------------------------------*/
/* force -- reads the force sensor and puts data in a cab */
/*-----------------------------------------------------------*/
proc

force()

float

*fvect; /* pointer to cab data */

while (1) {
fvect = reserve(fdata);
read force sensor(fvect);
putmes(fvect, fdata);
end cycle();

}

}

/*-----------------------------------------------------------*/
/* control -- gets data from cabs and sends robot set points */
/*-----------------------------------------------------------*/
proc control()

float

*fvect, *alfa; /* pointers to cab data */

float x[6]; /* robot set-points */

while (1) {
fvect = getmes(fdata);
alfa = getmes(angle);
control law(fvect, alfa, x);
send robot(x);
unget(fvect, fdata);
unget(alfa, angle);
end cycle();

}

}