APPLICATION DESIGN ISSUES - Hard Real-Time Computing Systems: Predictable Scheduling Algorithms and Applications - page 417

/*-----------------------------------------------------------*/
/* vision -- gets the image and computes the path angle */
/*-----------------------------------------------------------*/
proc

vision()

char

image[256][256];

float *alfa; /* pointer to cab data */

while (1) {
get frame(image);
alfa = reserve(angle);
*alfa = compute angle(image);
putmes(alfa, angle);
end cycle();

}

}

/*-----------------------------------------------------------*/
/* display -- represents the robot trajectory on the screen */
/*-----------------------------------------------------------*/
proc display()

float

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

float point[3]; /* 3D point on the surface */

while (1) {
fvect = getmes(fdata);
alfa = getmes(angle);
surface(fvect, *alfa, point);
draw pixel(point);
unget(fvect, fdata);
unget(alfa, angle);
end cycle();

}

}