VladislavOstapov/sdp-scheduler
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VladislavOstapov 2022-12-07 12:57:42 +03:00
parent dab59b0614
commit 984e917461
2 changed files with 10 additions and 19 deletions
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24
scheduler.c
View File

@ -228,12 +228,6 @@ short get_operation_priority(short barrel_id) {
return 1;
}
// task->priority = 0;
// switch (barrel_process) {
// case PROCESS_RETURN_2:
// break;
// }
return 1; // 1 - нормальный приоритет
}
@ -334,20 +328,20 @@ short scheduler_find_task(struct scheduler_task* tasks, const short curr_pos) {
}
#ifdef EMULATOR
void debug_print_robot1_code() {
void debug_print_robot1_code(const struct robot_code* code, const short robot_id) {
// printf("INFO: code length is %d\n", cmd_index);
printf("Code for R0, B%d:\n", robot1_code.barrel_id);
printf("Code for R%d, B%d:\n", robot_id, code->barrel_id);
for (int i = 0; i < 16; i++) {
const short cmd_arg = (short)(robot1_code.code[i] & (short)(~ROBOT_CMD_MASK));
const short cmd_arg = (short)(code->code[i] & (short)(~ROBOT_CMD_MASK));
printf(" %3d 0x%04X", i, robot1_code.code[i] & 0xFFFF);
printf("%5d 0x%04X", i, code->code[i] & 0xFFFF);
if ((robot1_code.code[i] & ROBOT_CMD_MASK) == ROBOT_CMD_END_code) {
if ((code->code[i] & ROBOT_CMD_MASK) == ROBOT_CMD_END_code) {
printf(" END\n");
break;
}
switch ((short)(robot1_code.code[i] & (short)ROBOT_CMD_MASK)) {
switch ((short)(code->code[i] & (short)ROBOT_CMD_MASK)) {
case ROBOT_CMD_MOVE_TO_ZONE_code:
printf(" move to zone %d (with barrel: %d)\n", cmd_arg & (~ROBOT_WITH_BARREL), (cmd_arg & ROBOT_WITH_BARREL) != 0);
break;
@ -398,7 +392,7 @@ void debug_print_robot1_code() {
break;
default:
printf(" UNKNOWN: 0x%04X\n", robot1_code.code[i] & 0xFFFF);
printf(" UNKNOWN: 0x%04X\n", code->code[i] & 0xFFFF);
}
}
}
@ -592,7 +586,7 @@ void schedule_robot_1() {
create_operation(target_task, tasks, &robot1_code, robot1.dx.current_zone);
#ifdef EMULATOR
debug_print_robot1_code();
debug_print_robot1_code(&robot1_code, 1);
#endif
}
} else {
@ -659,6 +653,8 @@ char scheduler_remove_barrel_from_zone(short zone) {
void scheduler_main()
#endif
{
_scheduler_one_robot_mode = (char)(hla_robot1_en ^ hla_robot2_en);
if (_scheduler_en) {
// тут возможна только вставка барабанов
if (button_load) {

5
utils.h
View File

@ -169,11 +169,6 @@ extern struct robot_code robot2_code;
#define robot2_code (*((struct robot_code*)_robot2_code_struct))
#endif
// почему-то компилер говорит что размер структуру сраный
//extern struct robot robot1;
//extern struct robot robot2;
// появилась идея сделать пачку short-команд, то есть вставлять не полный код операции, а код 0x7000 | код операции 0x0X00
#define ROBOT_CMD_MASK (short)0xF000
#define ROBOT_CMD_END_code (short)0x0000