actuator_init.cpp

来自「一个很棒的网络控制系统仿真软件」· C++ 代码 · 共 52 行

#define S_FUNCTION_NAME actuator_init

#include "ttkernel.cpp"

// Event-driven Actuator Node 

// code function
double act_code(int seg, void *data) {
  
  static double *y, *u, t;
  switch (seg) {
  case 1:
    ttWait("packet");
    return 0.0;
  case 2:
    return 0.0005;
  case 3:
    u = (double *)ttGetMsg(1); // Receive message on network 1
    if (u != NULL) {
      ttAnalogOut(1, *u);
      delete u; // delete message
    }
    ttSetNextSegment(1); // loop and wait for new packet
    return 0.0;
  }
}

double msgRcvhandler(int seg, void *data)
{
  ttNotifyAll("packet");
  return FINISHED;
}


void init()
{
  ttInitKernel(0,1,FP);

  // Actuator task
  ttCreateTask("act_task", 100.0, 1, act_code);
  ttCreateJob(0.0, "act_task");

  // Initialize network
  ttCreateInterruptHandler("msgRcv", 1, msgRcvhandler);
  ttInitNetwork(2, "msgRcv"); // I am node 2
  ttCreateEvent("packet");
}


void cleanup() {
}