auto.cpp

Kluwer.Academic.Pub.Systemc.From.The.Ground.Up-此全书的范例程式。

//FILE:Auto.cpp (systemc)
//# vim600:sw=2:tw=0:fdm=marker
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
//See Fork.h for more information
//~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
#ifdef SYSTEMC_V2_1
#define SC_INCLUDE_DYNAMIC_PROCESSES
#include <systemc.h>
#include "Auto.h"
// Constructor
Auto::Auto(sc_module_name nm, double base_length) //{{{
: sc_module(nm)
, m_base_length(base_length)
{
  // Process registration & launch alternative to SC_THREAD
  sc_spawn(sc_bind(&Auto::Auto_thread,this),"Auto_thread");
}//endconstructor }}}
// Processes
void Auto::Auto_thread() { //{{{
  const double PI = 2*atan2(1,0);
  const double RAD2DEG = 180/PI;
  double wheel_lf = 0.0;
  double wheel_rt = 0.0;
  for(;;) {
    wait(wheel_lf_ip->data_written_event()|wheel_rt_ip->data_written_event());
    // One the two reads will produce results
    wheel_lf_ip->nb_read(wheel_lf);
    wheel_rt_ip->nb_read(wheel_rt);
    double angle = RAD2DEG*atan2(wheel_lf+wheel_rt,m_base_length);
    cout << "INFO: Body tilt " << angle << " degrees"
         << " @ " << sc_time_stamp() << endl;
  }//endforever
}//endthread Auto::Auto_thread}}}
#endif
//Portions COPYRIGHT (C) 2004 Eklectic Ally, Inc.------------------{{{//
// Permission granted for anybody to use this template provided this  //
// acknowledgement of Eklectic Ally, Inc. remains.                    //
//-----------------------------------------------------------------}}}//
//END $Id: Auto.cpp,v 1.3 2004/03/04 00:37:45 dcblack Exp $