car.c

robot open source code

/**
 *
 * 文 件 名：car.c
 *
 * 描    述：
 *
 * 创 建 者：
 *
 * 创建日期：
 *
 * 备    注：
 *
 *
 * * 维护历史 *
 *
 *   <日期>                <修改者>
 *   <修改内容...>
 *
 **/

#include <stdlib.h>
#include "../vehicle/vehicle.h"
#include "car.h"


VOID  TOG_car(OBJECT* pObj);


/*=====================+ OICC label +====================*/

/*<oicc>*/
/*<ibn> vehicle </ibn>*/
/*<crt>*/
FRESULT  CRT_car(OBJID* pOID, BYTKTY IQCty, BYTKTY OQCty, SI32 NumCR, OBJECT** ppObj, BYTE* pExotic)
{
	extern  VOID  InitAIBofND(OBJECT* pND, MLDSN* pMsn, NUMIB nib);
	extern  VOID  InitABNofND(OBJECT* pND, MLDSN* pMsn, NUMBN nbn);
	extern  VOID  TOG_vehicle(OBJECT* pObj);
	extern  VOID  TOG_OIOIC(OBJECT* pObj);


	UI32   ux_ND = 3; 	/* ND数量。*/
	UI32   ux_BN = 3; 	/* 各ND的BN数量之和。*/
	UI32   ux_IB = 2; 	/* 各ND的IBN数量之和。*/
	UI32   ux_CS = NumCR*6; 	/* 各ND的最少CS数量之和。*/
	UI32   ux_EM = sizeof(EM_CAR) + sizeof(EM_VEHICLE) + sizeof(EM_OIOIC); 	/* 各ND的EM尺寸之和。*/

	UI32  sum = ux_ND * sizeof(OBJECT) 	/* for AND. */
		 + ux_BN * sizeof(OBJECT*) 	/* for "ppo_ABN". */
		 + ux_IB * sizeof(OBJECT*) 	/* for "ppo_AIB". */
		 + ux_CS * sizeof(VR) + ux_EM; 	/* for "pvr_ACS" and "pEM". */


	BYTE*  pIC = NULL;

	if(NULL == pExotic)
	{
		*ppObj = NULL;
		pIC = (BYTE*)calloc(sum, 1);
	}else { pIC = pExotic; }


	if( pIC != NULL )
	{
		OBJECT*  pND;
		MLDSN    ArrMsn[2];
		BYTE*    p = pIC + sizeof(OBJECT) * ux_ND;


		/***  确定AND各元素  ***/

		/** car **/
		pND = (OBJECT*)pIC;
		TOG_car(pND);
		pND->MSN = MSN_CAR;
		pND->OID = (*pOID)++;
		pND->po_AND = (OBJECT*)pIC;
		pND->NND = ux_ND;

		/** vehicle **/
		TOG_vehicle(++pND);
		pND->MSN = MSN_VEHICLE;
		pND->OID = (*pOID)++;
		pND->po_AND = (OBJECT*)pIC;
		pND->NND = ux_ND;

		/** OIOIC **/
		TOG_OIOIC(++pND);
		pND->MSN = MSN_OIOIC;
		pND->OID = (*pOID)++;
		pND->po_AND = (OBJECT*)pIC;
		pND->NND = ux_ND;


		/***  初始化各ND  ***/

		/** car **/
		pND = (OBJECT*)pIC;

		/* - AIB - */
		pND->ppo_AIB = (OBJECT**)p;
		ArrMsn[0] = MSN_VEHICLE;
		InitAIBofND(pND, ArrMsn, 1);
		p += sizeof(OBJECT*) * 1;

		/* - ABN - */
		pND->ppo_ABN = (OBJECT**)p;
		ArrMsn[0] = MSN_VEHICLE;
		ArrMsn[1] = MSN_OIOIC;
		InitABNofND(pND, ArrMsn, 2);
		p += sizeof(OBJECT*) * 2;

		/* - ACS - */
		pND->pvr_ACS = (VR*)p;
		pND->NCS = NumCR * 1;
		p += sizeof(VR) * pND->NCS;

		/* - EM - */
		pND->pEM = (EM*)p;
		p += sizeof(EM_CAR);

		/** vehicle **/
		++pND;

		/* - AIB - */
		pND->ppo_AIB = (OBJECT**)p;
		ArrMsn[0] = MSN_OIOIC;
		InitAIBofND(pND, ArrMsn, 1);
		p += sizeof(OBJECT*) * 1;

		/* - ABN - */
		pND->ppo_ABN = (OBJECT**)p;
		ArrMsn[0] = MSN_OIOIC;
		InitABNofND(pND, ArrMsn, 1);
		p += sizeof(OBJECT*) * 1;

		/* - ACS - */
		pND->pvr_ACS = (VR*)p;
		pND->NCS = NumCR * 2;
		p += sizeof(VR) * pND->NCS;

		/* - EM - */
		pND->pEM = (EM*)p;
		p += sizeof(EM_VEHICLE);

		/** OIOIC **/
		++pND;

		/* - ACS - */
		pND->pvr_ACS = (VR*)p;
		pND->NCS = NumCR * 3;
		p += sizeof(VR) * pND->NCS;

		/* - EM - */
		pND->pEM = (EM*)p;
		if( IQCty > 0 )
		{
			/* - IQ - */
			((EM_OIOIC*)(pND->pEM))->IQ.Dtrm = (BYTE*)calloc(IQCty, 1);
			if( NULL == ((EM_OIOIC*)(pND->pEM))->IQ.Dtrm)
			{
				/* 分配IQ的容量失败！*/
				if(NULL == pExotic)
					free(pIC);
				return FR_N;
			}
			((EM_OIOIC*)(pND->pEM))->IQ.Front = ((EM_OIOIC*)(pND->pEM))->IQ.Rear = ((EM_OIOIC*)(pND->pEM))->IQ.Dtrm - 1;
			((EM_OIOIC*)(pND->pEM))->IQ.Cty = IQCty;
			((EM_OIOIC*)(pND->pEM))->IQ.Qty = ((EM_OIOIC*)(pND->pEM))->IQ.Lost = 0;
		}

		if( OQCty > 0 )
 		{
			/* - OQ - */
			((EM_OIOIC*)(pND->pEM))->OQ.Dtrm = (BYTE*)calloc(OQCty, 1);
			if(NULL == ((EM_OIOIC*)(pND->pEM))->OQ.Dtrm)
			{
				/* 分配OQ的容量失败！*/
				if( ((EM_OIOIC*)(pND->pEM))->IQ.Dtrm != NULL )
					free(((EM_OIOIC*)(pND->pEM))->IQ.Dtrm);
				if(NULL == pExotic)
					free(pIC);
				return FR_N;
			}
			((EM_OIOIC*)(pND->pEM))->OQ.Front = ((EM_OIOIC*)(pND->pEM))->OQ.Rear = ((EM_OIOIC*)(pND->pEM))->OQ.Dtrm - 1;
			((EM_OIOIC*)(pND->pEM))->OQ.Cty = OQCty;
			((EM_OIOIC*)(pND->pEM))->OQ.Qty = ((EM_OIOIC*)(pND->pEM))->OQ.Lost = 0;
		}
		p += sizeof(EM_OIOIC);
	}


	if(NULL == pExotic)
		*ppObj = (OBJECT*)pIC;


	return  FR_P;
}
/*</crt>*/
/*</oicc>*/

/*=====================+ Interface +=====================*/

/**
 *
 * 名称：car_Open
 */
static IRESULT  car_Open(OBJECT* This, const VR* pCaller)
{
	EM_VEHICLE*		pvem = GetEMofBN(This, MSN_VEHICLE); 
	EM_CAR*         pem = (EM_CAR*)This->pEM;

	OBS_OBJECT_OPEN_;

	/* 在下面完成接口自己的任务。*/

	pvem->weight = 1.01f;
	pem->max_load = 1.53f;
	pem->max_velocity = 186.5f;

	return IR_P;
}

/**
 *
 * 名称：car_Input
 */
static IRESULT  car_Input(OBJECT* This, BYTE* IStrm, BYTKTY Qty, const VR* pCaller)
{

	/* ... */


	/* 在上面完成接口自己的任务。*/

	SBO_OBJECT_INPUT;
}

/**
 *
 * 名称：car_Output
 */
static IRESULT  car_Output(OBJECT* This, BYTE* OStrm, BYTKTY Cty, BYTKTY* pQty, const VR* pCaller)
{

	/* ... */


	/* 在上面完成接口自己的任务。*/

	SBO_OBJECT_OUTPUT;
}

/**
 *
 * 名称：car_IOput
 */
static IRESULT  car_IOput(OBJECT* This, BYTE* IStrm, BYTKTY Qty, BYTE* OStrm, BYTKTY Cty, BYTKTY* pQty, const VR* pCaller)
{

	/* ... */


	/* 在上面完成接口自己的任务。*/

	SBO_OBJECT_IOPUT;
}

/**
 *
 * 名称：car_Interact0
 */
static IRESULT  car_Interact0(OBJECT* This, ACTION Act, const VR* pCaller)
{

	/* ... */


	/* 在上面完成接口自己的任务。*/

	SBO_OBJECT_INTERACT0;
}

/**
 *
 * 名称：car_Interact1
 */
static IRESULT  car_Interact1(OBJECT* This, ACTION Act, BYTE* OStrm, BYTKTY Cty, BYTKTY* pQty, const VR* pCaller)
{
	EM_CAR*   pem = (EM_CAR*)This->pEM;

	switch(Act)
	{
	case GET_MAXLOAD:
		if(Cty<sizeof(SR32)) /* 判断输出流容量够不够。*/
			return IR_N_INVALIDARG;
		*(SR32*)OStrm = pem->max_load; /* 输出最大载重量值。*/
		*pQty = sizeof(SR32); /* 输出的字节数。*/
		return IR_P;
	case GET_MAXVELOCITY:
		if(Cty<sizeof(SR32)) /* 判断输出流容量够不够。*/
			return IR_N_INVALIDARG;
		*(SR32*)OStrm = pem->max_velocity; /* 输出最大速度值。*/
		*pQty = sizeof(SR32); /* 输出的字节数。*/
		return IR_P;
	default:
		break;
	}

	/* 在上面完成接口自己的任务。*/

	SBO_OBJECT_INTERACT1;
}

/**
 *
 * 名称：car_Interact2
 */
static IRESULT  car_Interact2(OBJECT* This, ACTION  Act, BYTE* IStrm, BYTKTY Qty, const VR* pCaller)
{

	/* ... */


	/* 在上面完成接口自己的任务。*/

	SBO_OBJECT_INTERACT2;
}

/**
 *
 * 名称：car_Interact3
 */
static IRESULT  car_Interact3(OBJECT* This, ACTION Act, BYTE* IStrm, BYTKTY Qty, BYTE* OStrm, BYTKTY Cty, BYTKTY* pQty, const VR* pCaller)
{

	/* ... */


	/* 在上面完成接口自己的任务。*/

	SBO_OBJECT_INTERACT3;
}

/**
 *
 * 名称：car_Close
 */
static IRESULT  car_Close(OBJECT* This, const VR* pCaller)
{
	OBS_OBJECT_CLOSE_;

	/* 在下面完成接口自己的任务。*/

	if(0 == This->RefCnt)
		return IR_P_RCZERO;

	return IR_P;
}

/*========================+ TOG +========================*/

/**
 *
 * 名称：TOG_car
 */
VOID  TOG_car(OBJECT* pObj)
{
	pObj->Open = car_Open;
	pObj->Input = car_Input;
	pObj->Output = car_Output;
	pObj->IOput = car_IOput;
	pObj->Interact0 = car_Interact0;
	pObj->Interact1 = car_Interact1;
	pObj->Interact2 = car_Interact2;
	pObj->Interact3 = car_Interact3;
	pObj->Close = car_Close;
}

/*=======================+ IRF(s) +======================*/
/*... */

/*====================+ Function(s) +====================*/
/* ... */