From 4a6a90cb512f1a43e1229ef0d13ef3e5abd25b9c Mon Sep 17 00:00:00 2001 From: Nicolas Schodet Date: Wed, 4 May 2011 19:58:33 +0200 Subject: digital/{ai,io}: move fsm queue to ai --- digital/ai/src/fsm/fsm_queue.c | 71 ++++++++++++++++++++++++++++++++++++++++++ digital/ai/src/fsm/fsm_queue.h | 41 ++++++++++++++++++++++++ 2 files changed, 112 insertions(+) create mode 100644 digital/ai/src/fsm/fsm_queue.c create mode 100644 digital/ai/src/fsm/fsm_queue.h (limited to 'digital/ai/src') diff --git a/digital/ai/src/fsm/fsm_queue.c b/digital/ai/src/fsm/fsm_queue.c new file mode 100644 index 00000000..357fc39e --- /dev/null +++ b/digital/ai/src/fsm/fsm_queue.c @@ -0,0 +1,71 @@ +/* fsm_queue.c */ +/* ai - Robot Artificial Intelligence. {{{ + * + * Copyright (C) 2011 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ +#include "common.h" +#include "fsm_queue.h" + +/** Maximum number of events in post queue. */ +#define FSM_QUEUE_SIZE 8 + +/** Module context. */ +struct fsm_queue_t +{ + /** Events to post to the FSM in next iteration. */ + uint8_t events[FSM_QUEUE_SIZE]; + /** First event in the queue. */ + uint8_t head; + /** Number of events in the queue. */ + uint8_t nb; +}; + +/** Global context. */ +static struct fsm_queue_t fsm_queue_global; +# define ctx fsm_queue_global + +void +fsm_queue_post_event (uint8_t event) +{ + assert (ctx.nb < FSM_QUEUE_SIZE); + uint8_t tail = (ctx.head + ctx.nb) % FSM_QUEUE_SIZE; + ctx.events[tail] = event; + ctx.nb++; +} + +uint8_t +fsm_queue_poll (void) +{ + return ctx.nb; +} + +uint8_t +fsm_queue_pop_event (void) +{ + uint8_t e; + assert (ctx.nb > 0); + e = ctx.events[ctx.head]; + ctx.nb--; + ctx.head = (ctx.head + 1) % FSM_QUEUE_SIZE; + return e; +} + diff --git a/digital/ai/src/fsm/fsm_queue.h b/digital/ai/src/fsm/fsm_queue.h new file mode 100644 index 00000000..ce230bec --- /dev/null +++ b/digital/ai/src/fsm/fsm_queue.h @@ -0,0 +1,41 @@ +#ifndef fsm_queue_h +#define fsm_queue_h +/* fsm_queue.h */ +/* ai - Robot Artificial Intelligence. {{{ + * + * Copyright (C) 2011 Nicolas Schodet + * + * APBTeam: + * Web: http://apbteam.org/ + * Email: team AT apbteam DOT org + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; either version 2 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program; if not, write to the Free Software + * Foundation, Inc., 59 Temple Place - Suite 330, Boston, MA 02111-1307, USA. + * + * }}} */ + +/** Post an event to be processed in the next main loop. */ +void +fsm_queue_post_event (uint8_t event); + +/** Poll for event in the event queue (return non zero if there is an event + * pending). */ +uint8_t +fsm_queue_poll (void); + +/** Pop one event from the event queue. */ +uint8_t +fsm_queue_pop_event (void); + +#endif /* fsm_queue_h */ -- cgit v1.2.3