add new repoHEADmaster

1 files changed, 78 insertions, 0 deletions

diff --git a/Master/Real-Time Systems/RTS_A8/src/main.cpp b/Master/Real-Time Systems/RTS_A8/src/main.cpp
new file mode 100644
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--- /dev/null
+++ b/Master/Real-Time Systems/RTS_A8/src/main.cpp
@@ -0,0 +1,78 @@
+/*
+ * main.cpp
+ *
+ *  Created on: 30.11.2010
+ *      Author: istsveise
+ */
+#include "Task.h"
+#include "Display.h"
+#include "Fahren.h"
+#ifndef POS_H_
+	#include "POS.h"
+#endif
+#ifndef NOTBREMSE_H_
+	#include "Notbremse.h"
+#endif
+
+#include <iostream>
+#include <stdlib.h>
+#include <pthread.h>
+#include <semaphore.h>
+#include <cmath>
+
+using namespace std;
+
+// global mutex to protect vehicle
+pthread_mutex_t vehicleMutex;
+
+POS vehiclePosition;
+double lineDir;
+const double PI = 3.14159265359;
+
+double Abstand(POS p,double Ldir)
+{
+	vector3d origin;
+	vector3d point(p.x,p.y);
+	double polx = 1.0;
+	double ldirRad = Ldir*PI/180;
+	double m = tan(ldirRad);
+	double poly = polx*m;
+	vector3d pointOnLine(polx,poly);
+	vector3d normVec;
+	origin.crossProduct(pointOnLine,normVec);
+	normVec.normalize();
+	double d = normVec.scalarProduct(point);
+	return d;
+}
+
+void InitAll(int x)
+{
+	pthread_mutex_init(&vehicleMutex,NULL);
+	pthread_mutex_lock(&vehicleMutex);
+	lineDir = x;
+	vehiclePosition.x = 0;
+	vehiclePosition.y = 0;
+	pthread_mutex_unlock(&vehicleMutex);
+}
+
+int main(int argc,char* argv[])
+{
+	InitAll(30); // direction of line [0, 90]
+
+	sleep(1);
+
+	Display D(100);
+	Notbremse N(100);
+
+	cout << "Los geht's...!" << endl;
+	Fahren F(/* period in ms */ 100,
+			/* speed in pixels per second */ 20,
+			/* start direction [0, 90] */ 0);
+
+	//sleep for ever
+	sem_t block;
+	sem_init(&block,0,0);
+	sem_wait(&block);
+
+	return EXIT_SUCCESS;
+}