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/*
* 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;
}
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