src/robofsm/robodata.h

   1 /**
   2  * robodata.h                   08/04/11
   3  *
   4  * Multi-purpose structures and defines for robots.
   5  *
   6  * Copyright: (c) 2008 CTU Dragons
   7  *            CTU FEE - Department of Control Engineering
   8  * License: GNU GPL v.2
   9  */
  10
  11 #ifndef ROBODATA_H
  12 #define ROBODATA_H
  13
  14 /* robot's mode */
  15 enum {
  16         ROBO_COMPETING = 0,
  17         ROBO_TESTING
  18 };
  19
  20 /**
  21  * FSM MACROS
  22  */
  23
  24 /**
  25  * THREAD PRIORITIES
  26  */
  27 #define SET_THREAD_PRIORITY(tid,prio) \
  28 sched_param param; \
  29 pthread_attr_t tattr; \
  30 pthread_attr_init (&tattr); \
  31 pthread_attr_getschedparam (&tattr, &param); \
  32 param.sched_priority = prio;\
  33 pthread_attr_setschedparam (&tattr, &param);
  34
  35 #endif  /* ROBODATA_H */