src/robofsm/match-timing.c

   1 #include "match-timing.h"
   2 #include "robot.h"
   3
   4 #ifdef COMPETITION
   5 #define COMPETITION_TIME_DEFAULT        90
   6 #define TIME_TO_DEPOSITE_DEFAULT        60
   7 #else
   8 #define COMPETITION_TIME_DEFAULT        90
   9 #define TIME_TO_DEPOSITE_DEFAULT        60
  10 #endif
  11
  12 /* competition time in seconds */
  13 #define COMPETITION_TIME        COMPETITION_TIME_DEFAULT
  14 #define TIME_TO_DEPOSITE        TIME_TO_DEPOSITE_DEFAULT
  15 /* competition time in seconds */
  16
  17
  18
  19 /** *********************************************************************
  20  * Competition timer. Stop robot when the timer exceeds.
  21  ********************************************************************** */
  22
  23 void *timing_thread(void *arg)
  24 {
  25         struct timespec start;
  26
  27         sem_wait(&robot.start);
  28         clock_gettime(CLOCK_MONOTONIC, &start);
  29 #define WAIT(sec)                                                       \
  30         do {                                                            \
  31                 struct timespec t;                                      \
  32                 t.tv_sec = start.tv_sec+sec;                            \
  33                 t.tv_nsec = start.tv_nsec;                              \
  34                 clock_nanosleep(CLOCK_MONOTONIC, TIMER_ABSTIME, &t, NULL); \
  35         } while(0)
  36
  37 //      WAIT(5);
  38 //      // microswitch (backside opponent detector), ignore it while at starting point
  39 //      robot.use_back_switch = true;
  40 //      printf("Back switch not ignored\n");
  41
  42         WAIT(TIME_TO_DEPOSITE);
  43         robot.short_time_to_end = true;
  44
  45         WAIT(COMPETITION_TIME);
  46         printf("%d seconds timer exceeded! exiting!\n", COMPETITION_TIME);
  47         robot_exit();
  48
  49         return NULL;
  50 }
  51