rfidLocMap.gen

/*------------------------------------------------------------
 * 
 *                     --  Module  RFIDLOCMAP  --
 * 
 *  Description: Robot localization and Mapping of new Rfid Tags
 *  Creation date : Tue Jan 12 09:41:07 2010 
 *  Author: Andres Codas
 * 
 *------------------------------------------------------------*/

module rfidLocMap {
    number:		    9002;
    version:		    "0.1";
    email:		    "codas@laas.fr";
    requires:		    rfid,rflex;
    codels_requires:        rfid,rflex;
    internal_data:	    RFIDLOCMAP_STR;
    lang:		    "c++";
}; 

/*------------------------------------------------------------
 *	                   Structures and SDI
 *------------------------------------------------------------*/

#include "rfidLocMapStruct.h"

import from rfid {
#include "rfidStruct.h"
#include "server/rfidPosterLibStruct.h"
};

import from rflex {
#include "rflexStruct.h"
#include "rflexConst.h"
#include "server/rflexPosterLibStruct.h"
};


typedef struct RFIDLOCMAP_STR {
         POSITION               position;
         POSITION_ERROR         estimationError;
         TAG_POSITION_LIST tagsPosition;
         int			numberParticles;
         int			padding;
         double			inertia;
} RFIDLOCMAP_STR;

/*------------------------------------------------------------
 *	                       Requests
 *------------------------------------------------------------*/


/*  */
request ActualizePositions {
    doc:		    "Actualize the robot and tags positions with new measurements";
    type:		    exec;
    exec_task:		    MainTask;  
    codel_start:	    rfidLocMapActualizePositionsStart;
    codel_inter:	    rfidLocMapActualizePositionsInter;
    fail_reports:           RFID_POSTER_NOT_FOUND, RFLEX_POSTER_NOT_FOUND;
    interrupt_activity:	    all ; 
};


/*  */
request StartRobotParticles {
    doc:		    "Initialize Robot Particles";
    type:		    exec;
    exec_task:		    MainTask; 
    input:		    newPosition::position; 
    codel_start:	    rfidLocMapStartRobotParticlesStart;
    codel_inter:	    rfidLocMapStartRobotParticlesInter;
    interrupt_activity:	    all; 
};

request StartOdometry {
    doc:		    "Set odometry initial Point";
    type:		    exec;
    exec_task:		    MainTask; 
    input:		    newPosition::position; 
    codel_start:	    rfidLocMapStartOdometryStart;
    codel_inter:	    rfidLocMapStartOdometryInter;
    interrupt_activity:	    all; 
};

request StartInput {
    doc:		    "Restart Inputs";
    type:		    exec;
    exec_task:		    MainTask; 
    codel_start:	    rfidLocMapStartInputStart;
    codel_inter:	    rfidLocMapStartInputInter;
    interrupt_activity:	    all; 
};

request ClearTags {
    doc:		    "Clear Tags";
    type:		    exec;
    exec_task:		    MainTask; 
    codel_start:	    rfidLocMapClearTagsStart;
    codel_inter:	    rfidLocMapClearTagsInter;
    interrupt_activity:	    all; 
};


/*  */
request SetNumberRobotParticles {
    doc:		    "Define number of robot particles  Warning!!!... Resets the covariance to 0!!!";
    type:		    exec;
    exec_task:		    MainTask; 
    input:		    newNumberParticles::numberParticles; 
    codel_start:	    rfidLocMapSetNumberRobotParticlesStart;
    codel_inter:	    rfidLocMapSetNumberRobotParticlesInter; 
    interrupt_activity:	    all; 
};


/*  */
request GetNumberRobotParticles {
    doc:		    "Get number of robot particles";
    type:		    exec;
    exec_task:		    MainTask; 
    output:		    outNumberParticles::numberParticles;
    codel_start:	    rfidLocMapGetNumberRobotParticlesStart;
    codel_inter:	    rfidLocMapGetNumberRobotParticlesInter; 
    interrupt_activity:	    all; 
};

/*  */
request SetNumberTagParticles {
    doc:		    "Define number of tag particles";
    type:		    exec;
    exec_task:		    MainTask; 
    input:		    newNumberParticles::numberParticles; 
    codel_start:	    rfidLocMapSetNumberTagParticlesStart;
    codel_inter:	    rfidLocMapSetNumberTagParticlesInter; 
    interrupt_activity:	    all; 
};


/*  */
request GetNumberTagParticles {
    doc:		    "Get number of tag particles";
    type:		    exec;
    exec_task:		    MainTask; 
    output:		    outNumberParticles::numberParticles;
    codel_start:	    rfidLocMapGetNumberTagParticlesStart;
    codel_inter:	    rfidLocMapGetNumberTagParticlesInter; 
    interrupt_activity:	    all; 
};

/*  */
request SetRobotInertia {
    doc:		    "Define the inertia of the robot particles";
    type:		    exec;
    exec_task:		    MainTask; 
    input:		    newInertia::inertia; 
    codel_start:	    rfidLocMapSetRobotInertiaStart;
    codel_inter:	    rfidLocMapSetRobotInertiaInter; 
    interrupt_activity:	    all; 
};


/*  */
request GetRobotInertia {
    doc:		    "Get the inertia of the robot particles";
    type:		    exec;
    exec_task:		    MainTask; 
    output:		    outInertia::inertia;
    codel_start:	    rfidLocMapGetRobotInertiaStart;
    codel_inter:	    rfidLocMapGetRobotInertiaInter; 
    interrupt_activity:	    all; 
};

/*  */
request SetTagInertia {
    doc:		    "Define the inertia of the tag particles";
    type:		    exec;
    exec_task:		    MainTask; 
    input:		    newInertia::inertia; 
    codel_start:	    rfidLocMapSetTagInertiaStart;
    codel_inter:	    rfidLocMapSetTagInertiaInter; 
    interrupt_activity:	    all; 
};


/*  */
request GetTagInertia {
    doc:		    "Get the inertia of the tag particles";
    type:		    exec;
    exec_task:		    MainTask; 
    output:		    outInertia::inertia;
    codel_start:	    rfidLocMapGetTagInertiaStart;
    codel_inter:	    rfidLocMapGetTagInertiaInter; 
    interrupt_activity:	    all; 
};


/*------------------------------------------------------------
 *	                        Posters
 *------------------------------------------------------------*/

poster RobotPosition {
        update:                 auto;
        data:                   RobotPosition::position,
	                        covariance::estimationError;
	exec_task:		MainTask;
};


/*  */
poster TagsPosition {
    update:		    auto;
    data:		    TagsPosition::tagsPosition;
    exec_task:		    MainTask; 
};


/*------------------------------------------------------------
 *	                   Execution Tasks
 *------------------------------------------------------------*/


/*  */
exec_task MainTask {
    period:		    5;
    delay:		    0;
    priority:		    100;
    stack_size:		    60000;
    c_init_func:	    rfidLocMapInit;
};