Subject:
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Brickos c++ threads problem
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Newsgroups:
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lugnet.robotics.rcx.legos
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Date:
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Thu, 9 Feb 2006 15:28:14 GMT
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Viewed:
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9609 times
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:Hi.
I'm currently working on a thesis using Brickos 0.9.0.
I succeeded in writing, compiling and uploading c
code.
When I tried to convert the SAME program in c++
(changing extension from .c to .cpp) and eventually
including a library such as <c++/MotorPair.H>, it
compiles and uploads BUT RCX dies after an instant, no
button works, no response to remote, no sound, and I
had to remove batteries to reload ROM firmware!
I think this problem is related to thread management.
I attach the sources:
- Test1.c is the C code
- Test2.cpp is the equivalent C++ code.
Thank you so much.
Danny
**************************************************************************
Test1.c
**************************************************************************
#include <conio.h>
#include <unistd.h>
#include <tm.h>
#include <lnp/lnp.h>
#include <dmotor.h>
int MotorSpeed=255;
int Spin();
int CheckMessage();
/* Robot spins */
int Spin() { //spin thread
while (!shutdown_requested())
{
motor_a_dir(rev);
motor_c_dir(fwd);
motor_a_speed(MotorSpeed);
motor_c_speed(MotorSpeed);
lcd_number(MotorSpeed,unsign,e0);
msleep(1);
}
return 0;
}
/* Remote control of motor velocity */
int CheckMessage() { //remote control thread
while (!shutdown_requested())
{
if (get_msg()==3) if(MotorSpeed+5<=MAX_SPEED)MotorSpeed+=5;
if (get_msg()==1) if(MotorSpeed-5>=MIN_SPEED)MotorSpeed-=5;
if (get_msg()==2) MotorSpeed=125;
}
return 0;
}
int main(int c, char **v)
{
execi(CheckMessage, 0, 0, PRIO_LOWEST, DEFAULT_STACK_SIZE);
execi(Spin, 0, 0, PRIO_LOWEST, DEFAULT_STACK_SIZE);
while(!shutdown_requested()) msleep(100);
return 0;
}
********************************************************************
Test2.cpp
********************************************************************
#include <conio.h>
#include <unistd.h>
#include <tm.h>
#include <lnp/lnp.h>
#include <dmotor.h>
#include <c++/MotorPair.H>
int CheckMessage(int, char**);
int Spin(int, char**);
int MotorSpeed=125;
MotorPair m(Motor::A, Motor::C);
/* Robot spins */
int Spin(int c, char *v[]) { //spin thread
while (!shutdown_requested())
{
m.right(MotorSpeed);
lcd_number(MotorSpeed,unsign,e0);
msleep(1);
}
return 0;
}
/* Remote control of motor velocity */
int CheckMessage(int c, char *v[]) { //remote control thread
while (!shutdown_requested())
{
if (get_msg()==3) if(MotorSpeed+10<=MAX_SPEED)MotorSpeed+=10;
if (get_msg()==1) if(MotorSpeed-10>=MIN_SPEED)MotorSpeed-=10;
if (get_msg()==2) MotorSpeed=125;
}
return 0;
}
int main(int c, char *v[])
{
execi(CheckMessage, 0, 0, PRIO_LOWEST, DEFAULT_STACK_SIZE);
execi(Spin, 0, 0, PRIO_LOWEST, DEFAULT_STACK_SIZE);
while(!shutdown_requested()) msleep(100);
return 0;
}
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Message has 1 Reply:
 | | Re: Brickos c++ threads problem
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| (...) Danny, I've not used C++, but I have seen problems like this. For me, it happened when the firmware in my brick didn't match the firmware I compiled the program to use. However, it doesn't sound like that's the problem your having. I'd suggest (...) (18 years ago, 13-Feb-06, to lugnet.robotics.rcx.legos)
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