corunners-example/app/psy/task_G.psy at 10d11d1ae4ee7d44a6663ab9a04e1577828d485b · asterios-technologies/corunners-example · GitHub

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/************ Copyright Krono-Safe S.A. 2020, All rights reserved ************/

#include <app.psyh>

agent task_G (uses realtime, defaultclock clk_s, starttime 2)
{
  consult { 1 $ G_CONTROL; }

  global {
    float noise_mat[IMG_H][IMG_W];
    unsigned char image[IMG_H][IMG_W];
    unsigned int counter = 0u;
  }

#define GEN_TASK_G_LOCAL_WORK(EA) \
  GEN_WORK(EA, filter, noise_mat, image, $[0]G_CONTROL.work_iterations, counter)

#define GEN_TASK_G_SHARED_WORK(EA) \
  GEN_WORK(EA, filter2, noise_mat, image, $[0]G_CONTROL.work_iterations, counter)


  body start
  {
    /* G0 */
    GEN_TASK_G_LOCAL_WORK("G0");
    jump body_at_g1;
  }

  body body_at_g1
  {
    @g_at_1 advance 1; /* <--- closes */

    /* G1 */
    GEN_TASK_G_LOCAL_WORK("G1");
    @g_n1 advance 1;

    switch ($[0]G_CONTROL.switch_value)
    {
    case SWITCH_TO_G2:
      {
        /* G2 */
        GEN_TASK_G_LOCAL_WORK("G2");
        @g_n2 advance 1;
        /* G3 */
        GEN_TASK_G_SHARED_WORK("G3");
        @g_n3 advance 1;
        /* G4 */
        GEN_TASK_G_LOCAL_WORK("G4");
        jump body_at_g5;
      }

    case SWITCH_TO_G7:
      {
        /* G7 */
        GEN_TASK_G_LOCAL_WORK("G7");
        @g_n4 advance 1;
        /* G8 */
        GEN_TASK_G_SHARED_WORK("G8");
        jump body_at_g9;
      }

    case SWITCH_TO_G10:
      {
        /* G10 */
        GEN_TASK_G_LOCAL_WORK("G10");
        @g_n5 advance 1;
        /* G11 */
        GEN_TASK_G_LOCAL_WORK("G11");
        jump body_at_g9;
      }

    default: /* (SWITCH_TO_G12) */
      {
        /* G12 */
        GEN_TASK_G_LOCAL_WORK("G12");
        jump body_at_g17;
      }
    }
  }

  body body_at_g9
  {
    @g_at_9 advance 1; /* <--- closes */
    /* G9 */
    GEN_TASK_G_LOCAL_WORK("G9");
    jump body_at_g5;
  }

  body body_at_g5
  {
    @g_at_5 advance 1; /* <--- closes */
    /* G5 */
    GEN_TASK_G_LOCAL_WORK("G5");
    jump body_at_g6;
  }

  body body_at_g6
  {
    @g_at_6 advance 1; /* <--- closes */
    /* G6 */
    GEN_TASK_G_SHARED_WORK("G6");
    jump body_at_g1;
  }

  body body_at_g17
  {
    @g_at_17 advance 1; /* <--- closes */

    /* G17 */
    GEN_TASK_G_LOCAL_WORK("G17");
    @g_n6 advance 1;
    /* G13 */
    GEN_TASK_G_LOCAL_WORK("G13");
    @g_n7 advance 1;

    if ($[0]G_CONTROL.cond_g14_or_g15)
    {
      /* G14 */
      GEN_TASK_G_SHARED_WORK("G14");
      @g_n8 advance 1;
      /* G16 */
      GEN_TASK_G_LOCAL_WORK("G16");
      jump body_at_g17;
    }
    else
    {
      /* G15 */
      GEN_TASK_G_LOCAL_WORK("G15");
      jump body_at_g6;
    }
  }
}