corunners-example/app/psy/task_H.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_H (uses realtime, defaultclock clk_s, starttime 2)
{
  consult { 1 $ H_CONTROL; }

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

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

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


  body start
  {
    /* H0 */
    GEN_TASK_H_LOCAL_WORK("H0");
    @h_n0 advance 1;

    /* H1 */
    GEN_TASK_H_LOCAL_WORK("H1");
    jump body_at_h2;
  }

  body body_at_h2
  {
    @h_at_h2 advance 1; /* <--- closes */

    if ($[0]H_CONTROL.cond_h2_or_h5)
    {
      /* H2 */
      GEN_TASK_H_LOCAL_WORK("H2");
      @h_n1 advance 1;

      /* H3 */
      GEN_TASK_H_LOCAL_WORK("H3");
      jump body_at_h9;
    }
    else
    {
      /* H5 */
      GEN_TASK_H_LOCAL_WORK("H5");
      jump body_at_h6;
    }
  }

  body body_at_h9
  {
    @h_at_h9 advance 1; /* <--- closes */

    if ($[0]H_CONTROL.cond_h4_or_h9)
    {
      /* H4 */
      GEN_TASK_H_SHARED_WORK("H4");
      @h_n4 advance 1;

      /* H7 */
      GEN_TASK_H_LOCAL_WORK("H7");
      jump body_at_h2;
    }
    else
    {
      /* H9 */
      GEN_TASK_H_LOCAL_WORK("H9");
      jump body_at_h13;
    }
  }

  body body_at_h6
  {
    @h_at_h6 advance 1; /* <--- closes */
    /* H6 */
    GEN_TASK_H_LOCAL_WORK("H6");
    jump body_at_h9;
  }

  body body_at_h13
  {
    @h_at_h13 advance 1; /* <--- closes */
    /* H13 */
    GEN_TASK_H_LOCAL_WORK("H13");
    jump body_at_h14;
  }

  body body_at_h14
  {
    @h_at_h14 advance 1; /* <--- closes */
    /* H14 */
    GEN_TASK_H_SHARED_WORK("H14");
    @h_n2 advance 1;

    /* H15 */
    GEN_TASK_H_LOCAL_WORK("H15");
    @h_n5 advance 1;

    switch ($[0]H_CONTROL.switch_value)
    {
      case SWITCH_TO_H8:
        {
          /* H8 */
          GEN_TASK_H_LOCAL_WORK("H8");
          jump body_at_h6;
        }

      case SWITCH_TO_H10:
        {
          /* H10 */
          GEN_TASK_H_LOCAL_WORK("H10");
          @h_n3 advance 1;
          /* H11 */
          GEN_TASK_H_LOCAL_WORK("H11");
          jump body_at_h14;
        }

      default: /* SWITCH_TO_H12 */
        {
          /* H12 */
          GEN_TASK_H_SHARED_WORK("H12");
          jump body_at_h13;
        }
    }
  }
}