?? actuator_init.cpp
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#define S_FUNCTION_NAME actuator_init#include "ttkernel.cpp"// Event-driven Actuator Node // code functiondouble act_code(int seg, void *data) { static double *y, *u, t; switch (seg) { case 1: ttWait("packet"); return 0.0; case 2: return 0.0005; case 3: u = (double *)ttGetMsg(1); // Receive message on network 1 if (u != NULL) { ttAnalogOut(1, *u); delete u; // delete message } ttSetNextSegment(1); // loop and wait for new packet return 0.0; }}double msgRcvhandler(int seg, void *data){ ttNotifyAll("packet"); return FINISHED;}void init(){ ttInitKernel(0,1,FP); // Actuator task ttCreateTask("act_task", 100.0, 1, act_code); ttCreateJob(0.0, "act_task"); // Initialize network ttCreateInterruptHandler("msgRcv", 1, msgRcvhandler); ttInitNetwork(2, "msgRcv"); // I am node 2 ttCreateEvent("packet");}void cleanup() {}
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