# 第9章: 統合とロボット制御

ここまでの部品を組み合わせ、OS の上でロボット制御タスクを走らせます。

## サンプルコード

- ディレクトリ: `docs/os-on-arduino/code/09_integration`
- ビルドと書き込み:

```bash
uv run pio run -d 09_integration -t upload
uv run pio device monitor -b 115200
```

コードを見る: [docs/os-on-arduino/code/09_integration](https://github.com/iory/learning-os-from-arduino/tree/main/docs/os-on-arduino/code/09_integration)


## ソースコード

この章のスケッチです。ファイル名をクリックすると開きます。コードは原稿リポジトリから自動で同期されているので、ここに出ているものが常に最新です。

:::{dropdown} `src/main.cpp` — 165 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/src/main.cpp)

```{literalinclude} ../../../../code/09_integration/src/main.cpp
:language: cpp
:linenos:
```

:::

:::{dropdown} `include/interpreter.h` — 36 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/include/interpreter.h)

```{literalinclude} ../../../../code/09_integration/include/interpreter.h
:language: cpp
:linenos:
```

:::

:::{dropdown} `include/os_display.h` — 18 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/include/os_display.h)

```{literalinclude} ../../../../code/09_integration/include/os_display.h
:language: cpp
:linenos:
```

:::

:::{dropdown} `include/os_fault.h` — 46 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/include/os_fault.h)

```{literalinclude} ../../../../code/09_integration/include/os_fault.h
:language: cpp
:linenos:
```

:::

:::{dropdown} `include/os_kernel.h` — 79 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/include/os_kernel.h)

```{literalinclude} ../../../../code/09_integration/include/os_kernel.h
:language: cpp
:linenos:
```

:::

:::{dropdown} `include/shell.h` — 23 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/include/shell.h)

```{literalinclude} ../../../../code/09_integration/include/shell.h
:language: cpp
:linenos:
```

:::

:::{dropdown} `src/interpreter.cpp` — 288 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/src/interpreter.cpp)

```{literalinclude} ../../../../code/09_integration/src/interpreter.cpp
:language: cpp
:linenos:
```

:::

:::{dropdown} `src/os_display.cpp` — 162 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/src/os_display.cpp)

```{literalinclude} ../../../../code/09_integration/src/os_display.cpp
:language: cpp
:linenos:
```

:::

:::{dropdown} `src/os_fault.cpp` — 170 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/src/os_fault.cpp)

```{literalinclude} ../../../../code/09_integration/src/os_fault.cpp
:language: cpp
:linenos:
```

:::

:::{dropdown} `src/os_kernel.cpp` — 266 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/src/os_kernel.cpp)

```{literalinclude} ../../../../code/09_integration/src/os_kernel.cpp
:language: cpp
:linenos:
```

:::

:::{dropdown} `src/shell.cpp` — 237 行
:icon: code

[GitHub で開く](https://github.com/iory/learning-os-from-arduino/blob/main/docs/os-on-arduino/code/09_integration/src/shell.cpp)

```{literalinclude} ../../../../code/09_integration/src/shell.cpp
:language: cpp
:linenos:
```

:::


## 実機での出力

Arduino UNO R4 WiFi の実機で実際に取得した出力です（macOS / Windows の
両方で同じ結果を確認しています）。手元の出力と見比べてください。

```text
ps

ID  NAME           STATE      CPU%
--  ----           -----      ----
0   idle           READY     100%
1   Heartbeat      BLOCKED   0%
2   Sensor         BLOCKED   0%
3   Servo          BLOCKED   0%
4   LED_Ind        BLOCKED   0%
5   Button         BLOCKED   0%
6   Shell          RUNNING   0%
7   Display        BLOCKED   0%

> 
```

## つまずきやすいポイント

（読者からの質問に応じて随時追記します。質問は
[GitHub Issues](https://github.com/iory/build-your-own-arduino-rtos/issues)
へどうぞ）