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Battery and stop

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This commit is contained in:
Lartigue Auriane 2021-02-26 10:18:23 +01:00
parent a3fc2d8815
commit 08bcb07f05
5 changed files with 99 additions and 8 deletions
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2
software/raspberry/superviseur-robot/nbproject/private/configurations.xml
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@ -41,7 +41,7 @@
</conf> </conf>
<conf name="Debug__RPI_" type="1"> <conf name="Debug__RPI_" type="1">
<toolsSet> <toolsSet>
<developmentServer>pi@10.105.1.08:22</developmentServer> <developmentServer>pi@10.105.1.7:22</developmentServer>
<platform>2</platform> <platform>2</platform>
</toolsSet> </toolsSet>
<dbx_gdbdebugger version="1"> <dbx_gdbdebugger version="1">

0
software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.7-pi-22 Normal file
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38
software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-pi-22 Normal file
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@ -0,0 +1,38 @@
#Fri Feb 26 10:15:15 CET 2021
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/README.md=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/project.xml=c1614324902000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/commonitor.h=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/messages.h=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/base64.h=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/.dep.inc=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/.gitignore=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/.gitignore=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/messages.cpp=c1614324901000
VERSION=1.3
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/img.cpp=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/img.h=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/tasks.cpp=c1614330913000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/Makefile=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/camera.h=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/comrobot.h=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/README.md=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/project.properties=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/main.cpp=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/superviseur.doxygen=c1614324902000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/gdbsudo.sh=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/tasks.h=c1614329334000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1614324901000
/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/camera.cpp=c1614324901000

58
software/raspberry/superviseur-robot/tasks.cpp
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@ -26,6 +26,7 @@
#define PRIORITY_TRECEIVEFROMMON 25 #define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TSTARTROBOT 20 #define PRIORITY_TSTARTROBOT 20
#define PRIORITY_TCAMERA 21 #define PRIORITY_TCAMERA 21
#define PRIORITY_TBATTERY 31
/* /*
* Some remarks: * Some remarks:
@ -123,6 +124,10 @@ void Tasks::Init() {
cerr << "Error task create: " << strerror(-err) << endl << flush; cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_task_create(&th_getBattery, "th_getBattery", 0, PRIORITY_TBATTERY, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks created successfully" << endl << flush; cout << "Tasks created successfully" << endl << flush;
/**************************************************************************************/ /**************************************************************************************/
@ -167,7 +172,11 @@ void Tasks::Run() {
cerr << "Error task start: " << strerror(-err) << endl << flush; cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_task_start(&th_getBattery, (void(*)(void*)) & Tasks::ReadBattery, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks launched" << endl << flush; cout << "Tasks launched" << endl << flush;
} }
@ -351,6 +360,7 @@ void Tasks::StartRobotTask(void *arg) {
*/ */
void Tasks::MoveTask(void *arg) { void Tasks::MoveTask(void *arg) {
int rs; int rs;
int previousMove = MESSAGE_ROBOT_GO_FORWARD;
int cpMove; int cpMove;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
@ -372,12 +382,15 @@ void Tasks::MoveTask(void *arg) {
rt_mutex_acquire(&mutex_move, TM_INFINITE); rt_mutex_acquire(&mutex_move, TM_INFINITE);
cpMove = move; cpMove = move;
rt_mutex_release(&mutex_move); rt_mutex_release(&mutex_move);
if (cpMove != previousMove) {
cout << " move: " << cpMove; cout << " move: " << cpMove;
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(new Message((MessageID)cpMove)); robot.Write(new Message((MessageID)cpMove));
rt_mutex_release(&mutex_robot); rt_mutex_release(&mutex_robot);
previousMove = cpMove;
}
} }
cout << endl << flush; cout << endl << flush;
} }
@ -415,3 +428,34 @@ Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
return msg; return msg;
} }
void Tasks::ReadBattery(void *arg){
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task starts here */
/**************************************************************************************/
rt_task_set_periodic(NULL, TM_NOW, 500000000);
int rs;
while (1) {
rt_task_wait_period(NULL);
cout << "Periodic battery get lvl \n";
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted;
rt_mutex_release(&mutex_robotStarted);
if (rs == 1) {
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
Message *msg = robot.Write( robot.GetBattery() ) ;
rt_mutex_release(&mutex_robot);
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Write(msg);
rt_mutex_release(&mutex_monitor);
}
cout << endl << flush;
}
}

9
software/raspberry/superviseur-robot/tasks.h
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@ -76,6 +76,7 @@ private:
RT_TASK th_openComRobot; RT_TASK th_openComRobot;
RT_TASK th_startRobot; RT_TASK th_startRobot;
RT_TASK th_move; RT_TASK th_move;
RT_TASK th_getBattery;
/**********************************************************************/ /**********************************************************************/
/* Mutex */ /* Mutex */
@ -148,6 +149,14 @@ private:
* @return Message read * @return Message read
*/ */
Message *ReadInQueue(RT_QUEUE *queue); Message *ReadInQueue(RT_QUEUE *queue);
/**
* Read the battery level of the robot
* @return Nothing
*/
void ReadBattery(void *arg);
}; };