Battery and stop
This commit is contained in:
Lartigue Auriane
parent
a3fc2d8815
commit
08bcb07f05
5 changed files with 99 additions and 8 deletions
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@ -41,7 +41,7 @@
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</conf>
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<conf name="Debug__RPI_" type="1">
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<toolsSet>
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<developmentServer>pi@10.105.1.08:22</developmentServer>
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<developmentServer>pi@10.105.1.7:22</developmentServer>
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<platform>2</platform>
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</toolsSet>
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<dbx_gdbdebugger version="1">
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@ -0,0 +1,38 @@
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#Fri Feb 26 10:15:15 CET 2021
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/README.md=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/project.xml=c1614324902000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/commonitor.h=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/messages.h=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/base64.h=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/.dep.inc=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/.gitignore=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/.gitignore=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/messages.cpp=c1614324901000
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VERSION=1.3
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/img.cpp=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/img.h=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/tasks.cpp=c1614330913000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/Makefile=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/camera.h=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/comrobot.h=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/README.md=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/project.properties=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/main.cpp=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/superviseur.doxygen=c1614324902000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/gdbsudo.sh=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/tasks.h=c1614329334000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1614324901000
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/home/alartigu/Bureau/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/camera.cpp=c1614324901000
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@ -26,6 +26,7 @@
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#define PRIORITY_TRECEIVEFROMMON 25
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#define PRIORITY_TSTARTROBOT 20
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#define PRIORITY_TCAMERA 21
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#define PRIORITY_TBATTERY 31
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/*
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* Some remarks:
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@ -123,6 +124,10 @@ void Tasks::Init() {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_getBattery, "th_getBattery", 0, PRIORITY_TBATTERY, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Tasks created successfully" << endl << flush;
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/**************************************************************************************/
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@ -167,6 +172,10 @@ void Tasks::Run() {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_getBattery, (void(*)(void*)) & Tasks::ReadBattery, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Tasks launched" << endl << flush;
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}
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@ -351,6 +360,7 @@ void Tasks::StartRobotTask(void *arg) {
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*/
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void Tasks::MoveTask(void *arg) {
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int rs;
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int previousMove = MESSAGE_ROBOT_GO_FORWARD;
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int cpMove;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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@ -372,12 +382,15 @@ void Tasks::MoveTask(void *arg) {
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rt_mutex_acquire(&mutex_move, TM_INFINITE);
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cpMove = move;
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rt_mutex_release(&mutex_move);
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if (cpMove != previousMove) {
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cout << " move: " << cpMove;
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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robot.Write(new Message((MessageID)cpMove));
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rt_mutex_release(&mutex_robot);
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previousMove = cpMove;
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}
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}
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cout << endl << flush;
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}
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@ -415,3 +428,34 @@ Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
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return msg;
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}
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void Tasks::ReadBattery(void *arg){
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************/
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/* The task starts here */
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/**************************************************************************************/
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rt_task_set_periodic(NULL, TM_NOW, 500000000);
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int rs;
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while (1) {
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rt_task_wait_period(NULL);
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cout << "Periodic battery get lvl \n";
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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rs = robotStarted;
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rt_mutex_release(&mutex_robotStarted);
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if (rs == 1) {
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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Message *msg = robot.Write( robot.GetBattery() ) ;
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rt_mutex_release(&mutex_robot);
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rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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monitor.Write(msg);
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rt_mutex_release(&mutex_monitor);
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}
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cout << endl << flush;
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}
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}
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@ -76,6 +76,7 @@ private:
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RT_TASK th_openComRobot;
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RT_TASK th_startRobot;
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RT_TASK th_move;
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RT_TASK th_getBattery;
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/**********************************************************************/
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/* Mutex */
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@ -149,6 +150,14 @@ private:
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*/
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Message *ReadInQueue(RT_QUEUE *queue);
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/**
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* Read the battery level of the robot
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* @return Nothing
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*/
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void ReadBattery(void *arg);
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};
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#endif // __TASKS_H__
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