Nouvelle branche pour les journées portes ouvertes 2019

software/raspberry/superviseur-robot/not_for_students/examples/.gitignore

@@ -1 +0,0 @@
-bin/

software/raspberry/superviseur-robot/not_for_students/examples/CMakeLists.txt

@@ -1,11 +0,0 @@
-set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../examples/bin)
-
-set(serialTest_FILES ./src/serialTest.cpp)
-set(serverTest_FILES ./src/serverTest.cpp)
-include_directories(./src ../lib)
-
-add_executable(serialtest ${serialTest_FILES})
-target_link_libraries(serialtest destijl)
-
-add_executable(servertest ${serverTest_FILES})
-target_link_libraries(servertest destijl)

software/raspberry/superviseur-robot/not_for_students/examples/src/rtvideoExample.cpp

@@ -1,89 +0,0 @@
-#include <task.h>
-#include "../src/imagerie.h"
-#include "../src/serial.h"
-#include "../src/tcpServer.h" // include himself imagerie.h
-
-
-using namespace std;
-using namespace cv;
-using namespace raspicam;
-
-RT_TASK video;
-
-void threadVideo(void *arg)
-{
-	printf("Thread lancé ... \n");
-	Camera rpiCam;
-	Image imgVideo;
-	Arene monArene;
-	position positionRobots[20];
-	Jpg compress;
-
-	openCamera(&rpiCam);
-	do
-	{
-	   getImg(&rpiCam, &imgVideo);
-	   if(detectArena(&imgVideo, &monArene)==0)
-	   {
-	      detectPosition(&imgVideo,positionRobots,&monArene);
-	      drawArena(&imgVideo,&imgVideo,&monArene);
-	   }
-	   else
-	      detectPosition(&imgVideo,positionRobots);
-
-	   drawPosition(&imgVideo,&imgVideo,&positionRobots[0]);
-	   imgCompress(&imgVideo,&compress);
-
-	   sendToUI("IMG",&compress);
-	   sendToUI("POS",&positionRobots[0]);
-	}while(waitKey(30)!='q');
-	closeCam(&rpiCam);
-}
-
-
-
-int main() {
-    serverOpen();
-    robotOpenCom();
-
-    char header[4];
-    char data[20];
-    memset(data, '\0',20);
-    memset(header,'\0',4);
-
-    
-    if(rt_task_spawn(&video,"envoieVideo",0,20,0, threadVideo, NULL) == -1)
-	perror("erreur lors de la creation du thread\n");
-
-    do
-    {   receptionFromUI(header,data);
-        if(strcmp(header, DMB) == 0)
-        {
-            printf("EVENEMENT DUMBER DETECTE AVEC LE MESSAGE :%s \n",data);
-            int a = robotCmd(data[0]);
-            printf("Resultat CMD : %d \n", a);
-            if(data[0] == 'u' && a == 0)
-            {
-                sendToUI(ACK);
-            }
-            if(data[0] == 'r' && a == 0)
-            {
-                sendToUI(ACK);
-            }
-        }
-
-        if(strcmp(header, MES) == 0)
-        {
-            printf("EVENEMENT MESSAGE DETECTE AVEC LE MESSAGE :%s \n",data);
-        }
-
-        if(strcmp(header,POS)==0)
-        {
-            printf("EVENEMENT POSITION DETECTE AVEC LE MESSAGE :%s \n",data);
-        }
-    }while((strcmp(header,MES)!=0) || (data[0] != 'C'));
-    robotCloseCom();
-    serverClose();
-
-    return 0;
-}

software/raspberry/superviseur-robot/not_for_students/examples/src/serialExample.cpp

@@ -1,18 +0,0 @@
-#include "../src/serial.h"
-
-
-
-/*
- * robotCmd return 0 if  the cmd is received and understood.
- * -1 for a bad argument; -2 for a bad command ; -3 for a timedOut; -4 for a checkSum error
- */
-
-int main() {
-   robotOpenCom();
-   printf("Resultat commande : %d \n",sendCmdToRobot(WITHOUT_WD));
-   printf("Resultat commande : %d \n",sendCmdToRobot(SETMOVE,"+500"));
-   printf("Resultat commande : %d \n",sendCmdToRobot(SETTURN,"-180"));
-   robotCloseCom();
-
-   return 0;
-}

software/raspberry/superviseur-robot/not_for_students/examples/src/serialTest.cpp

@@ -1,186 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2018 INSA - GEI, Toulouse, France.
- * All rights reserved. This program and the accompanying materials
- * are made available "AS IS", without any warranty of any kind.
- *
- * INSA assumes no responsibility for errors or omissions in the 
- * software or documentation available. 
- *
- * Part of code Copyright ST Microelectronics.
- *
- * Contributors:
- *     Lucien Senaneuch - Initial API and implementation
- *     Sebastien DI MERCURIO - Maintainer since Octobre 2018
- *******************************************************************************/
-
-#include <iostream>
-#include <ctime>
-#include "Robot.h"
-#include <unistd.h>
-
-using namespace std;
-
-#define NB_TEST 50
-#define DELAY_BETWEEN_TEST 1000000 // 1 seconde
-
-int nb_retries;
-int nb_test;
-
-int laststatus;
-int nb_success;
-int nb_timeout;
-int nb_unknown_cmd;
-
-int flipflop;
-
-int Test(Robot rob) {
-    try {
-        if (flipflop == 0) {
-            rob.Move(100);
-        } else {
-            rob.Move(-100);
-        }
-    } catch (string e) {
-        //if (e.find("Timeout")==string.npos)
-        //    status=ROBOT_TIMED_OUT;
-
-
-    }
-
-    return rob.GetLastCommandStatus();;
-}
-
-int main() {
-    Robot myRobot;
-
-    if (myRobot.Open("/dev/ttyUSB0") == SUCCESS) { // ouverture de la com avec le robot
-
-        std::cout << "Start robot: ";
-        try {
-            myRobot.StartWithoutWatchdog();
-        } catch ( string e ) {
-            std::cerr << std::endl << e << std::endl;
-            return 1;
-        }
-
-        if (myRobot.GetLastCommandStatus()==SUCCESS)
-            std::cout << "Ok" <<std::endl;
-        else {
-            std::cout << " Error: GetLastCommand returns " << myRobot.GetLastCommandStatus() <<std::endl;
-            return 2;
-        }
-
-        std::cout << "Start stress test" << std::endl;
-        time_t t_debut, t_fin;
-        struct tm *tm_debut, *tm_fin;
-
-        time(&t_debut);
-        tm_debut = localtime((const time_t*)&t_debut);
-        std::cout << "[start time]: " << asctime(tm_debut) << std::endl;
-
-        nb_success =0;
-        nb_timeout =0;
-        nb_unknown_cmd =0;
-        flipflop = 0;
-
-        for (nb_test=0; nb_test < NB_TEST; nb_test++) {
-            laststatus=Test(myRobot);
-
-            if (flipflop ==0) flipflop=1;
-            else flipflop =0;
-
-            if (laststatus == SUCCESS) nb_success++;
-            else if (laststatus == TIMEOUT_COMMAND) nb_timeout++;
-            else if ((laststatus == INVALID_ANSWER) || (laststatus == INVALID_COMMAND)) nb_unknown_cmd ++;
-
-            std::cout << "Test " << nb_test << " [s " << nb_success
-                    << ": t " << nb_timeout << ": u " << nb_unknown_cmd
-                    << "]"<< "\x1B" <<"[30D"<<std::flush;
-
-            usleep(DELAY_BETWEEN_TEST);
-        }
-
-        time(&t_fin);
-        tm_fin = localtime((const time_t*)&t_fin);
-        std::cout << std::endl << std::endl << "[end time]: " << asctime(tm_fin) << std::endl;
-
-        std::cout << "Reset robot" <<std::endl;
-        myRobot.Reset();
-
-        std::cout << "Close com" <<std::endl;
-        myRobot.Close();
-
-    } else {
-        std::cerr << "Unable to open \\dev\\ttyUSB0" << std::endl;
-
-        return 2;
-    }
-
-    //    if (open_communication_robot("/dev/ttyUSB0") != 0) {
-    //        std::cout << "Unable to open com port" << std::endl;
-    //
-    //        return -1;
-    //    }
-    //
-    //    std::cout << "Debut du test de stress" << std::endl;
-    //    time_t t_debut, t_fin;
-    //    struct tm *tm_debut, *tm_fin;
-    //
-    //    time(&t_debut);
-    //    tm_debut = localtime((const time_t*)&t_debut);
-    //
-    //    std::cout << "[heure debut]: " << asctime(tm_debut) << std::endl;
-    //
-    //    nb_retries=-1;
-    //    do {
-    //        usleep(DELAY_BETWEEN_RETRIES);
-    //        nb_retries++;
-    //        laststatus = send_command_to_robot(DMB_START_WITHOUT_WD);
-    //    } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
-    //
-    //    if(nb_retries == NB_RETRIES_MAX) {
-    //        std::cout << "Unable to start robot" <<std::endl;
-    //
-    //        return -1;
-    //    }
-    //
-    //    nb_success =0;
-    //    nb_timeout =0;
-    //    nb_unknown_cmd =0;
-    //    flipflop = 0;
-    //
-    //    for (nb_test=0; nb_test < NB_TEST; nb_test++) {
-    //        nb_retries=-1;
-    //
-    //        do {
-    //            usleep(DELAY_BETWEEN_RETRIES);
-    //            nb_retries++;
-    //            if (flipflop == 0) {
-    //                laststatus = send_command_to_robot(DMB_TURN, "100");
-    //            } else {
-    //                laststatus = send_command_to_robot(DMB_TURN, "-100");
-    //            }
-    //
-    //        } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
-    //
-    //        if (flipflop ==0) flipflop=1;
-    //        else flipflop =0;
-    //
-    //        if (laststatus == 0) nb_success++;
-    //        else if (laststatus == ROBOT_TIMED_OUT) nb_timeout++;
-    //        else if (laststatus == ROBOT_UKNOWN_CMD) nb_unknown_cmd ++;
-    //
-    //        std::cout << "Test " << nb_test << " [s " << nb_success
-    //                  << ": t " << nb_timeout << ": u " << nb_unknown_cmd
-    //                  << "]"<< "\x1B" <<"[30D"<<std::flush;
-    //
-    //        usleep(DELAY_BETWEEN_TEST);
-    //    }
-    //
-    //    time(&t_fin);
-    //    tm_fin = localtime((const time_t*)&t_fin);
-    //
-    //    std::cout << std::endl << std::endl << "[heure fin]: " << asctime(tm_fin) << std::endl;
-
-    return 0;
-}

software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp

@@ -1,111 +0,0 @@
-/*******************************************************************************
- * Copyright (c) 2018 INSA - GEI, Toulouse, France.
- * All rights reserved. This program and the accompanying materials
- * are made available "AS IS", without any warranty of any kind.
- *
- * INSA assumes no responsibility for errors or omissions in the 
- * software or documentation available. 
- *
- * Part of code Copyright ST Microelectronics.
- *
- * Contributors:
- *     Lucien Senaneuch - Initial API and implementation
- *     Sebastien DI MERCURIO - Maintainer since Octobre 2018
- *******************************************************************************/
-
-#include <iostream>
-#include "Robot.h"
-#include "TcpServer.h"
-
-int main (void)
-{
-    TcpServer server;
-    int clientFD;
-    string msgIn, msgOut,tmp;
-    bool finish;
-
-    Robot robot;
-
-    cout << "TCP server example" << endl;
-
-    cout << "Bind and listen on port 1337: ";
-    try {
-        server.Listen(1337);
-    }
-    catch ( const invalid_argument &ia ) {
-        cerr << "Error binding server: " << ia.what() << endl;
-        return 1;
-    }
-
-    cout << "Ok" <<endl;
-
-    cout << "Open com with robot: ";
-    try {
-        robot.Open ("/dev/ttyUSB0");
-    } catch (string e)
-    {
-        cerr << e << endl;
-        return 3;
-    }
-
-    cout << "Ok" <<endl;
-
-    while (1)
-    {
-        cout << "Wait for client to connect: ";
-        try {
-            clientFD= server.AcceptClient();
-        }
-        catch ( const invalid_argument &ia ) {
-            cerr << "Error during client accept: " << ia.what() << endl;
-            return 2;
-        }
-
-        cout << to_string(clientFD) << endl;
-
-        msgIn.clear();
-        finish=false;
-
-        do {
-            msgIn = server.Receive(clientFD, 2); // cmd + \n
-
-            if (msgIn.empty()) finish=true;
-            else {
-                try {
-                    switch (msgIn[0]) {
-                        case 's':
-                            // Start robot
-                            robot.StartWithoutWatchdog();
-                            break;
-                        case 'f':
-                            robot.Move(100);
-                            break;
-                        case 'b':
-                            robot.Move(-100);
-                            break;
-                        case 'r':
-                            robot.Turn(90);
-                            break;
-                        case 'l':
-                            robot.Turn(-90);
-                            break;
-                        case 'Q':
-                            robot.Reset();
-                            break;
-                    }
-                } catch (string e) {
-                    cerr << e;
-                }
-
-                if (robot.GetLastCommandStatus() == SUCCESS)
-                    server.Send(clientFD, "OK\n");
-                else server.Send(clientFD, "ERR\n");
-            }
-        } while (finish==false);
-
-        cout << "Client disconnected" <<endl;
-        clientFD=-1;
-    }
-
-    return 0;
-}

software/raspberry/superviseur-robot/not_for_students/examples/src/uiExample.cpp

@@ -1,58 +0,0 @@
-#include "../src/serial.h"
-#include "../src/tcpServer.h"
-#include "../src/imagerie.h"
-#include <unistd.h>
-#include <pthread.h>
-
-
-int main() {
-    //startTrace();
-    runNodejs("/usr/bin/nodejs", "/home/pehladik/Interface-TP-RT/interface.js");
-    
-    printf("Lancement serveur ... \n");
-    serverOpen();
-    //stopTrace();
-    printf("Serveur lancé ... \n");
-    robotOpenCom();
-
-    char header[4];
-    char data[20];
-    memset(data, '\0',20);
-    memset(header,'\0',4);
-    int res;
-    do
-    {  
-        res = receptionFromUI(header,data);
-        printf ("res : %d\n", res);
-        if(strcmp(header, DMB) == 0)
-        {
-            printf("EVENEMENT DUMBER DETECTE AVEC LE MESSAGE :%s \n",data);
-            int a = sendCmdToRobot(data[0]);
-            printf("Resultat CMD : %d \n", a);
-            if(data[0] == 'u' && a == 0)
-            {
-                sendToUI(ACK);
-            }
-            if(data[0] == 'r' && a == 0)
-            {
-                sendToUI(ACK);
-            }
-        }
-
-        if(strcmp(header, MES) == 0)
-        {
-            printf("EVENEMENT MESSAGE DETECTE AVEC LE MESSAGE :%s \n",data);
-        }
-
-        if(strcmp(header,POS)==0)
-        {
-            printf("EVENEMENT POSITION DETECTE AVEC LE MESSAGE :%s \n",data);
-        }
-    }while((strcmp(header,MES)!=0) || (data[0] != 'C'));
-    killNodejs();
-    
-    robotCloseCom();
-    serverClose();
-    pause();
-    return 0;
-}

software/raspberry/superviseur-robot/not_for_students/examples/src/videoExample.cpp

@@ -1,108 +0,0 @@
-#include "../src/imagerie.h"
-#include "../src/serial.h"
-#include "../src/tcpServer.h" // include himself imagerie.h
-#include <pthread.h>
-#include <unistd.h>
-
-using namespace std;
-using namespace cv;
-#ifndef __STUB__
-using namespace raspicam;
-#endif
-
-void * threadVideo(void *arg)
-{
-	printf("Thread lancé ... \n");
-	Camera rpiCam;
-	Image imgVideo;
-	Arene monArene;
-	Position positionRobots[20];
-	Jpg compress;
-
-	openCamera(&rpiCam);
-	do
-	{
-#ifndef __STUB__
-	   getImg(&rpiCam, &imgVideo);
-#else
-           getImg(&rpiCam, &imgVideo, "/home/pehladik/C-TP-RT/src/mondrian22.jpeg");
-#endif
-	   /*if(detectArena(&imgVideo, &monArene)==0)
-	   {
-	      detectPosition(&imgVideo,positionRobots,&monArene);
-	      drawArena(&imgVideo,&imgVideo,&monArene);
-	   }
-	   else
-	      detectPosition(&imgVideo,positionRobots);
-
-	   drawPosition(&imgVideo,&imgVideo,&positionRobots[0]);*/
-	   imgCompress(&imgVideo,&compress);
-
-	   sendToUI("IMG",&compress);
-	   sendToUI("POS",&positionRobots[0]);
-	}while(waitKey(30)!='q');
-	closeCam(&rpiCam);
-	pthread_exit(NULL);
-}
-
-void * threadClient(void *arg){
-    char * args [] = {"nodejs", "/home/pehladik/Interface-TP-RT/interface.js", NULL};
-    if (execv("/usr/bin/nodejs", args)== -1){
-        perror("execv");
-        return EXIT_FAILURE;
-    }
-    
-}
-
-int main() {
-    pthread_t threadClient;
-    if(pthread_create(&threadClient,NULL, threadClient, NULL) == -1)
-	perror("erreur lors de la creation du thread\n");
-    
-
-    serverOpen();
-    robotOpenCom();
-
-    char header[4];
-    char data[20];
-    memset(data, '\0',20);
-    memset(header,'\0',4);
-
-    pthread_t thread1;
-    if(pthread_create(&thread1,NULL, threadVideo, NULL) == -1)
-	perror("erreur lors de la creation du thread\n");
-
-    do
-    {   receptionFromUI(header,data);
-        printf("Msg reçu : %s %s", header, data);
-        
-        if(strcmp(header, DMB) == 0)
-        {
-            printf("EVENEMENT DUMBER DETECTE AVEC LE MESSAGE :%s \n",data);
-            int a = sendCmdToRobot(data[0]);
-            printf("Resultat CMD : %d \n", a);
-            if(data[0] == WITHOUT_WD && a == 0)
-            {
-                sendToUI(ACK);
-            }
-            else if(data[0] == BACKIDLE && a == 0)
-            {
-                sendToUI(ACK);
-            }
-        }
-
-        if(strcmp(header, MES) == 0)
-        {
-            printf("EVENEMENT MESSAGE DETECTE AVEC LE MESSAGE :%s \n",data);
-        }
-
-        if(strcmp(header,POS)==0)
-        {
-            printf("EVENEMENT POSITION DETECTE AVEC LE MESSAGE :%s \n",data);
-        }
-    }while((strcmp(header,MES)!=0) || (data[0] != 'C'));
-    robotCloseCom();
-    serverClose();
-
-    return 0;
-}

software/raspberry/superviseur-robot/not_for_students/pthread_version/tasks_pthread.cpp

@@ -1,494 +0,0 @@
-/*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#include "tasks_pthread.h"
-#include <time.h>
-
-#ifdef __WITH_PTHREAD__
-
-// Déclaration des priorités des taches
-#define PRIORITY_TSERVER 30
-#define PRIORITY_TOPENCOMROBOT 20
-#define PRIORITY_TMOVE 10
-#define PRIORITY_TSENDTOMON 25
-#define PRIORITY_TRECEIVEFROMMON 22
-#define PRIORITY_TSTARTROBOT 20
-
-/*
- * Some remarks:
- * 1- This program is mostly a template. It shows you how to create tasks, semaphore
- *   message queues, mutex ... and how to use them
- * 
- * 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
- * 
- * 3- Data flow is probably not optimal
- * 
- * 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
- *   time for internal buffer to flush
- * 
- * 5- Same behavior existe for ComMonitor::Write !
- * 
- * 6- When you want to write something in terminal, use cout and terminate with endl and flush
- * 
- * 7- Good luck !
- */
-
-void Tasks::Init() {
-    int status;
-
-    /* Open com port with STM32 */
-    cout << "Open serial com (";
-    status = robot.Open();
-    cout << status;
-    cout << ")" << endl;
-
-    if (status >= 0) {
-        // Open server
-
-        status = monitor.Open(SERVER_PORT);
-        cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
-
-        if (status < 0) throw std::runtime_error {
-            "Unable to start server on port " + std::to_string(SERVER_PORT)
-        };
-    } else
-        throw std::runtime_error {
-        "Unable to open serial port /dev/ttyS0 "
-    };
-}
-
-void Tasks::Run() {
-    threadTimer = new thread((void (*)(void*)) & Tasks::TimerTask, this);
-    threadServer = new thread((void (*)(void*)) & Tasks::ServerTask, this);
-
-    //    threadSendToMon=new thread((void (*)(void*)) &Tasks::SendToMonTask,this);
-
-    //
-    //    Camera camera=Camera(sm);
-    //    cout << "Try opening camera"<<endl<<flush;
-    //    if (camera.Open()) cout<<"Camera opened successfully"<<endl<<flush;
-    //    else cout<<"Failed to open camera"<<endl<<flush;
-    //    
-    //    counter = 0;
-    //    while (1) {
-    //        Img image=camera.Grab();
-    //        
-    //        counter++;
-    //        
-    //        if (flag == true) {
-    //            cout<< "Image info: "<<image.ToString()<<endl<<flush;
-    //            cout << "FPS = "<<to_string(counter)<<endl<<flush;
-    //            flag=false;
-    //            counter=0;
-    //        }
-    //    }
-
-
-    //    msgSend = ComRobot::Ping();
-    //    cout << "Send => " << msgSend->ToString() << endl << flush;
-    //    msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
-    //    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
-    //
-    //    delete(msgRcv);
-    //
-    //    msgSend = ComRobot::StartWithoutWD();
-    //    cout << "Send => " << msgSend->ToString() << endl << flush;
-    //    msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
-    //    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
-    //
-    //    delete(msgRcv);
-    //
-    //    msgSend = ComRobot::Move(1000);
-    //    cout << "Send => " << msgSend->ToString() << endl << flush;
-    //    msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
-    //    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
-    //
-    //    delete(msgRcv);
-    //
-    //    msgSend = ComRobot::GetBattery();
-    //    cout << "Send => " << msgSend->ToString() << endl << flush;
-    //    msgRcv = robot.SendCommand(msgSend, MESSAGE_ROBOT_BATTERY_LEVEL, 3);
-    //    cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
-    //
-    //    delete(msgRcv);
-    cout << "Tasks launched" << endl << flush;
-}
-
-void Tasks::Stop() {
-    monitor.Close();
-    robot.Close();
-}
-
-void Tasks::ServerTask(void *arg) {
-    Message *msgRcv;
-    Message *msgSend;
-    bool isActive = true;
-
-    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
-
-    while (isActive) {
-        msgRcv = NULL;
-        msgSend = NULL;
-
-        msgRcv = monitor.Read();
-        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) msgSend = new Message(MESSAGE_ANSWER_ACK);
-        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) msgSend = new Message(MESSAGE_ANSWER_ACK);
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) msgSend = new Message(MESSAGE_ANSWER_ACK);
-        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) msgSend = new Message(MESSAGE_ANSWER_ACK);
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) isActive = false;
-
-        if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
-            sendImage = true;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
-            sendImage = false;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
-            sendPosition = true;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-        }
-
-        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
-            sendPosition = false;
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
-        }
-
-        if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
-
-        if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) showArena = true;
-        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) showArena = false;
-        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) showArena = false;
-
-        if (msgSend != NULL) monitor.Write(msgSend);
-        delete(msgRcv);
-    }
-}
-
-void Tasks::TimerTask(void* arg) {
-    struct timespec tim, tim2;
-    Message *msgSend;
-    int counter;
-    int cntFrame = 0;
-    Position pos;
-    Arena arena;
-    
-    tim.tv_sec = 0;
-    tim.tv_nsec = 50000000; // 50ms (20fps)
-
-    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
-
-    Camera camera = Camera(sm, 20);
-    cout << "Try opening camera" << endl << flush;
-    if (camera.Open()) cout << "Camera opened successfully" << endl << flush;
-    else {
-        cout << "Failed to open camera" << endl << flush;
-        
-        exit(0);
-    }
-
-    pos.angle = 0.0;
-    pos.robotId = -1;
-    pos.center = cv::Point2f(0, 0);
-    pos.direction = cv::Point2f(0, 0);
-    
-    while (1) {
-        //std::this_thread::sleep_for(std::chrono::seconds )
-        //sleep(1);
-        //        if (nanosleep(&tim, &tim2) < 0) {
-        //            printf("Nano sleep system call failed \n");
-        //            return;
-        //        }
-
-        //        counter++;
-        //        if (counter>=10) {
-        //            flag=true;
-        //            counter=0;
-        //        }
-        //mutexTimer.unlock();
-        Img image = camera.Grab(); // 15fps
-
-        if (sendPosition == true) {
-            counter++;
-
-            if (counter >= 1) { // div =15
-                counter = 0;
-                
-                //if (!arena.IsEmpty()) {
-                image.dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3));
-                         
-                std::list<Position> poses = image.SearchRobot(arena);
-                cout << "Nbr of pos detected: " << to_string(poses.size()) << endl << flush;
-
-                if (poses.size() > 0) {
-                    Position firstPos = poses.front();
-
-                    pos.angle = firstPos.angle;
-                    pos.robotId = firstPos.robotId;
-                    pos.center = firstPos.center;
-                    pos.direction = firstPos.direction;
-                } else {
-                    // Nothing found
-                    pos.angle = 0.0;
-                    pos.robotId = -1;
-                    pos.center = cv::Point2f(0,0);
-                    pos.direction = cv::Point2f(0,0);
-                }
-
-                MessagePosition *msgp = new MessagePosition(MESSAGE_CAM_POSITION, pos);
-                monitor.Write(msgp);
-                cout << "Position sent" << endl << flush;
-            }
-        }
-        
-        if (sendImage == true) {
-            if (showArena) {
-                arena = image.SearchArena();
-
-                if (!arena.IsEmpty()) image.DrawArena(arena);
-                else cout << "Arena not found" << endl << flush;
-            }
-
-            if (sendPosition == true) {
-                image.DrawRobot(pos);
-            }
-             
-            if (!arena.IsEmpty()) image.DrawArena(arena);
-            
-            MessageImg *msg = new MessageImg(MESSAGE_CAM_IMAGE, &image);
-
-            monitor.Write(msg);
-            cntFrame++;
-            cout << "cnt: " << to_string(cntFrame) << endl << flush;
-        }
-    }
-}
-
-void Tasks::SendToMonTask(void* arg) {
-    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
-
-    while (1) {
-
-    }
-}
-
-//void Tasks::f_sendToMon(void * arg) {
-//    int err;
-//    MessageToMon msg;
-//
-//    /* INIT */
-//    RT_TASK_INFO info;
-//    rt_task_inquire(NULL, &info);
-//    printf("Init %s\n", info.name);
-//    rt_sem_p(&sem_barrier, TM_INFINITE);
-//
-//#ifdef _WITH_TRACE_
-//    printf("%s : waiting for sem_serverOk\n", info.name);
-//#endif
-//    rt_sem_p(&sem_serverOk, TM_INFINITE);
-//    while (1) {
-//
-//#ifdef _WITH_TRACE_
-//        printf("%s : waiting for a message in queue\n", info.name);
-//#endif
-//        if (rt_queue_read(&q_messageToMon, &msg, sizeof (MessageToRobot), TM_INFINITE) >= 0) {
-//#ifdef _WITH_TRACE_
-//            printf("%s : message {%s,%s} in queue\n", info.name, msg.header, (char*)msg.data);
-//#endif
-//
-//            send_message_to_monitor(msg.header, msg.data);
-//            free_msgToMon_data(&msg);
-//            rt_queue_free(&q_messageToMon, &msg);
-//        } else {
-//            printf("Error msg queue write: %s\n", strerror(-err));
-//        }
-//    }
-//}
-//
-//void Tasks::f_receiveFromMon(void *arg) {
-//    MessageFromMon msg;
-//    int err;
-//
-//    /* INIT */
-//    RT_TASK_INFO info;
-//    rt_task_inquire(NULL, &info);
-//    printf("Init %s\n", info.name);
-//    rt_sem_p(&sem_barrier, TM_INFINITE);
-//
-//#ifdef _WITH_TRACE_
-//    printf("%s : waiting for sem_serverOk\n", info.name);
-//#endif
-//    rt_sem_p(&sem_serverOk, TM_INFINITE);
-//    do {
-//#ifdef _WITH_TRACE_
-//        printf("%s : waiting for a message from monitor\n", info.name);
-//#endif
-//        err = receive_message_from_monitor(msg.header, msg.data);
-//#ifdef _WITH_TRACE_
-//        printf("%s: msg {header:%s,data=%s} received from UI\n", info.name, msg.header, msg.data);
-//#endif
-//        if (strcmp(msg.header, HEADER_MTS_COM_DMB) == 0) {
-//            if (msg.data[0] == OPEN_COM_DMB) { // Open communication supervisor-robot
-//#ifdef _WITH_TRACE_
-//                printf("%s: message open Xbee communication\n", info.name);
-//#endif
-//                rt_sem_v(&sem_openComRobot);
-//            }
-//        } else if (strcmp(msg.header, HEADER_MTS_DMB_ORDER) == 0) {
-//            if (msg.data[0] == DMB_START_WITHOUT_WD) { // Start robot
-//#ifdef _WITH_TRACE_
-//                printf("%s: message start robot\n", info.name);
-//#endif 
-//                rt_sem_v(&sem_startRobot);
-//
-//            } else if ((msg.data[0] == DMB_GO_BACK)
-//                    || (msg.data[0] == DMB_GO_FORWARD)
-//                    || (msg.data[0] == DMB_GO_LEFT)
-//                    || (msg.data[0] == DMB_GO_RIGHT)
-//                    || (msg.data[0] == DMB_STOP_MOVE)) {
-//
-//                rt_mutex_acquire(&mutex_move, TM_INFINITE);
-//                robotMove = msg.data[0];
-//                rt_mutex_release(&mutex_move);
-//#ifdef _WITH_TRACE_
-//                printf("%s: message update movement with %c\n", info.name, robotMove);
-//#endif
-//
-//            }
-//        }
-//    } while (err > 0);
-//
-//}
-//
-//void Tasks::f_openComRobot(void * arg) {
-//    int err;
-//
-//    /* INIT */
-//    RT_TASK_INFO info;
-//    rt_task_inquire(NULL, &info);
-//    printf("Init %s\n", info.name);
-//    rt_sem_p(&sem_barrier, TM_INFINITE);
-//
-//    while (1) {
-//#ifdef _WITH_TRACE_
-//        printf("%s : Wait sem_openComRobot\n", info.name);
-//#endif
-//        rt_sem_p(&sem_openComRobot, TM_INFINITE);
-//#ifdef _WITH_TRACE_
-//        printf("%s : sem_openComRobot arrived => open communication robot\n", info.name);
-//#endif
-//        err = open_communication_robot();
-//        if (err == 0) {
-//#ifdef _WITH_TRACE_
-//            printf("%s : the communication is opened\n", info.name);
-//#endif
-//            MessageToMon msg;
-//            set_msgToMon_header(&msg, (char*)HEADER_STM_ACK);
-//            write_in_queue(&q_messageToMon, msg);
-//        } else {
-//            MessageToMon msg;
-//            set_msgToMon_header(&msg, (char*)HEADER_STM_NO_ACK);
-//            write_in_queue(&q_messageToMon, msg);
-//        }
-//    }
-//}
-//
-//void Tasks::f_startRobot(void * arg) {
-//    int err;
-//
-//    /* INIT */
-//    RT_TASK_INFO info;
-//    rt_task_inquire(NULL, &info);
-//    printf("Init %s\n", info.name);
-//    rt_sem_p(&sem_barrier, TM_INFINITE);
-//
-//    while (1) {
-//#ifdef _WITH_TRACE_
-//        printf("%s : Wait sem_startRobot\n", info.name);
-//#endif
-//        rt_sem_p(&sem_startRobot, TM_INFINITE);
-//#ifdef _WITH_TRACE_
-//        printf("%s : sem_startRobot arrived => Start robot\n", info.name);
-//#endif
-//        err = send_command_to_robot(DMB_START_WITHOUT_WD);
-//        if (err == 0) {
-//#ifdef _WITH_TRACE_
-//            printf("%s : the robot is started\n", info.name);
-//#endif
-//            rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
-//            robotStarted = 1;
-//            rt_mutex_release(&mutex_robotStarted);
-//            MessageToMon msg;
-//            set_msgToMon_header(&msg, (char*)HEADER_STM_ACK);
-//            write_in_queue(&q_messageToMon, msg);
-//        } else {
-//            MessageToMon msg;
-//            set_msgToMon_header(&msg, (char*)HEADER_STM_NO_ACK);
-//            write_in_queue(&q_messageToMon, msg);
-//        }
-//    }
-//}
-//
-//void Tasks::f_move(void *arg) {
-//    /* INIT */
-//    RT_TASK_INFO info;
-//    rt_task_inquire(NULL, &info);
-//    printf("Init %s\n", info.name);
-//    rt_sem_p(&sem_barrier, TM_INFINITE);
-//
-//    /* PERIODIC START */
-//#ifdef _WITH_PERIODIC_TRACE_
-//    printf("%s: start period\n", info.name);
-//#endif
-//    rt_task_set_periodic(NULL, TM_NOW, 100000000);
-//    while (1) {
-//#ifdef _WITH_PERIODIC_TRACE_
-//        printf("%s: Wait period \n", info.name);
-//#endif
-//        rt_task_wait_period(NULL);
-//#ifdef _WITH_PERIODIC_TRACE_
-//        printf("%s: Periodic activation\n", info.name);
-//        printf("%s: move equals %c\n", info.name, robotMove);
-//#endif
-//        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
-//        if (robotStarted) {
-//            rt_mutex_acquire(&mutex_move, TM_INFINITE);
-//            send_command_to_robot(robotMove);
-//            rt_mutex_release(&mutex_move);
-//#ifdef _WITH_TRACE_
-//            printf("%s: the movement %c was sent\n", info.name, robotMove);
-//#endif            
-//        }
-//        rt_mutex_release(&mutex_robotStarted);
-//    }
-//}
-//
-//void write_in_queue(RT_QUEUE *queue, MessageToMon msg) {
-//    void *buff;
-//    buff = rt_queue_alloc(&q_messageToMon, sizeof (MessageToMon));
-//    memcpy(buff, &msg, sizeof (MessageToMon));
-//    rt_queue_send(&q_messageToMon, buff, sizeof (MessageToMon), Q_NORMAL);
-//}
-
-#endif //__WITH_PTHREAD__

software/raspberry/superviseur-robot/not_for_students/pthread_version/tasks_pthread.h

@@ -1,143 +0,0 @@
-/*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program.  If not, see <http://www.gnu.org/licenses/>.
- */
-
-#ifndef __TASKS_H__
-#define __TASKS_H__
-
-#ifdef __WITH_PTHREAD__
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-//#include "monitor.h"
-//#include "robot.h"
-//#include "image.h"
-//#include "message.h"
-//#include "server.h"
-
-#include "camera.h"
-#include "img.h"
-
-#include "messages.h"
-#include "commonitor.h"
-#include "comrobot.h"
-
-#include <thread>
-#include <mutex>
-#include <condition_variable>
-
-class Tasks {
-public:
-/**
-     * @brief Initialisation des structures de l'application (tâches, mutex, 
-     * semaphore, etc.)
-     */
-    void Init();
-
-    /**
-     * @brief Démarrage des tâches
-     */
-    void Run();
-
-    /**
-     * @brief Arrêt des tâches
-     */
-    void Stop();
-    
-    /**
-     */
-    void Join() {
-        threadServer->join();
-        threadTimer->join();
-        threadSendToMon->join();
-    }
-    
-    /**
-     */
-    bool AcceptClient() {
-        return monitor.AcceptClient();
-    }
-    
-     /**
-     * @brief Thread handling server communication.
-     */
-    void ServerTask(void *arg);
-
-    /**
-     * @brief Thread handling server communication.
-     */
-    void TimerTask(void *arg);
-    
-    /**
-     * @brief Thread handling communication to monitor.
-     */
-    void SendToMonTask(void *arg);
-private:
-    ComMonitor monitor;
-    ComRobot robot;
-    
-    bool sendImage=false;
-    bool sendPosition=false;
-    
-    int counter;
-    bool flag;
-    
-    bool showArena=false;
-    
-    thread *threadServer;
-    thread *threadSendToMon;
-    thread *threadTimer;
-//    thread *threadReceiveFromMon;
-//    thread *threadOpenComRobot;
-//    thread *threadStartRobot;
-//    thread *threadMove;
-//    thread *threadTimer;
-    
-    mutex mutexTimer;
-//    mutex mutexRobotStarted;
-//    mutex mutexMove;
-//    mutex semBarrier;
-//    mutex semOpenComRobot;
-//    mutex semServerOk;
-//    mutex semStartRobot;
-
-    
-//
-//    /**
-//     * @brief Thread handling communication from monitor.
-//     */
-//    void ReceiveFromMonTask(void *arg);
-//
-//    /**
-//     * @brief Thread handling opening of robot communication.
-//     */
-//    void OpenComRobotTask(void * arg);
-//
-//    /**
-//     * @brief Thread handling robot mouvements.
-//     */
-//    void MoveTask(void *arg);
-//
-//    /**
-//     * @brief Thread handling robot activation.
-//     */
-//    void StartRobotTask(void *arg);
-};
-
-#endif // __WITH_PTHREAD__
-#endif /* __TASKS_H__ */
-

software/robot/.settings/language.settings.xml

@@ -4,7 +4,7 @@
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.atollic.truestudio.mbs.GCCSpecsDetectorAtollicArm" console="false" env-hash="-1714585567149667287" id="com.atollic.truestudio.mbs.provider" keep-relative-paths="false" name="Atollic ARM Tools Language Settings" parameter="${COMMAND} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.atollic.truestudio.mbs.GCCSpecsDetectorAtollicArm" console="false" env-hash="-862055963807747175" id="com.atollic.truestudio.mbs.provider" keep-relative-paths="false" name="Atollic ARM Tools Language Settings" parameter="${COMMAND} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>
@@ -14,7 +14,7 @@
 		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
 			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
 			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
-			<provider class="com.atollic.truestudio.mbs.GCCSpecsDetectorAtollicArm" console="false" env-hash="-1714585567149667287" id="com.atollic.truestudio.mbs.provider" keep-relative-paths="false" name="Atollic ARM Tools Language Settings" parameter="${COMMAND} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
+			<provider class="com.atollic.truestudio.mbs.GCCSpecsDetectorAtollicArm" console="false" env-hash="-862055963807747175" id="com.atollic.truestudio.mbs.provider" keep-relative-paths="false" name="Atollic ARM Tools Language Settings" parameter="${COMMAND} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
 				<language-scope id="org.eclipse.cdt.core.gcc"/>
 				<language-scope id="org.eclipse.cdt.core.g++"/>
 			</provider>