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software/raspberry/superviseur-robot/{superviseur/src/functions.cpp => tasks.cpp} (99%) rename software/raspberry/superviseur-robot/{superviseur/src/functions.h => tasks.h} (100%) diff --git a/software/raspberry/superviseur-robot/.dep.inc b/software/raspberry/superviseur-robot/.dep.inc new file mode 100644 index 0000000..38ba445 --- /dev/null +++ b/software/raspberry/superviseur-robot/.dep.inc @@ -0,0 +1,5 @@ +# This code depends on make tool being used +DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES} ${TESTOBJECTFILES})) +ifneq (${DEPFILES},) +include ${DEPFILES} +endif diff --git a/software/raspberry/superviseur-robot/lib/TPRT.Doxyfile b/software/raspberry/superviseur-robot/TPRT.Doxyfile similarity index 100% rename from software/raspberry/superviseur-robot/lib/TPRT.Doxyfile rename to software/raspberry/superviseur-robot/TPRT.Doxyfile diff --git a/software/raspberry/superviseur-robot/dist/Debug/GNU-Linux/superviseur 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Class List
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Here are the classes, structs, unions and interfaces with brief descriptions:
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 CMessageFromMon
 CMessageToMon
 CMessageToRobot
 CPosition
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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/annotated_dup.js b/software/raspberry/superviseur-robot/lib/doc/html/annotated_dup.js deleted file mode 100644 index f1dedf8..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/annotated_dup.js +++ /dev/null @@ -1,7 +0,0 @@ -var annotated_dup = -[ - [ "MessageFromMon", "struct_message_from_mon.html", "struct_message_from_mon" ], - [ "MessageToMon", "struct_message_to_mon.html", "struct_message_to_mon" ], - [ "MessageToRobot", "struct_message_to_robot.html", "struct_message_to_robot" ], - [ "Position", "struct_position.html", "struct_position" ] -]; \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/html/bc_s.png b/software/raspberry/superviseur-robot/lib/doc/html/bc_s.png deleted file mode 100644 index 224b29aa9847d5a4b3902efd602b7ddf7d33e6c2..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 676 zcmV;V0$crwP)y__>=_9%My z{n931IS})GlGUF8K#6VIbs%684A^L3@%PlP2>_sk`UWPq@f;rU*V%rPy_ekbhXT&s z(GN{DxFv}*vZp`F>S!r||M`I*nOwwKX+BC~3P5N3-)Y{65c;ywYiAh-1*hZcToLHK ztpl1xomJ+Yb}K(cfbJr2=GNOnT!UFA7Vy~fBz8?J>XHsbZoDad^8PxfSa0GDgENZS zuLCEqzb*xWX2CG*b&5IiO#NzrW*;`VC9455M`o1NBh+(k8~`XCEEoC1Ybwf;vr4K3 zg|EB<07?SOqHp9DhLpS&bzgo70I+ghB_#)K7H%AMU3v}xuyQq9&Bm~++VYhF09a+U zl7>n7Jjm$K#b*FONz~fj;I->Bf;ule1prFN9FovcDGBkpg>)O*-}eLnC{6oZHZ$o% zXKW$;0_{8hxHQ>l;_*HATI(`7t#^{$(zLe}h*mqwOc*nRY9=?Sx4OOeVIfI|0V(V2 zBrW#G7Ss9wvzr@>H*`r>zE z+e8bOBgqIgldUJlG(YUDviMB`9+DH8n-s9SXRLyJHO1!=wY^79WYZMTa(wiZ!zP66 zA~!21vmF3H2{ngD;+`6j#~6j;$*f*G_2ZD1E;9(yaw7d-QnSCpK(cR1zU3qU0000< KMNUMnLSTYoA~SLT diff --git a/software/raspberry/superviseur-robot/lib/doc/html/bdwn.png b/software/raspberry/superviseur-robot/lib/doc/html/bdwn.png deleted file mode 100644 index 940a0b950443a0bb1b216ac03c45b8a16c955452..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 147 zcmeAS@N?(olHy`uVBq!ia0vp^>_E)H!3HEvS)PKZC{Gv1kP61Pb5HX&C2wk~_T - - - - - - -Bibliotheques TP RT: Class Index - - - - - - - - - - - - - - -
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Bibliotheque de support pour TP/RT
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Class Index
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MessageToRobot   
MessageFromMon   Position   
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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/closed.png b/software/raspberry/superviseur-robot/lib/doc/html/closed.png deleted file mode 100644 index 98cc2c909da37a6df914fbf67780eebd99c597f5..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 132 zcmeAS@N?(olHy`uVBq!ia0vp^oFL4>1|%O$WD@{V-kvUwAr*{o@8{^CZMh(5KoB^r_<4^zF@3)Cp&&t3hdujKf f*?bjBoY!V+E))@{xMcbjXe@)LtDnm{r-UW|*e5JT diff --git a/software/raspberry/superviseur-robot/lib/doc/html/definitions_8h.html b/software/raspberry/superviseur-robot/lib/doc/html/definitions_8h.html deleted file mode 100644 index 57016e4..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/definitions_8h.html +++ /dev/null @@ -1,723 +0,0 @@ - - - - - - - -Bibliotheques TP RT: definitions.h File Reference - - - - - - - - - - - - - - -
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Bibliotheques TP RT -  1.0 -
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Bibliotheque de support pour TP/RT
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-Macros
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definitions.h File Reference
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Various constants used in destjil project. -More...

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-This graph shows which files directly or indirectly include this file:
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Go to the source code of this file.

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-Macros

#define OPEN_COM_DMB   'o'
 
#define CLOSE_COM_DMB   'C'
 
#define DMB_PING   'p'
 
#define DMB_IDLE   'r'
 
#define DMB_START_WITHOUT_WD   'u'
 
#define DMB_START_WITH_WD   'W'
 
#define DMB_RELOAD_WD   'w'
 
#define DMB_GET_VBAT   'v'
 
#define DMB_IS_BUSY   'b'
 
#define DMB_MOVE   'M'
 
#define DMB_TURN   'T'
 
#define DMB_GO_FORWARD   'F'
 
#define DMB_GO_BACK   'B'
 
#define DMB_GO_LEFT   'L'
 
#define DMB_GO_RIGHT   'R'
 
#define DMB_STOP_MOVE   'S'
 
#define ROBOT_TIMED_OUT   -3
 
#define ROBOT_UKNOWN_CMD   -2
 
#define ROBOT_ERROR   -1
 
#define ROBOT_CHECKSUM   -4
 
#define ROBOT_OK   0
 
#define CAM_OPEN   'A'
 
#define CAM_CLOSE   'I'
 
#define CAM_ASK_ARENA   'y'
 
#define CAM_ARENA_CONFIRM   'x'
 
#define CAM_ARENA_INFIRM   'z'
 
#define CAM_COMPUTE_POSITION   'p'
 
#define CAM_STOP_COMPUTE_POSITION   's'
 
#define DMB_BAT_LOW   0
 
#define DMB_BAT_MEDIUM   1
 
#define DMB_BAT_HIGH   2
 
#define DMB_BUSY   1
 
#define DMB_DO_NOTHING   0
 
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Detailed Description

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Various constants used in destjil project.

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Author
PE.Hladik
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Version
1.0
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Date
06/06/2017
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Definition in file definitions.h.

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Macro Definition Documentation

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◆ CAM_ARENA_CONFIRM

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#define CAM_ARENA_CONFIRM   'x'
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Definition at line 57 of file definitions.h.

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◆ CAM_ARENA_INFIRM

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Definition at line 60 of file definitions.h.

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Definition at line 66 of file definitions.h.

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Definition at line 38 of file definitions.h.

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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/definitions_8h.js b/software/raspberry/superviseur-robot/lib/doc/html/definitions_8h.js deleted file mode 100644 index 5bd2440..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/definitions_8h.js +++ /dev/null @@ -1,36 +0,0 @@ -var definitions_8h = -[ - [ "CAM_ARENA_CONFIRM", "definitions_8h.html#a15d9063cd3c60755685ceb75df4a7354", null ], - [ "CAM_ARENA_INFIRM", "definitions_8h.html#ac836c6abc7e32d2cf7f59ed2a8383ca7", null ], - [ "CAM_ASK_ARENA", "definitions_8h.html#a6418778d1f34e618aebd9ca1861ab500", null ], - [ "CAM_CLOSE", "definitions_8h.html#a675009273c3923e8ad1a6d2818063b61", null ], - [ "CAM_COMPUTE_POSITION", "definitions_8h.html#a74fdb9d00556feb699d3c72bd7b5d5e5", null ], - [ "CAM_OPEN", "definitions_8h.html#a2a7149bbe097fae8e799ce2ab6f69390", null ], - [ "CAM_STOP_COMPUTE_POSITION", "definitions_8h.html#ae864cfaefbf5a210e67678b2144a289f", null ], - [ "CLOSE_COM_DMB", "definitions_8h.html#a1b18773c1ce9068c4d38c2cbd2900263", null ], - [ "DMB_BAT_HIGH", "definitions_8h.html#ab34c46794a9de6746a96752668c73754", null ], - [ "DMB_BAT_LOW", "definitions_8h.html#a66c0c4960c1e81c8da8c8e1d4a202352", null ], - [ "DMB_BAT_MEDIUM", "definitions_8h.html#aea6ef1c13db1a8a4a29b065d0c3f73e4", null ], - [ "DMB_BUSY", "definitions_8h.html#a3327443cd321f0c356a5d3d74377892b", null ], - [ "DMB_DO_NOTHING", "definitions_8h.html#a07650c5f6647c5143bac535fdbeb77d5", null ], - [ "DMB_GET_VBAT", "definitions_8h.html#af1737e8fe4da4e8bc2d5db9d26c42462", null ], - [ "DMB_GO_BACK", "definitions_8h.html#a499f41cc19a4459de033687049cbbe71", null ], - [ "DMB_GO_FORWARD", "definitions_8h.html#ae363a29a4961cd8a646a0ca9199bc6cf", null ], - [ "DMB_GO_LEFT", "definitions_8h.html#aefcb838e73a335f1a2a6c914ee2ff752", null ], - [ "DMB_GO_RIGHT", "definitions_8h.html#ad681962f7b8cf4797ebd48be0405d1b9", null ], - [ "DMB_IDLE", "definitions_8h.html#a82b279c49221d3cd3d875d521dfb97b9", null ], - [ "DMB_IS_BUSY", "definitions_8h.html#ad58c241121e685f26a291aa4bd5f9c80", null ], - [ "DMB_MOVE", "definitions_8h.html#ac48dee90eb71d036d001321674abbb8b", null ], - [ "DMB_PING", "definitions_8h.html#acf7d51360dcb103fc57604725ec2816d", null ], - [ "DMB_RELOAD_WD", "definitions_8h.html#a2ca219902014ffb39aab27cca08a948f", null ], - [ "DMB_START_WITH_WD", "definitions_8h.html#adee1628bbc796ba55f4a349895f4e0fa", null ], - [ "DMB_START_WITHOUT_WD", "definitions_8h.html#a5ebbd37042a6244b4f9d473ae7132780", null ], - [ "DMB_STOP_MOVE", "definitions_8h.html#a7308179907a0a2989c162865e7a7979a", null ], - [ "DMB_TURN", "definitions_8h.html#ac6c5492c8100e73f8d30ed36072684db", null ], - [ "OPEN_COM_DMB", "definitions_8h.html#aac798eaf6994ddcadd8a38ad8aba234f", null ], - [ "ROBOT_CHECKSUM", "definitions_8h.html#af1118b8a83d446b4965347bba126a488", null ], - [ "ROBOT_ERROR", "definitions_8h.html#a4aefbbdd5d35999aa0575ab7183148d4", null ], - [ "ROBOT_OK", "definitions_8h.html#ad7b2f95c0b423fb9784acb897b910c36", null ], - [ "ROBOT_TIMED_OUT", "definitions_8h.html#a624686d3af63394ee02f0a197967d44a", null ], - [ "ROBOT_UKNOWN_CMD", "definitions_8h.html#a70a2d5db14b900843364adb7cfe53ac8", null ] -]; 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Bibliotheques TP RT -  1.0 -
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Bibliotheque de support pour TP/RT
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definitions.h
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-Go to the documentation of this file.
1 /*
2  * Copyright (C) 2018 dimercur
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
27 #ifndef DEFINITIONS_H
28 #define DEFINITIONS_H
29 
30 #define OPEN_COM_DMB 'o'
31 #define CLOSE_COM_DMB 'C'
32 
33 #define DMB_PING 'p'
34 #define DMB_IDLE 'r'
35 #define DMB_START_WITHOUT_WD 'u'
36 #define DMB_START_WITH_WD 'W'
37 #define DMB_RELOAD_WD 'w'
38 #define DMB_GET_VBAT 'v'
39 #define DMB_IS_BUSY 'b'
40 #define DMB_MOVE 'M'
41 #define DMB_TURN 'T'
42 #define DMB_GO_FORWARD 'F'
43 #define DMB_GO_BACK 'B'
44 #define DMB_GO_LEFT 'L'
45 #define DMB_GO_RIGHT 'R'
46 #define DMB_STOP_MOVE 'S'
47 
48 #define ROBOT_TIMED_OUT -3
49 #define ROBOT_UKNOWN_CMD -2
50 #define ROBOT_ERROR -1
51 #define ROBOT_CHECKSUM -4
52 #define ROBOT_OK 0
53 
54 #define CAM_OPEN 'A'
55 #define CAM_CLOSE 'I'
56 #define CAM_ASK_ARENA 'y'
57 #define CAM_ARENA_CONFIRM 'x'
58 #define CAM_ARENA_INFIRM 'z'
59 #define CAM_COMPUTE_POSITION 'p'
60 #define CAM_STOP_COMPUTE_POSITION 's'
61 
62 #define DMB_BAT_LOW 0
63 #define DMB_BAT_MEDIUM 1
64 #define DMB_BAT_HIGH 2
65 
66 #define DMB_BUSY 1
67 #define DMB_DO_NOTHING 0
68 
69 #endif /* MSG_H */
70 
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-Files

file  image.cpp [code]
 Fonctions de traitement d'image utilisable pour la détection du robot.
 
file  message.cpp [code]
 Functions for sending message to monitor.
 
file  monitor.cpp [code]
 Library for sending message to monitor or receiving message.
 
file  robot.cpp [code]
 
file  server.cpp [code]
 Library for opening a TCP server, receiving data and sending message to monitor.
 
-
-
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- var summary = $('#'+base+'-summary'); - var content = $('#'+base+'-content'); - var trigger = $('#'+base+'-trigger'); - var src=$(trigger).attr('src'); - if (content.is(':visible')===true) { - content.hide(); - summary.show(); - $(linkObj).addClass('closed').removeClass('opened'); - $(trigger).attr('src',src.substring(0,src.length-8)+'closed.png'); - } else { - content.show(); - summary.hide(); - $(linkObj).removeClass('closed').addClass('opened'); - $(trigger).attr('src',src.substring(0,src.length-10)+'open.png'); - } - return false; -} - -function updateStripes() -{ - $('table.directory tr'). - removeClass('even').filter(':visible:even').addClass('even'); -} - -function toggleLevel(level) -{ - $('table.directory tr').each(function() { - var l = this.id.split('_').length-1; - var i = $('#img'+this.id.substring(3)); - var a = $('#arr'+this.id.substring(3)); - if (l - - - - - - -Bibliotheques TP RT: File List - - - - - - - - - - - - - - -
-
- - - - - - - -
-
Bibliotheques TP RT -  1.0 -
-
Bibliotheque de support pour TP/RT
-
-
- - - - - - - -
-
- -
-
-
- -
- -
-
- - -
- -
- -
-
-
File List
-
-
-
Here is a list of all files with brief descriptions:
- - - - - - - -
 definitions.hVarious constants used in destjil project
 image.hFunctions for image treatment
 message.hFunctions for sending message to monitor
 monitor.hLibrary for sending message to monitor or receiving message
 robot.hFonctions for communicating with robot
 server.hLibrary for opening a TCP server, receiving data and sending message to monitor
-
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Graph Legend
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This page explains how to interpret the graphs that are generated by doxygen.

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Consider the following example:

/*! Invisible class because of truncation */
class Invisible { };
/*! Truncated class, inheritance relation is hidden */
class Truncated : public Invisible { };
/* Class not documented with doxygen comments */
class Undocumented { };
/*! Class that is inherited using public inheritance */
class PublicBase : public Truncated { };
/*! A template class */
template<class T> class Templ { };
/*! Class that is inherited using protected inheritance */
class ProtectedBase { };
/*! Class that is inherited using private inheritance */
class PrivateBase { };
/*! Class that is used by the Inherited class */
class Used { };
/*! Super class that inherits a number of other classes */
class Inherited : public PublicBase,
protected ProtectedBase,
private PrivateBase,
public Undocumented,
public Templ<int>
{
private:
Used *m_usedClass;
};

This will result in the following graph:

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The boxes in the above graph have the following meaning:

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  • -A filled gray box represents the struct or class for which the graph is generated.
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  • -A box with a black border denotes a documented struct or class.
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  • -A box with a gray border denotes an undocumented struct or class.
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  • -A box with a red border denotes a documented struct or class forwhich not all inheritance/containment relations are shown. A graph is truncated if it does not fit within the specified boundaries.
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The arrows have the following meaning:

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  • -A dark blue arrow is used to visualize a public inheritance relation between two classes.
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  • -A dark green arrow is used for protected inheritance.
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  • -A dark red arrow is used for private inheritance.
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  • -A purple dashed arrow is used if a class is contained or used by another class. The arrow is labelled with the variable(s) through which the pointed class or struct is accessible.
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Bibliotheque de support pour TP/RT
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image.cpp File Reference
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Fonctions de traitement d'image utilisable pour la détection du robot. -More...

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#include "image.h"
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Go to the source code of this file.

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-Functions

float calculAngle (Position *positionRobot)
 
int cropArena (Image *imgInput, Image *imgOutput, Arene *AreneInput)
 
float euclideanDist (Point &p, Point &q)
 
void draw_arena (Image *imgInput, Image *imgOutput, Arene *monArene)
 Dessine le plus petit rectangle contenant l'arène. More...
 
int open_camera (Camera *camera)
 Ouvre une camera. More...
 
void get_image (Camera *camera, Image *monImage, const char *fichier)
 Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. More...
 
void close_camera (Camera *camera)
 Ferme la camera passé en paramètre. More...
 
int detect_arena (Image *monImage, Arene *rectangle)
 Détecte une arène dans une image fournis en paramètre. More...
 
void compress_image (Image *imgInput, Jpg *imageCompress)
 Détecte la position d'un robot. More...
 
int detect_position (Image *imgInput, Position *posTriangle, Arene *monArene)
 Détecte la position d'un robot. More...
 
void draw_position (Image *imgInput, Image *imgOutput, Position *positionRobot)
 Dessine sur une image en entrée la position d'un robot et sa direction. More...
 
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Detailed Description

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Fonctions de traitement d'image utilisable pour la détection du robot.

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Author
L.Senaneuch
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Version
1.0
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Date
06/06/2017
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Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl. Il permet de faciliter la détection de l'arène et la détection du robot. /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet.

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Definition in file image.cpp.

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Function Documentation

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◆ calculAngle()

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float calculAngle (Position * positionRobot)
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Definition at line 253 of file image.cpp.

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◆ close_camera()

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Ferme la camera passé en paramètre.

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Definition at line 112 of file image.cpp.

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◆ compress_image()

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void compress_image (Image * imgInput,
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Détecte la position d'un robot.

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Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.

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*imgInputPointeur sur l'image à sauvegarder en mémoire sous format jpg.
*imageCompressPointeur sur une image .jpg.
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Definition at line 164 of file image.cpp.

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◆ cropArena()

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int cropArena (Image * imgInput,
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Definition at line 150 of file image.cpp.

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◆ detect_arena()

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Détecte une arène dans une image fournis en paramètre.

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*monImagePointeur sur l'image d'entrée
*rectanglePointeur sur les coordonnées du rectangles trouvé.
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Definition at line 126 of file image.cpp.

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◆ detect_position()

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int detect_position (Image * imgInput,
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Détecte la position d'un robot.

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Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.

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*imgInputPointeur sur l'image sur laquelle chercher la position du des robots.
*posTrianglePointeur sur un tableau de position ou seront stocké les positions des triangles détectés.
*monArenePointeur de type Arène si nécessaire d'affiner la recherche (optionnel)
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Le nombre de triangles détectés.
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Definition at line 170 of file image.cpp.

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◆ draw_arena()

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void draw_arena (Image * imgInput,
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Dessine le plus petit rectangle contenant l'arène.

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*imgInputPointeur sur l'image d'entrée.
*imgOutputPointeur sur l'image de sortie (image d'entrée + arène marquée)
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Definition at line 51 of file image.cpp.

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◆ draw_position()

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void draw_position (Image * imgInput,
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Dessine sur une image en entrée la position d'un robot et sa direction.

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Sauvegarde l'image des coordonnées passées par positionRobot superposée à l'image d'entrée sur imgOutput.

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*imgInputPointeur sur l'image d'entrée
*imgOutputPointeur sur l'image de sortie ( image d'entrée + dessin de la position)
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Definition at line 244 of file image.cpp.

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◆ euclideanDist()

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float euclideanDist (Point & p,
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Definition at line 159 of file image.cpp.

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◆ get_image()

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void get_image (Camera * camera,
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Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image.

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La camera doit préalablement être ouverte via openCamera(...)

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*CameraPointeur sur la camera passée en entrée.
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*fichierchemin du fichier d'image
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Definition at line 93 of file image.cpp.

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◆ open_camera()

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int open_camera (Camera * camera)
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Ouvre une camera.

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Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte

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*CameraPointeur d'un file descriptor d'une camera ouverte
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Definition at line 58 of file image.cpp.

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1 
2 /*
3  * Copyright (C) 2018 dimercur
4  *
5  * This program is free software: you can redistribute it and/or modify
6  * it under the terms of the GNU General Public License as published by
7  * the Free Software Foundation, either version 3 of the License, or
8  * (at your option) any later version.
9  *
10  * This program is distributed in the hope that it will be useful,
11  * but WITHOUT ANY WARRANTY; without even the implied warranty of
12  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
13  * GNU General Public License for more details.
14  *
15  * You should have received a copy of the GNU General Public License
16  * along with this program. If not, see <http://www.gnu.org/licenses/>.
17  */
18 
31 #include "image.h"
32 #include <iostream>
33 
34 using namespace cv;
35 #ifndef __STUB__
36 #ifdef __FOR_PC__
37 VideoCapture cap;
38 #else
39 using namespace raspicam;
40 #endif /* __FOR_PC__ */
41 #else
42 Image stubImg;
43 
44 #endif
45 using namespace std;
46 
47 float calculAngle(Position * positionRobot);
48 int cropArena(Image *imgInput, Image *imgOutput, Arene *AreneInput);
49 float euclideanDist(Point& p, Point& q);
50 
51 void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene)
52 {
53  if(imgInput!=imgOutput)
54  *imgOutput=imgInput->clone();
55  rectangle(*imgOutput,monArene->tl(),monArene->br(),Scalar(0,0,125),2,8,0);
56 }
57 
58 int open_camera(Camera *camera)
59 {
60 #ifndef __STUB__
61 #ifdef __FOR_PC__
62  // open the default camera, use something different from 0 otherwise;
63  // Check VideoCapture documentation.
64  printf("Opening Camera...\n");
65  if(!cap.open(0))
66  return -1;
67 
68  return 0;
69 #else // for raspberry
70 
71  camera->set(CV_CAP_PROP_FORMAT, CV_8UC3);
72  camera->set(CV_CAP_PROP_FRAME_WIDTH,WIDTH);
73  camera->set(CV_CAP_PROP_FRAME_HEIGHT,HEIGHT);
74 
75  printf("Opening Camera...\n");
76  if (!(camera->open())) {
77  perror("Can't open Camera\n") ;
78  return -1;
79  }
80  else
81  {
82  printf("Camera warmup 2sec\n");
83  sleep(2);
84  printf("Start capture\n");
85  return 0;
86  }
87 #endif /* __FOR_PC__ */
88 #else
89  return 0;
90 #endif
91 }
92 
93 void get_image(Camera *camera, Image * monImage, const char * fichier) // getImg(Camera, Image img);
94 {
95 #ifndef __STUB__
96 #ifdef __FOR_PC__
97  if (monImage != NULL)
98  {
99  cap>>*monImage;
100  }
101 #else // for raspberry
102  camera->grab();
103  camera->retrieve(*monImage);
104  cvtColor(*monImage,*monImage,CV_BGR2RGB);
105 #endif /* __FOR_PC__ */
106 #else
107  stubImg = imread(fichier, CV_LOAD_IMAGE_COLOR);
108  stubImg.copyTo(*monImage);
109 #endif
110 }
111 
112 void close_camera(Camera *camera) // closeCam(Camera) : camera Entrer
113 {
114 #ifndef __STUB__
115 #ifdef __FOR_PC__
116  cap.release();
117 #else // for raspberry
118  camera->release();
119 #endif /* __FOR_PC__ */
120 #else
121 
122 #endif
123 }
124 
125 
126 int detect_arena(Image *monImage, Arene *rectangle) // Image en entrée // rectangle en sortie
127 {
128  vector<vector<Point> > contours;
129  vector<Point> approx;
130  vector<Vec4i> hierarchy;
131 
132  Image imageTrt;
133  cvtColor(*monImage,imageTrt,CV_RGB2GRAY); // conversion en niveau de gris
134  threshold(imageTrt,imageTrt,128,255,CV_THRESH_BINARY); // Threshold les éléments les plus clair
135  Canny(imageTrt, imageTrt, 100,200,3); // detection d'angle
136 
137  findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
138  for(unsigned int i = 0; i < contours.size();i++)
139  {
140  approxPolyDP(Image(contours[i]), approx, arcLength(Image(contours[i]), true)*0.1, true);
141  if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000)
142  {
143  *rectangle = boundingRect(Image(contours[i]));
144  return 0;
145  }
146  }
147  return -1;
148 }
149 
150 int cropArena(Image *imgInput, Image *imgOutput, Arene *areneInput) // image // rectangle // image2
151 {
152  Image img;
153  img=imgInput->clone();
154 
155  *imgOutput = img(*areneInput);
156  return 0;
157 }
158 
159 float euclideanDist(Point& p, Point& q) {
160  Point diff = p - q;
161  return cv::sqrt(diff.x*diff.x + diff.y*diff.y);
162 }
163 
164 void compress_image(Image *imgInput, Jpg *imageCompress) // image entrée // imageEncodé en sortie
165 {
166  imencode(".jpg",*imgInput,*imageCompress);
167 }
168 
169 
170 int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene) // entree : image / sortie tab pos
171 {
172  vector<vector<Point> > contours;
173  vector<Point> approx;
174  vector<Vec4i> hierarchy;
175 
176  Image imgTraitment;
177 
178  if(monArene==NULL)
179  imgTraitment=imgInput->clone();
180  else
181  cropArena(imgInput,&imgTraitment, monArene);
182 
183  cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY);
184  threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY);
185  findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
186 
187  int nbrTriangle = 0;
188  for(unsigned int i = 0;i < contours.size();i++)
189  {
190  approxPolyDP(Mat(contours[i]), approx, arcLength(Mat(contours[i]), true)*0.17, true);
191  if(approx.size() == 3 && fabs(contourArea(contours[i])) > 200 && fabs(contourArea(contours[i])) < 700)
192  {
193 
194  Point a,b,c;
195  Point center;
196 
197 
198  a = approx[0];
199  b = approx[1];
200  c = approx[2];
201 
202 
203  if(monArene !=NULL) // ajout de l'offset de l'arène
204  {
205  a.x += monArene->x;
206  a.y += monArene->y;
207  b.x += monArene->x;
208  b.y += monArene->y;
209  c.x += monArene->x;
210  c.y += monArene->y;
211  }
212 
213  center.x = (a.x + b.x + c.x)/3;
214  center.y = (a.y + b.y + c.y)/3;
215 
216  posTriangle[nbrTriangle].center=center;
217 
218  if(euclideanDist(center,b) > euclideanDist(center,a) && euclideanDist(center,b) > euclideanDist(center,c) )
219  {
220 
221  posTriangle[nbrTriangle].direction=b;
222  //line(img,center,b,Scalar(0,125,0),2,8,0);
223  }
224  else if(euclideanDist(center,a) > euclideanDist(center,c))
225  {
226  posTriangle[nbrTriangle].direction=a;
227  //line(img,center,a,Scalar(0,125,0),2,8,0);
228 
229  }
230  else
231  {
232  posTriangle[nbrTriangle].direction=c;
233  //line(img,center,c,Scalar(0,125,0),2,8,0);
234  }
235  posTriangle[nbrTriangle].angle=calculAngle(&posTriangle[nbrTriangle]);
236 
237  nbrTriangle++;
238 
239  }
240  }
241  return nbrTriangle;
242 }
243 
244 void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot) // img E/S pos : E
245 {
246  if(imgInput!=imgOutput)
247  {
248  *imgOutput=imgInput->clone();
249  }
250  line(*imgOutput,positionRobot->center,positionRobot->direction,Scalar(0,125,0),2,8,0);
251 }
252 
253 float calculAngle(Position * positionRobot) // position en entree
254 {
255  float a = positionRobot->direction.x - positionRobot->center.x;
256  float b = positionRobot->direction.y - positionRobot->center.y ;
257  float angle = atan2(b,a);
258  return angle * 180.f/M_PI;
259 
260 }
compress_image
void compress_image(Image *imgInput, Jpg *imageCompress)
Détecte la position d&#39;un robot.
Definition: image.cpp:164
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get_image
void get_image(Camera *camera, Image *monImage, const char *fichier)
Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une...
Definition: image.cpp:93
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Position::center
Point center
Definition: image.h:70
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Position::angle
float angle
Definition: image.h:72
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WIDTH
#define WIDTH
Definition: image.h:44
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close_camera
void close_camera(Camera *camera)
Ferme la camera passé en paramètre.
Definition: image.cpp:112
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cropArena
int cropArena(Image *imgInput, Image *imgOutput, Arene *AreneInput)
Definition: image.cpp:150
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Arene
Rect Arene
Definition: image.h:66
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Image
Mat Image
Definition: image.h:55
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detect_arena
int detect_arena(Image *monImage, Arene *rectangle)
Détecte une arène dans une image fournis en paramètre.
Definition: image.cpp:126
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open_camera
int open_camera(Camera *camera)
Ouvre une camera.
Definition: image.cpp:58
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image.h
Functions for image treatment.
-
Position
Definition: image.h:69
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detect_position
int detect_position(Image *imgInput, Position *posTriangle, Arene *monArene)
Détecte la position d&#39;un robot.
Definition: image.cpp:170
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draw_arena
void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene)
Dessine le plus petit rectangle contenant l&#39;arène.
Definition: image.cpp:51
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euclideanDist
float euclideanDist(Point &p, Point &q)
Definition: image.cpp:159
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Jpg
vector< unsigned char > Jpg
Definition: image.h:67
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Camera
RaspiCam_Cv Camera
Definition: image.h:58
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calculAngle
float calculAngle(Position *positionRobot)
Definition: image.cpp:253
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HEIGHT
#define HEIGHT
Definition: image.h:45
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draw_position
void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot)
Dessine sur une image en entrée la position d&#39;un robot et sa direction.
Definition: image.cpp:244
-
Position::direction
Point direction
Definition: image.h:71
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image.h File Reference
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Functions for image treatment. -More...

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#include <raspicam/raspicam_cv.h>
-#include "opencv2/imgproc/imgproc.hpp"
-#include <unistd.h>
-#include <math.h>
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struct  Position
 
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#define WIDTH   480
 
#define HEIGHT   360
 
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typedef Mat Image
 
typedef RaspiCam_Cv Camera
 
typedef Rect Arene
 
typedef vector< unsigned char > Jpg
 
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int open_camera (Camera *camera)
 Ouvre une camera. More...
 
void close_camera (Camera *camera)
 Ferme la camera passé en paramètre. More...
 
void get_image (Camera *camera, Image *monImage, const char *fichier=NULL)
 Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. More...
 
int detect_arena (Image *monImage, Arene *rectangle)
 Détecte une arène dans une image fournis en paramètre. More...
 
void draw_arena (Image *imgInput, Image *imgOutput, Arene *monArene)
 Dessine le plus petit rectangle contenant l'arène. More...
 
int detect_position (Image *imgInput, Position *posTriangle, Arene *monArene=NULL)
 Détecte la position d'un robot. More...
 
void draw_position (Image *imgInput, Image *imgOutput, Position *positionRobot)
 Dessine sur une image en entrée la position d'un robot et sa direction. More...
 
void compress_image (Image *imgInput, Jpg *imageCompress)
 Détecte la position d'un robot. More...
 
-

Detailed Description

-

Functions for image treatment.

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Author
L.Senaneuch
-
Version
1.0
-
Date
06/06/2017
-

This file use openCV2 library for picture processing. This allow to detect arena and robot.

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Definition in file image.h.

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Macro Definition Documentation

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Definition at line 45 of file image.h.

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Definition at line 44 of file image.h.

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Definition at line 66 of file image.h.

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◆ close_camera()

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Ferme la camera passé en paramètre.

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Détecte la position d'un robot.

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Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.

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Parameters
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imgInputPointeur sur l'image à sauvegarder en mémoire sous format jpg.
imageCompressPointeur sur une image .jpg.
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◆ detect_arena()

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int detect_arena (Image * monImage,
Arene * rectangle 
)
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Détecte une arène dans une image fournis en paramètre.

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Parameters
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monImagePointeur sur l'image d'entrée
rectanglePointeur sur les coordonnées du rectangles trouvé.
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Returns
Retourne -1 si aucune arène n'est détectée. Sinon retourne 0
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◆ detect_position()

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int detect_position (Image * imgInput,
Position * posTriangle,
Arene * monArene = NULL 
)
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Détecte la position d'un robot.

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Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.

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Parameters
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imgInputPointeur sur l'image sur laquelle chercher la position du des robots.
posTrianglePointeur sur un tableau de position ou seront stocké les positions des triangles détectés.
monArenePointeur de type Arène si nécessaire d'affiner la recherche (optionnel)
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Returns
Le nombre de triangles détectés.
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◆ draw_arena()

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void draw_arena (Image * imgInput,
Image * imgOutput,
Arene * monArene 
)
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Dessine le plus petit rectangle contenant l'arène.

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Parameters
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imgInputPointeur sur l'image d'entrée.
imgOutputPointeur sur l'image de sortie (image d'entrée + arène marquée)
monArenePointeur de type Arène contenant les information à dessiner
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◆ draw_position()

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void draw_position (Image * imgInput,
Image * imgOutput,
Position * positionRobot 
)
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Dessine sur une image en entrée la position d'un robot et sa direction.

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Sauvegarde l'image des coordonnées passées par positionRobot superposée à l'image d'entrée sur imgOutput.

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Parameters
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imgInputPointeur sur l'image d'entrée
imgOutputPointeur sur l'image de sortie ( image d'entrée + dessin de la position)
positionRobotPointeur sur la structure position d'un robot.
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◆ get_image()

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void get_image (Camera * camera,
Image * monImage,
const char * fichier = NULL 
)
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Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image.

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La camera doit préalablement être ouverte via openCamera(...)

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Parameters
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cameraPointeur sur la camera passée en entrée.
monImagePointeur sur une image capturée.
fichierChemin du fichier d'image
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Returns
Retourne -1 si une erreur survient.
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◆ open_camera()

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int open_camera (Camera * camera)
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Ouvre une camera.

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Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte

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Parameters
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cameraPointeur d'un file descriptor d'une camera ouverte
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Returns
Retourne 0 si la camera a été ouverte correctement et -1 si une erreur survient.
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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/image_8h.js b/software/raspberry/superviseur-robot/lib/doc/html/image_8h.js deleted file mode 100644 index a0e4d8a..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/image_8h.js +++ /dev/null @@ -1,18 +0,0 @@ -var image_8h = -[ - [ "Position", "struct_position.html", "struct_position" ], - [ "HEIGHT", "image_8h.html#aed89bd71aee8be823e8a20ec4e093c1e", null ], - [ "WIDTH", "image_8h.html#a241aeeb764887ae5e3de58b98f04b16d", null ], - [ "Arene", "image_8h.html#aa856a7cb8a1535c9f13096bede6c8586", null ], - [ "Camera", "image_8h.html#a739dda3f6f6ddbab22617837b43a692a", null ], - [ "Image", "image_8h.html#a466446fef9c0348568bc6743186d1a38", null ], - [ "Jpg", "image_8h.html#a9ac2855e21920c676a108df386ff9415", null ], - [ "close_camera", "image_8h.html#a19eac11a04cb4b86fd32e6a36445ad5d", null ], - [ "compress_image", "image_8h.html#a909ca7577f0ac2e4bd0ea21291690dce", null ], - [ "detect_arena", "image_8h.html#acad45df4061a55f17be0db97c1406249", null ], - [ "detect_position", "image_8h.html#af9f6e2dd4409486f2f6446d1a8a02c40", null ], - [ "draw_arena", "image_8h.html#a5ffd032a466af45a505fb46252194bbf", null ], - [ "draw_position", "image_8h.html#a869c3946d4a414b8730ca4f91fbd9556", null ], - [ "get_image", "image_8h.html#ad904f3348c2d44f9c82435c94cd83844", null ], - [ "open_camera", "image_8h.html#aca0662ab31eac7fdb2d64fecc52ff1da", null ] -]; 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image.h
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1 /*
2  * Copyright (C) 2018 dimercur
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
28 #ifndef _IMAGE_H_
29 #define _IMAGE_H_
30 
31 #ifndef __STUB__
32 #ifndef __FOR_PC__
33 #include <raspicam/raspicam_cv.h>
34 #else
35 #include <opencv2/highgui/highgui.hpp>
36 #endif /* __FOR_PC__ */
37 #else
38 #include <opencv2/highgui/highgui.hpp>
39 #endif
40 #include "opencv2/imgproc/imgproc.hpp"
41 #include <unistd.h>
42 #include <math.h>
43 
44 #define WIDTH 480 //1280 1024 640 480
45 #define HEIGHT 360 // 960 768 480 360
46 
47 using namespace std;
48 using namespace cv;
49 #ifndef __STUB__
50 #ifndef __FOR_PC__
51 using namespace raspicam;
52 #endif /* __FOR_PC__ */
53 #endif
54 
55 typedef Mat Image;
56 #ifndef __STUB__
57 #ifndef __FOR_PC__
58 typedef RaspiCam_Cv Camera;
59 #else
60 typedef int Camera;
61 #endif /* __FOR_PC__ */
62 #else
63 typedef int Camera;
64 #endif
65 
66 typedef Rect Arene;
67 typedef vector<unsigned char> Jpg;
68 
69 struct Position {
70  Point center;
71  Point direction;
72  float angle;
73 };
74 
82 int open_camera(Camera *camera);
83 
89 void close_camera(Camera *camera);
90 
100 void get_image(Camera *camera, Image * monImage, const char *fichier = NULL);
101 
109 int detect_arena(Image *monImage, Arene *rectangle);
110 
118 void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene);
119 
129 int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene = NULL);
130 
139 void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot);
140 
148 void compress_image(Image *imgInput, Jpg *imageCompress);
149 
150 #endif // _IMAGE_H_
Position::center
Point center
Definition: image.h:70
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Position::angle
float angle
Definition: image.h:72
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draw_position
void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot)
Dessine sur une image en entrée la position d&#39;un robot et sa direction.
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Arene
Rect Arene
Definition: image.h:66
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open_camera
int open_camera(Camera *camera)
Ouvre une camera.
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close_camera
void close_camera(Camera *camera)
Ferme la camera passé en paramètre.
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Image
Mat Image
Definition: image.h:55
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detect_position
int detect_position(Image *imgInput, Position *posTriangle, Arene *monArene=NULL)
Détecte la position d&#39;un robot.
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get_image
void get_image(Camera *camera, Image *monImage, const char *fichier=NULL)
Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une...
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Position
Definition: image.h:69
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Jpg
vector< unsigned char > Jpg
Definition: image.h:67
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draw_arena
void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene)
Dessine le plus petit rectangle contenant l&#39;arène.
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Camera
RaspiCam_Cv Camera
Definition: image.h:58
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compress_image
void compress_image(Image *imgInput, Jpg *imageCompress)
Détecte la position d&#39;un robot.
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detect_arena
int detect_arena(Image *monImage, Arene *rectangle)
Détecte une arène dans une image fournis en paramètre.
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Position::direction
Point direction
Definition: image.h:71
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http://jquery.org/license - * - * http://docs.jquery.com/UI/Mouse - * - * Depends: - * jquery.ui.widget.js - */ -(function(b,c){var a=false;b(document).mouseup(function(d){a=false});b.widget("ui.mouse",{options:{cancel:":input,option",distance:1,delay:0},_mouseInit:function(){var d=this;this.element.bind("mousedown."+this.widgetName,function(e){return d._mouseDown(e)}).bind("click."+this.widgetName,function(e){if(true===b.data(e.target,d.widgetName+".preventClickEvent")){b.removeData(e.target,d.widgetName+".preventClickEvent");e.stopImmediatePropagation();return false}});this.started=false},_mouseDestroy:function(){this.element.unbind("."+this.widgetName)},_mouseDown:function(f){if(a){return}(this._mouseStarted&&this._mouseUp(f));this._mouseDownEvent=f;var e=this,g=(f.which==1),d=(typeof this.options.cancel=="string"&&f.target.nodeName?b(f.target).closest(this.options.cancel).length:false);if(!g||d||!this._mouseCapture(f)){return true}this.mouseDelayMet=!this.options.delay;if(!this.mouseDelayMet){this._mouseDelayTimer=setTimeout(function(){e.mouseDelayMet=true},this.options.delay)}if(this._mouseDistanceMet(f)&&this._mouseDelayMet(f)){this._mouseStarted=(this._mouseStart(f)!==false);if(!this._mouseStarted){f.preventDefault();return true}}if(true===b.data(f.target,this.widgetName+".preventClickEvent")){b.removeData(f.target,this.widgetName+".preventClickEvent")}this._mouseMoveDelegate=function(h){return e._mouseMove(h)};this._mouseUpDelegate=function(h){return e._mouseUp(h)};b(document).bind("mousemove."+this.widgetName,this._mouseMoveDelegate).bind("mouseup."+this.widgetName,this._mouseUpDelegate);f.preventDefault();a=true;return true},_mouseMove:function(d){if(b.browser.msie&&!(document.documentMode>=9)&&!d.button){return this._mouseUp(d)}if(this._mouseStarted){this._mouseDrag(d);return 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i=this.className.match(/ui-resizable-(se|sw|ne|nw|n|e|s|w)/i)}f.axis=i&&i[1]?i[1]:"se"}});if(k.autoHide){this._handles.hide();c(this.element).addClass("ui-resizable-autohide").hover(function(){if(k.disabled){return}c(this).removeClass("ui-resizable-autohide");f._handles.show()},function(){if(k.disabled){return}if(!f.resizing){c(this).addClass("ui-resizable-autohide");f._handles.hide()}})}this._mouseInit()},destroy:function(){this._mouseDestroy();var e=function(g){c(g).removeClass("ui-resizable ui-resizable-disabled ui-resizable-resizing").removeData("resizable").unbind(".resizable").find(".ui-resizable-handle").remove()};if(this.elementIsWrapper){e(this.element);var f=this.element;f.after(this.originalElement.css({position:f.css("position"),width:f.outerWidth(),height:f.outerHeight(),top:f.css("top"),left:f.css("left")})).remove()}this.originalElement.css("resize",this.originalResizeStyle);e(this.originalElement);return this},_mouseCapture:function(f){var g=false;for(var e in this.handles){if(c(this.handles[e])[0]==f.target){g=true}}return !this.options.disabled&&g},_mouseStart:function(g){var j=this.options,f=this.element.position(),e=this.element;this.resizing=true;this.documentScroll={top:c(document).scrollTop(),left:c(document).scrollLeft()};if(e.is(".ui-draggable")||(/absolute/).test(e.css("position"))){e.css({position:"absolute",top:f.top,left:f.left})}this._renderProxy();var k=b(this.helper.css("left")),h=b(this.helper.css("top"));if(j.containment){k+=c(j.containment).scrollLeft()||0;h+=c(j.containment).scrollTop()||0}this.offset=this.helper.offset();this.position={left:k,top:h};this.size=this._helper?{width:e.outerWidth(),height:e.outerHeight()}:{width:e.width(),height:e.height()};this.originalSize=this._helper?{width:e.outerWidth(),height:e.outerHeight()}:{width:e.width(),height:e.height()};this.originalPosition={left:k,top:h};this.sizeDiff={width:e.outerWidth()-e.width(),height:e.outerHeight()-e.height()};this.originalMousePosition={left:g.pageX,top:g.pageY};this.aspectRatio=(typeof j.aspectRatio=="number")?j.aspectRatio:((this.originalSize.width/this.originalSize.height)||1);var i=c(".ui-resizable-"+this.axis).css("cursor");c("body").css("cursor",i=="auto"?this.axis+"-resize":i);e.addClass("ui-resizable-resizing");this._propagate("start",g);return true},_mouseDrag:function(e){var h=this.helper,g=this.options,m={},q=this,j=this.originalMousePosition,n=this.axis;var r=(e.pageX-j.left)||0,p=(e.pageY-j.top)||0;var i=this._change[n];if(!i){return false}var l=i.apply(this,[e,r,p]),k=c.browser.msie&&c.browser.version<7,f=this.sizeDiff;this._updateVirtualBoundaries(e.shiftKey);if(this._aspectRatio||e.shiftKey){l=this._updateRatio(l,e)}l=this._respectSize(l,e);this._propagate("resize",e);h.css({top:this.position.top+"px",left:this.position.left+"px",width:this.size.width+"px",height:this.size.height+"px"});if(!this._helper&&this._proportionallyResizeElements.length){this._proportionallyResize()}this._updateCache(l);this._trigger("resize",e,this.ui());return false},_mouseStop:function(h){this.resizing=false;var i=this.options,m=this;if(this._helper){var g=this._proportionallyResizeElements,e=g.length&&(/textarea/i).test(g[0].nodeName),f=e&&c.ui.hasScroll(g[0],"left")?0:m.sizeDiff.height,k=e?0:m.sizeDiff.width;var n={width:(m.helper.width()-k),height:(m.helper.height()-f)},j=(parseInt(m.element.css("left"),10)+(m.position.left-m.originalPosition.left))||null,l=(parseInt(m.element.css("top"),10)+(m.position.top-m.originalPosition.top))||null;if(!i.animate){this.element.css(c.extend(n,{top:l,left:j}))}m.helper.height(m.size.height);m.helper.width(m.size.width);if(this._helper&&!i.animate){this._proportionallyResize()}}c("body").css("cursor","auto");this.element.removeClass("ui-resizable-resizing");this._propagate("stop",h);if(this._helper){this.helper.remove()}return false},_updateVirtualBoundaries:function(g){var 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-Functions
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message.cpp File Reference
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Functions for sending message to monitor. -More...

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#include "message.h"
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-Include dependency graph for message.cpp:
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Go to the source code of this file.

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-Functions

void set_msgToMon_header (MessageToMon *msg, char *header)
 
void set_msgToMon_data (MessageToMon *msg, void *data)
 
void free_msgToMon_data (MessageToMon *msg)
 
void print_msgToMon (MessageToMon *msg)
 
-

Detailed Description

-

Functions for sending message to monitor.

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Author
PE.Hladik
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Version
1.0
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Date
06/06/2017
- -

Definition in file message.cpp.

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Function Documentation

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◆ free_msgToMon_data()

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void free_msgToMon_data (MessageToMon * msg)
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Definition at line 40 of file message.cpp.

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◆ print_msgToMon()

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void print_msgToMon (MessageToMon * msg)
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Definition at line 46 of file message.cpp.

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◆ set_msgToMon_data()

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void set_msgToMon_data (MessageToMon * msg,
void * data 
)
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Definition at line 32 of file message.cpp.

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◆ set_msgToMon_header()

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void set_msgToMon_header (MessageToMon * msg,
char * header 
)
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Definition at line 28 of file message.cpp.

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message.cpp
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1 /*
2  * Copyright (C) 2018 dimercur
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
26 #include "message.h"
27 
28 void set_msgToMon_header(MessageToMon *msg, char *header) {
29  memcpy(msg->header, header, sizeof (header));
30 }
31 
32 void set_msgToMon_data(MessageToMon *msg, void * data) {
33  if (msg->data != NULL) {
34  free(msg->data);
35  }
36  msg->data = malloc(sizeof (data));
37  memcpy(msg->data, data, sizeof (data));
38 }
39 
40 void free_msgToMon_data(MessageToMon *msg) {
41  if (msg->data != NULL) {
42  free(msg->data);
43  }
44 }
45 
46 void print_msgToMon(MessageToMon *msg) {
47  printf("header: %s\n", msg->header);
48  printf("data: %s\n", (char*)msg->data);
49 }
MessageToMon::data
void * data
Definition: message.h:36
-
set_msgToMon_header
void set_msgToMon_header(MessageToMon *msg, char *header)
Definition: message.cpp:28
- -
message.h
Functions for sending message to monitor.
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free_msgToMon_data
void free_msgToMon_data(MessageToMon *msg)
Definition: message.cpp:40
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set_msgToMon_data
void set_msgToMon_data(MessageToMon *msg, void *data)
Definition: message.cpp:32
-
print_msgToMon
void print_msgToMon(MessageToMon *msg)
Definition: message.cpp:46
-
MessageToMon::header
char header[4]
Definition: message.h:35
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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/message_8h.html b/software/raspberry/superviseur-robot/lib/doc/html/message_8h.html deleted file mode 100644 index 60686fb..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/message_8h.html +++ /dev/null @@ -1,247 +0,0 @@ - - - - - - - -Bibliotheques TP RT: message.h File Reference - - - - - - - - - - - - - - -
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-Classes | -Functions
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message.h File Reference
-
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- -

Functions for sending message to monitor. -More...

-
#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-#include <string.h>
-
-Include dependency graph for message.h:
-
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-

Go to the source code of this file.

- - - - -

-Classes

struct  MessageToMon
 
- - - - - - - - - - - - - -

-Functions

void set_msgToMon_header (MessageToMon *msg, char *header)
 Set header part of monitor message. More...
 
void set_msgToMon_data (MessageToMon *msg, void *data)
 Set data part of monitor message. More...
 
void free_msgToMon_data (MessageToMon *msg)
 Dealocate moemory pointed by data part of message. More...
 
void print_msgToMon (MessageToMon *msg)
 Print message, header and data. More...
 
-

Detailed Description

-

Functions for sending message to monitor.

-
Author
PE.Hladik
-
Version
1.0
-
Date
06/06/2017
- -

Definition in file message.h.

-

Function Documentation

- -

◆ free_msgToMon_data()

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void free_msgToMon_data (MessageToMon * msg)
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Dealocate moemory pointed by data part of message.

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◆ print_msgToMon()

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void print_msgToMon (MessageToMon * msg)
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Print message, header and data.

- -
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◆ set_msgToMon_data()

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void set_msgToMon_data (MessageToMon * msg,
void * data 
)
-
- -

Set data part of monitor message.

- -
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◆ set_msgToMon_header()

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void set_msgToMon_header (MessageToMon * msg,
char * header 
)
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Set header part of monitor message.

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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/message_8h.js b/software/raspberry/superviseur-robot/lib/doc/html/message_8h.js deleted file mode 100644 index f86e346..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/message_8h.js +++ /dev/null @@ -1,8 +0,0 @@ -var message_8h = -[ - [ "MessageToMon", "struct_message_to_mon.html", "struct_message_to_mon" ], - [ "free_msgToMon_data", "message_8h.html#a285193a5a9d3b142f3f1c53c471d3173", null ], - [ "print_msgToMon", "message_8h.html#ae409e822d69cee7483a2d41c62698a85", null ], - [ "set_msgToMon_data", "message_8h.html#aa938f8156bfca7379f533b751334ca6f", null ], - [ "set_msgToMon_header", "message_8h.html#a8c768ba3ccfd64ba1e39079c967aff26", null ] -]; \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/html/message_8h__dep__incl.map b/software/raspberry/superviseur-robot/lib/doc/html/message_8h__dep__incl.map deleted file mode 100644 index 060d5dc..0000000 --- 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z)3DhBOq!x13u|k{`cGV9m@rj*Tie4x5`))Ba&Aug zh^z5JdC*HfK0dsea3lWY<>Z^$(>y()0y?g$&j7YEUd%p2AE_}|fcR*mtYCiD&e3N-oWcK#=bKBF`;5`&VG5;QP6dPGqX zBQ9=Sf?-s&hO{gul4c~MOdub_DwLK;K?ubJ1`=s0DWs=muo-yCX-Z$7C=?Q;5J<{t z^rNY1b9I&`5)`C;P3r^SgKN5#V+lpa@fyt&}zi{y&&$tiS*O diff --git a/software/raspberry/superviseur-robot/lib/doc/html/message_8h_source.html b/software/raspberry/superviseur-robot/lib/doc/html/message_8h_source.html deleted file mode 100644 index c335eae..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/message_8h_source.html +++ /dev/null @@ -1,106 +0,0 @@ - - - - - - - -Bibliotheques TP RT: message.h Source File - - - - - - - - - - - - - - -
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- - - - - - - -
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Bibliotheques TP RT -  1.0 -
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Bibliotheque de support pour TP/RT
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message.h
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-Go to the documentation of this file.
1 /*
2  * Copyright (C) 2018 dimercur
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
26 #ifndef MESSAGE_H
27 #define MESSAGE_H
28 
29 #include <stdio.h>
30 #include <stdlib.h>
31 #include <unistd.h>
32 #include <string.h>
33 
34 typedef struct {
35  char header[4];
36  void *data = NULL;
37 } MessageToMon;
38 
43 void set_msgToMon_header(MessageToMon *msg, char *header);
44 
48 void set_msgToMon_data(MessageToMon *msg, void *data);
49 
53 void free_msgToMon_data(MessageToMon *msg);
54 
58 void print_msgToMon(MessageToMon *msg);
59 
60 #endif /* MESSAGE_H */
61 
-
set_msgToMon_header
void set_msgToMon_header(MessageToMon *msg, char *header)
Set header part of monitor message.
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free_msgToMon_data
void free_msgToMon_data(MessageToMon *msg)
Dealocate moemory pointed by data part of message.
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set_msgToMon_data
void set_msgToMon_data(MessageToMon *msg, void *data)
Set data part of monitor message.
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print_msgToMon
void print_msgToMon(MessageToMon *msg)
Print message, header and data.
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-
- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/monitor_8cpp.html b/software/raspberry/superviseur-robot/lib/doc/html/monitor_8cpp.html deleted file mode 100644 index 236cc89..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/monitor_8cpp.html +++ /dev/null @@ -1,352 +0,0 @@ - - - - - - - -Bibliotheques TP RT: src/monitor.cpp File Reference - - - - - - - - - - - - - - -
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- - - - - - - -
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Bibliotheques TP RT -  1.0 -
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Bibliotheque de support pour TP/RT
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-Functions | -Variables
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monitor.cpp File Reference
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Library for sending message to monitor or receiving message. -More...

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#include "monitor.h"
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-Include dependency graph for monitor.cpp:
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Go to the source code of this file.

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-Functions

string serverReceive (int size)
 
int sendMessage (const char *data, int dataLength)
 
int receive (char *data)
 
int send_message_to_monitor (const char *typeMessage, const void *data)
 Envoi d'un message vers l'interface graphique. More...
 
int receive_message_from_monitor (char *typeMessage, char *data)
 Réception d'un message. La fonction est bloquante et retourne par référence le type de message reçu (DMB pour un ordre au robot, ARN pour la détection des arènes et POS pour un calcul de position) ainsi que les données associées. More...
 
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SOCKADDR_IN ssin
 
SOCKET sock
 
socklen_t recsize = sizeof (ssin)
 
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Detailed Description

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Library for sending message to monitor or receiving message.

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Author
L.senaneuch
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Version
1.0
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Date
06/06/2017
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Definition in file monitor.cpp.

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Function Documentation

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◆ receive()

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int receive (char * data)
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Definition at line 90 of file monitor.cpp.

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◆ receive_message_from_monitor()

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int receive_message_from_monitor (char * typeMessage,
char * data 
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Réception d'un message. La fonction est bloquante et retourne par référence le type de message reçu (DMB pour un ordre au robot, ARN pour la détection des arènes et POS pour un calcul de position) ainsi que les données associées.

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Parameters
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typeMessageType du message reçu : DMB pour un ordre au robot, ARN pour la demande de détection de l'arène, POS pour un calcul de position et MSG pour un message de l'interface
datadonnées associées au message reçu.
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Returns
retourne 0 la taille du message reçu ou une valeur négative si la connexion est perdue.
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Definition at line 83 of file monitor.cpp.

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◆ send_message_to_monitor()

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int send_message_to_monitor (const char * typeMessage,
const void * data = NULL 
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Envoi d'un message vers l'interface graphique.

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typeMessageType du message envoyé. Les valeurs possibles sont IMG pour une image, MES pour un message à afficher dans la console, POS pour la position du robot, BAT pour une valeur de la batterie et ACK pour valider un message de l'interface.
datadonnées associées au message. Le type de la donnée doit correspondre au message : Image pour IMG, char * MES, Position pour POS, char * pour BAT et rien pour ACK. Attention, il n'y a aucune vérification a posterio.
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retourne 0 si l'envoie a bien été réalisé et -1 en cas de problème.
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Definition at line 40 of file monitor.cpp.

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◆ sendMessage()

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int sendMessage (const char * data,
int dataLength 
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Definition at line 97 of file monitor.cpp.

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◆ serverReceive()

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string serverReceive (int size)
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Variable Documentation

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◆ recsize

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socklen_t recsize = sizeof (ssin)
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Definition at line 33 of file monitor.cpp.

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◆ sock

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SOCKET sock
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Definition at line 32 of file monitor.cpp.

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◆ ssin

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SOCKADDR_IN ssin
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Definition at line 31 of file monitor.cpp.

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z`ec882%lX>CbK0JrceI)dVJ+8Oz8Ogm0ABkzb%4GM5N)XqNaAe>av#1JA%i|9WEc6 z5y;I_(A-k3>^)=6lGOq3Zx#r{6C$gkX!%& diff --git a/software/raspberry/superviseur-robot/lib/doc/html/monitor_8cpp_source.html b/software/raspberry/superviseur-robot/lib/doc/html/monitor_8cpp_source.html deleted file mode 100644 index 23bf7f4..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/monitor_8cpp_source.html +++ /dev/null @@ -1,127 +0,0 @@ - - - - - - - -Bibliotheques TP RT: src/monitor.cpp Source File - - - - - - - - - - - - - - -
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monitor.cpp
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1 /*
2  * Copyright (C) 2018 dimercur
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
26 #include "monitor.h"
27 #include "server.h"
28 
29 using namespace std;
30 
31 SOCKADDR_IN ssin;
32 SOCKET sock;
33 socklen_t recsize = sizeof (ssin);
34 
35 
36 string serverReceive(int size);
37 int sendMessage(const char *data, int dataLength);
38 int receive(char *data);
39 
40 int send_message_to_monitor(const char* typeMessage, const void * data) {
41  if ((string) typeMessage == HEADER_STM_IMAGE) {
42  Jpg * imgC = (Jpg*) data;
43  sendMessage("IMG", 3);
44  sendMessage((const char*) imgC->data(), imgC->size());
45  sendMessage("TRAME", 5);
46  return 0;
47  } else if ((string) typeMessage == HEADER_STM_POS) {
48  char buffer[400];
49  Position * maPosition = (Position*) data;
50  sprintf(buffer, "POScenter: %3d;%3d | %.1fTRAME", maPosition->center.x, maPosition->center.y, maPosition->angle);
51  sendMessage(buffer, strlen(buffer));
52  return 0;
53  } else if ((string) typeMessage == HEADER_STM_MES) {
54  char buffer[50];
55  sprintf(buffer, "MSG%sTRAME", (const char*) data);
56  sendMessage(buffer, strlen(buffer));
57  return 0;
58  } else if ((string) typeMessage == HEADER_STM_ACK) {
59  char buffer[50];
60  sprintf(buffer, "ACK%sTRAME", (const char*) data);
61  sendMessage(buffer, strlen(buffer));
62  return 0;
63  } else if ((string) typeMessage == HEADER_STM_BAT) {
64  char buffer[50];
65  sprintf(buffer, "BAT%sTRAME", (const char*) data);
66  sendMessage(buffer, strlen(buffer));
67  return 0;
68  } else if ((string) typeMessage == HEADER_STM_NO_ACK) {
69  char buffer[50];
70  sprintf(buffer, "NAK%sTRAME", (const char*) data);
71  sendMessage(buffer, strlen(buffer));
72  return 0;
73  } else if ((string) typeMessage == HEADER_STM_LOST_DMB) {
74  char buffer[50];
75  sprintf(buffer, "LCD%sTRAME", (const char*) data);
76  sendMessage(buffer, strlen(buffer));
77  return 0;
78  } else {
79  return -1;
80  }
81 }
82 
83 int receive_message_from_monitor(char *typeMessage, char *data) {
84  char buffer[20];
85  int tBuffer = receive(buffer);
86  sscanf(buffer, "%3s:%s", typeMessage, data);
87  return tBuffer;
88 }
89 
90 int receive(char *data) {
91  int result;
92  result = receiveDataFromServer(data, 20);
93  //cout <<"Data : " << data << endl;
94  return result;
95 }
96 
97 int sendMessage(const char *data, int dataLength) {
98  if (sendDataToServer((char*) data, dataLength) != dataLength) {
99  perror("Send failed : ");
100  return false;
101  }
102 
103  return true;
104 }
Position::center
Point center
Definition: image.h:70
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HEADER_STM_POS
#define HEADER_STM_POS
Definition: monitor.h:43
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Position::angle
float angle
Definition: image.h:72
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receive
int receive(char *data)
Definition: monitor.cpp:90
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SOCKET
int SOCKET
Definition: monitor.h:70
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HEADER_STM_NO_ACK
#define HEADER_STM_NO_ACK
Definition: monitor.h:44
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HEADER_STM_ACK
#define HEADER_STM_ACK
Definition: monitor.h:45
- -
receive_message_from_monitor
int receive_message_from_monitor(char *typeMessage, char *data)
Réception d&#39;un message. La fonction est bloquante et retourne par référence le type de message reçu (...
Definition: monitor.cpp:83
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send_message_to_monitor
int send_message_to_monitor(const char *typeMessage, const void *data)
Envoi d&#39;un message vers l&#39;interface graphique.
Definition: monitor.cpp:40
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HEADER_STM_LOST_DMB
#define HEADER_STM_LOST_DMB
Definition: monitor.h:47
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HEADER_STM_BAT
#define HEADER_STM_BAT
Definition: monitor.h:42
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recsize
socklen_t recsize
Definition: monitor.cpp:33
- -
Position
Definition: image.h:69
-
ssin
SOCKADDR_IN ssin
Definition: monitor.cpp:31
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sendMessage
int sendMessage(const char *data, int dataLength)
Definition: monitor.cpp:97
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Jpg
vector< unsigned char > Jpg
Definition: image.h:67
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receiveDataFromServer
int receiveDataFromServer(char *data, int size)
Definition: server.cpp:95
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HEADER_STM_MES
#define HEADER_STM_MES
Definition: monitor.h:46
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sendDataToServer
int sendDataToServer(char *data, int length)
Definition: server.cpp:85
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sock
SOCKET sock
Definition: monitor.cpp:32
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SOCKADDR_IN
struct sockaddr_in SOCKADDR_IN
Definition: monitor.h:71
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monitor.h
Library for sending message to monitor or receiving message.
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serverReceive
string serverReceive(int size)
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HEADER_STM_IMAGE
#define HEADER_STM_IMAGE
Definition: monitor.h:41
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-Classes | -Macros | -Typedefs | -Functions
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monitor.h File Reference
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Library for sending message to monitor or receiving message. -More...

-
#include <sys/types.h>
-#include <sys/socket.h>
-#include <netinet/in.h>
-#include <arpa/inet.h>
-#include <unistd.h>
-#include <signal.h>
-#include <stdlib.h>
-#include <stdio.h>
-#include <string.h>
-#include "image.h"
-#include "definitions.h"
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-Include dependency graph for monitor.h:
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Go to the source code of this file.

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-Classes

struct  MessageFromMon
 
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-Macros

#define HEADER_STM_IMAGE   "IMG"
 
#define HEADER_STM_BAT   "BAT"
 
#define HEADER_STM_POS   "POS"
 
#define HEADER_STM_NO_ACK   "NAK"
 
#define HEADER_STM_ACK   "ACK"
 
#define HEADER_STM_MES   "MSG"
 
#define HEADER_STM_LOST_DMB   "LCD"
 
#define HEADER_MTS_MSG   "MSG"
 
#define HEADER_MTS_DMB_ORDER   "DMB"
 
#define HEADER_MTS_COM_DMB   "COM"
 
#define HEADER_MTS_CAMERA   "CAM"
 
#define HEADER_MTS_STOP   "STO"
 
#define INVALID_SOCKET   -1
 
#define SOCKET_ERROR   -1
 
#define DEFAULT_PORT   8080
 
#define DEFAULT_PARITY   0
 
#define DETECT_ARENA   (1)
 
#define CHECK_ARENA   (2)
 
#define NO_ARENA   (3)
 
#define DEFAULT_NODEJS_PATH   "/usr/bin/nodejs"
 
#define DEFAULT_INTERFACE_FILE   "./interface.js"
 
#define closesocket(param)   close(param)
 
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-Typedefs

typedef int SOCKET
 
typedef struct sockaddr_in SOCKADDR_IN
 
typedef struct sockaddr SOCKADDR
 
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-Functions

int send_message_to_monitor (const char *typeMessage, const void *data=NULL)
 Envoi d'un message vers l'interface graphique. More...
 
int receive_message_from_monitor (char *typeMessage, char *data)
 Réception d'un message. La fonction est bloquante et retourne par référence le type de message reçu (DMB pour un ordre au robot, ARN pour la détection des arènes et POS pour un calcul de position) ainsi que les données associées. More...
 
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Detailed Description

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Library for sending message to monitor or receiving message.

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Author
L.senaneuch
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Version
1.0
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Date
06/06/2017
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Definition in file monitor.h.

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Macro Definition Documentation

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◆ CHECK_ARENA

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#define CHECK_ARENA   (2)
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Definition at line 62 of file monitor.h.

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◆ closesocket

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#define closesocket( param)   close(param)
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Definition at line 68 of file monitor.h.

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◆ DEFAULT_INTERFACE_FILE

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#define DEFAULT_INTERFACE_FILE   "./interface.js"
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Definition at line 66 of file monitor.h.

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◆ DEFAULT_NODEJS_PATH

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#define DEFAULT_NODEJS_PATH   "/usr/bin/nodejs"
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Definition at line 65 of file monitor.h.

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◆ DEFAULT_PARITY

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#define DEFAULT_PARITY   0
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Definition at line 59 of file monitor.h.

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◆ DEFAULT_PORT

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#define DEFAULT_PORT   8080
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Definition at line 58 of file monitor.h.

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◆ DETECT_ARENA

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#define DETECT_ARENA   (1)
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Definition at line 61 of file monitor.h.

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◆ HEADER_MTS_CAMERA

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#define HEADER_MTS_CAMERA   "CAM"
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Definition at line 52 of file monitor.h.

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◆ HEADER_MTS_COM_DMB

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#define HEADER_MTS_COM_DMB   "COM"
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Definition at line 51 of file monitor.h.

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◆ HEADER_MTS_DMB_ORDER

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#define HEADER_MTS_DMB_ORDER   "DMB"
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Definition at line 50 of file monitor.h.

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◆ HEADER_MTS_MSG

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#define HEADER_MTS_MSG   "MSG"
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Definition at line 49 of file monitor.h.

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◆ HEADER_MTS_STOP

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#define HEADER_MTS_STOP   "STO"
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Definition at line 53 of file monitor.h.

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◆ HEADER_STM_ACK

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#define HEADER_STM_ACK   "ACK"
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Definition at line 45 of file monitor.h.

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◆ HEADER_STM_BAT

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#define HEADER_STM_BAT   "BAT"
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Definition at line 42 of file monitor.h.

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◆ HEADER_STM_IMAGE

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#define HEADER_STM_IMAGE   "IMG"
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Definition at line 41 of file monitor.h.

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◆ HEADER_STM_LOST_DMB

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#define HEADER_STM_LOST_DMB   "LCD"
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Definition at line 47 of file monitor.h.

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◆ HEADER_STM_MES

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#define HEADER_STM_MES   "MSG"
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Definition at line 46 of file monitor.h.

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◆ HEADER_STM_NO_ACK

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#define HEADER_STM_NO_ACK   "NAK"
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Definition at line 44 of file monitor.h.

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◆ HEADER_STM_POS

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#define HEADER_STM_POS   "POS"
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Definition at line 43 of file monitor.h.

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◆ INVALID_SOCKET

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Definition at line 55 of file monitor.h.

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◆ NO_ARENA

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#define NO_ARENA   (3)
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Definition at line 63 of file monitor.h.

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◆ SOCKET_ERROR

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Definition at line 56 of file monitor.h.

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Typedef Documentation

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◆ SOCKADDR

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typedef struct sockaddr SOCKADDR
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Definition at line 72 of file monitor.h.

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◆ SOCKADDR_IN

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typedef struct sockaddr_in SOCKADDR_IN
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Definition at line 71 of file monitor.h.

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◆ SOCKET

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Definition at line 70 of file monitor.h.

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Function Documentation

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◆ receive_message_from_monitor()

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int receive_message_from_monitor (char * typeMessage,
char * data 
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Réception d'un message. La fonction est bloquante et retourne par référence le type de message reçu (DMB pour un ordre au robot, ARN pour la détection des arènes et POS pour un calcul de position) ainsi que les données associées.

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Parameters
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typeMessageType du message reçu : DMB pour un ordre au robot, ARN pour la demande de détection de l'arène, POS pour un calcul de position et MSG pour un message de l'interface
datadonnées associées au message reçu.
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Retourne 0 la taille du message reçu ou une valeur négative si la connexion est perdue.
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◆ send_message_to_monitor()

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int send_message_to_monitor (const char * typeMessage,
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Envoi d'un message vers l'interface graphique.

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typeMessageType du message envoyé. Les valeurs possibles sont IMG pour une image, MES pour un message à afficher dans la console, POS pour la position du robot, BAT pour une valeur de la batterie et ACK pour valider un message de l'interface.
datadonnées associées au message. Le type de la donnée doit correspondre au message : Image pour IMG, char * MES, Position pour POS, char * pour BAT et rien pour ACK. Attention, il n'y a aucune vérification a posterio.
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Retourne 0 si l'envoie a bien été réalisé et -1 en cas de problème.
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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/monitor_8h.js b/software/raspberry/superviseur-robot/lib/doc/html/monitor_8h.js deleted file mode 100644 index 2b37a12..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/monitor_8h.js +++ /dev/null @@ -1,31 +0,0 @@ -var monitor_8h = -[ - [ "MessageFromMon", "struct_message_from_mon.html", "struct_message_from_mon" ], - [ "CHECK_ARENA", "monitor_8h.html#a22d20ac264e03c59d6941cb11386aa89", null ], - [ "closesocket", "monitor_8h.html#ab6b45251e218af8f09c5d627b5262398", null ], - [ "DEFAULT_INTERFACE_FILE", "monitor_8h.html#af533d8bd7d6a1d9f9efba3b259280e32", null ], - [ "DEFAULT_NODEJS_PATH", "monitor_8h.html#a2c47b710f0858fe41c544517c6b2a2fd", null ], - [ "DEFAULT_PARITY", "monitor_8h.html#a939612a13947b5bb9fc848e3222a231d", null ], - [ "DEFAULT_PORT", "monitor_8h.html#a16b710f592bf8f7900666392adc444dc", null ], - [ "DETECT_ARENA", "monitor_8h.html#ab3be9ae187e8b98bb000ca0bca68e982", null ], - [ "HEADER_MTS_CAMERA", "monitor_8h.html#a91e2658cf20010646211ba748885c180", null ], - [ "HEADER_MTS_COM_DMB", "monitor_8h.html#a0c829d92889c5c9b2d485964ce933fab", null ], - [ "HEADER_MTS_DMB_ORDER", "monitor_8h.html#a5ccd30e6502bb94eaa13a597edb1f156", null ], - [ "HEADER_MTS_MSG", "monitor_8h.html#a980e8f9457e30018fddcd4d997f17a85", null ], - [ "HEADER_MTS_STOP", "monitor_8h.html#a2be30c9a3e65eaf5502b8542a6ac6259", null ], - [ "HEADER_STM_ACK", "monitor_8h.html#af2325d19ae9da4310eb608c744149f53", null ], - [ "HEADER_STM_BAT", "monitor_8h.html#a0de226ae5af8b83f3b163ff4413eef95", null ], - [ "HEADER_STM_IMAGE", "monitor_8h.html#ad62b697bd25a71d171db46740aef2830", null ], - [ "HEADER_STM_LOST_DMB", "monitor_8h.html#afe29ce74d16751828da8aec7e13ad06b", null ], - [ "HEADER_STM_MES", "monitor_8h.html#ac1034bccb09918cccd3ba142377a6788", null ], - [ "HEADER_STM_NO_ACK", "monitor_8h.html#ac2e64478522da4e3b45c139c0c72557f", null ], - [ "HEADER_STM_POS", "monitor_8h.html#a6a07aae2539981459edc8070a0f019db", null ], - [ "INVALID_SOCKET", "monitor_8h.html#a26769957ec1a2beaf223f33b66ee64ab", null ], - [ "NO_ARENA", "monitor_8h.html#a1d58e03abc2a587c7f0a0665c94c0e68", null ], - [ "SOCKET_ERROR", "monitor_8h.html#a633b0396ff93d336a088412a190a5072", null ], - [ "SOCKADDR", "monitor_8h.html#ae334b73cedf7204187dce3f817576009", null ], - [ "SOCKADDR_IN", "monitor_8h.html#a29046dc0232f0e5c70adbc25090d77b8", null ], - [ "SOCKET", "monitor_8h.html#a8dc8083897335125630f1af5dafd5831", null ], - [ "receive_message_from_monitor", "monitor_8h.html#a61eca0d5b49118350db39583e1bd1032", null ], - [ "send_message_to_monitor", "monitor_8h.html#ac3d876b96642b6ee46f6a96b7ffcb864", null ] -]; \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/html/monitor_8h__dep__incl.map b/software/raspberry/superviseur-robot/lib/doc/html/monitor_8h__dep__incl.map deleted file mode 100644 index a3a58b4..0000000 --- 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zwj<>o@@6w9(+(OMnzFpKg!-T6J?fKr5?T{VS^Sax{Q0CU?0-4MKZ{ED - - - - - - -Bibliotheques TP RT: monitor.h Source File - - - - - - - - - - - - - - -
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Bibliotheques TP RT -  1.0 -
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Bibliotheque de support pour TP/RT
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monitor.h
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-Go to the documentation of this file.
1 /*
2  * Copyright (C) 2018 dimercur
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
26 #ifndef _MONITOR_H_
27 #define _MONITOR_H_
28 
29 #include <sys/types.h>
30 #include <sys/socket.h>
31 #include <netinet/in.h>
32 #include <arpa/inet.h>
33 #include <unistd.h>
34 #include <signal.h>
35 #include <stdlib.h>
36 #include <stdio.h>
37 #include <string.h>
38 #include "image.h"
39 #include "definitions.h"
40 
41 #define HEADER_STM_IMAGE "IMG" // Envoi d'une image
42 #define HEADER_STM_BAT "BAT" // Envoi de l'état de la batterie
43 #define HEADER_STM_POS "POS" // Envoi de la position
44 #define HEADER_STM_NO_ACK "NAK" // Acquittement d'un échec
45 #define HEADER_STM_ACK "ACK" // Acquittement d'un succès
46 #define HEADER_STM_MES "MSG" // Message textuel
47 #define HEADER_STM_LOST_DMB "LCD" // Perte de la communication avec le robot
48 
49 #define HEADER_MTS_MSG "MSG" // Message directe pour Console Dumber
50 #define HEADER_MTS_DMB_ORDER "DMB" // Message d'ordre pour le robot
51 #define HEADER_MTS_COM_DMB "COM" // Message de gestion de la communication avec le robot
52 #define HEADER_MTS_CAMERA "CAM" // Message de gestion de la camera
53 #define HEADER_MTS_STOP "STO" // Message d'arrêt du system
54 
55 #define INVALID_SOCKET -1
56 #define SOCKET_ERROR -1
57 
58 #define DEFAULT_PORT 8080
59 #define DEFAULT_PARITY 0
60 
61 #define DETECT_ARENA (1)
62 #define CHECK_ARENA (2)
63 #define NO_ARENA (3)
64 
65 #define DEFAULT_NODEJS_PATH "/usr/bin/nodejs"
66 #define DEFAULT_INTERFACE_FILE "./interface.js"
67 
68 #define closesocket(param) close(param)
69 
70 typedef int SOCKET;
71 typedef struct sockaddr_in SOCKADDR_IN;
72 typedef struct sockaddr SOCKADDR;
73 
74 typedef struct {
75  char header[4];
76  char data[100];
77 } MessageFromMon;
78 
91 int send_message_to_monitor(const char* typeMessage, const void * data = NULL);
92 
105 int receive_message_from_monitor(char *typeMessage, char *data);
106 
107 
108 #endif // _MONITOR_H_
send_message_to_monitor
int send_message_to_monitor(const char *typeMessage, const void *data=NULL)
Envoi d&#39;un message vers l&#39;interface graphique.
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SOCKET
int SOCKET
Definition: monitor.h:70
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SOCKADDR
struct sockaddr SOCKADDR
Definition: monitor.h:72
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image.h
Functions for image treatment.
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receive_message_from_monitor
int receive_message_from_monitor(char *typeMessage, char *data)
Réception d&#39;un message. La fonction est bloquante et retourne par référence le type de message reçu (...
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definitions.h
Various constants used in destjil project.
- -
SOCKADDR_IN
struct sockaddr_in SOCKADDR_IN
Definition: monitor.h:71
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-} - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/robot-icon.resized.png b/software/raspberry/superviseur-robot/lib/doc/html/robot-icon.resized.png deleted file mode 100644 index e464bd08c84e5bf5a89aa386de5b109e95ede698..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 913 zcmeAS@N?(olHy`uVBq!ia0vp^3LwnE0wix1Z>k4UEa{HEjtmSN`?>!lvVtU&J%W50 z7^>757#dm_7=8hT8eT9klo~KFyh>nTu$sZZAYL$MSD+10f+@+{-G$+Qd;gjJKptm- zM`SSrgFqDsGrs#W?I2K)y~NYkmHiQyJgXZg z`klg^$z}%y0tLg4=4{l{Wa?TbAk@?!w@rv!np@i1`#s*gj9+`Q+rN;mJ-sd%z&+oi{D%2iqCvjPJ`XvGF3+scY zFP<&FBmbUse~whH+aJOCmn5pCp4fcLkMRm=&M!J3c(<%`kMX04|7&hmyl#&%R@E0# z%0FdlpTDK%fVSfVDNBrP33oI2okYIiTE5!>90OP$;G(s@pCe6?Xbo5y8mnV-$N z|7zuY7IV|%++Svi#;n|Q=Y;6NHTS%#_D=N6GJdRI+c$l#srB0pj>fm<^vEZ8d~jIb zfA7b}6Y|FSR~+lP+qBxVR|#ZnW%srFeSA^L#QO9bEvmgYl6OCiV(Jz8anw+JZO5C> z%$F{m>zq@@(dqR)jBAbJOY`-*nOF5Xdm=ME*;OCsD_lz6^I~6=;kxC&m@^6v-ZuJu zt!vMAy(xJsmVBK&Wp8N9|MJs*k9Y0)vf9re^T3TN`8U@BOE>7tRXv+0s9DUq?(n3T;k=DJ0gF9%`)79F!$tOdDUnQOj^J?rWFxmRDdCLH>=^-#Wkwqx9(_iepWVmFg+&M7f`=DX|hrrlzxTX*TDmcISu zb=xCCkZY55Owpbn!X{E*mRtTj)M|cu?bPE7@2711`ds?Iuvf>N4;MD|+^))6UduY` z1M6SmDXo`)sZX`UHKHUXu_V9nO2Fe!N|(Q45Hx#TR0<7gCxj?;QX|b^2DN4hVt@qz0ADq;^f4FRK5J7 V^x5xhq=1STJYD@<);T3K0RU%2e#-y= diff --git a/software/raspberry/superviseur-robot/lib/doc/html/robot_8cpp.html b/software/raspberry/superviseur-robot/lib/doc/html/robot_8cpp.html deleted file mode 100644 index 16ff475..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/robot_8cpp.html +++ /dev/null @@ -1,373 +0,0 @@ - - - - - - - -Bibliotheques TP RT: src/robot.cpp File Reference - - - - - - - - - - - - - - -
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Bibliotheques TP RT -  1.0 -
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Bibliotheque de support pour TP/RT
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-Functions | -Variables
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robot.cpp File Reference
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#include "robot.h"
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-Include dependency graph for robot.cpp:
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Go to the source code of this file.

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-Functions

int getChar (char *c)
 
int readSerial (char *msg)
 
char checkSumGO (char *msg)
 
int receiveMsg (void)
 
int sendCmd (char cmd, const char *arg)
 
int open_communication_robot (const char *path)
 Ouvre la communication avec le robot. More...
 
int close_communication_robot (void)
 Ferme la communication avec le robot. More...
 
int send_command_to_robot (char cmd, const char *arg)
 Envoi une commande au robot et attends sa réponse. More...
 
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-Variables

int fd
 
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Function Documentation

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◆ checkSumGO()

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char checkSumGO (char * msg)
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Definition at line 237 of file robot.cpp.

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◆ close_communication_robot()

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int close_communication_robot (void )
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Ferme la communication avec le robot.

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Ferme le descripteur de fichier du port serie contrôlant le robot.

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Retourne -1 en cas d'erreur ou 0 en cas de fermeture effectué
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Definition at line 64 of file robot.cpp.

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◆ getChar()

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Definition at line 199 of file robot.cpp.

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◆ open_communication_robot()

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int open_communication_robot (const char * path = serialPort)
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Ouvre la communication avec le robot.

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Ouvre le serial port passé en paramétre. Par defaut cette fonction ouvre le port ttySO connecté au module xbee.

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*pathchaine de caractère indiquant le path du port serie à ouvrir.
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Definition at line 36 of file robot.cpp.

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◆ readSerial()

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Definition at line 216 of file robot.cpp.

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◆ receiveMsg()

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Definition at line 168 of file robot.cpp.

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◆ send_command_to_robot()

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int send_command_to_robot (char cmd,
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Envoi une commande au robot et attends sa réponse.

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Envoi une commande au robot en ajoutant le checksum et lis la réponse du robot en verifiant le checksum. Le premier paramétre cmd correspond au type de commande ex : PING, SETMOVE ... Le second paramétre *arg correspond aux arguments à la commande ex : SETMOVE, "100" La fonction retourne un code confirmation transmise par le robot (ROBOT_CHEKSUM, ROBOT_ERROR, ROBOT_TIMED_OUT, ROBOT_OK, ROBOT_UKNOW_CMD)

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Definition at line 74 of file robot.cpp.

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◆ sendCmd()

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Definition at line 138 of file robot.cpp.

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Variable Documentation

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◆ fd

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int fd
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Definition at line 28 of file robot.cpp.

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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/robot_8cpp.js b/software/raspberry/superviseur-robot/lib/doc/html/robot_8cpp.js deleted file mode 100644 index 627339f..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/robot_8cpp.js +++ /dev/null @@ -1,12 +0,0 @@ -var robot_8cpp = -[ - [ "checkSumGO", "robot_8cpp.html#ab87123df26d91967d4d7507ad10326ac", null ], - [ "close_communication_robot", "robot_8cpp.html#a3fbce7530a62f9287f8a3b85b9c7e4d7", null ], - [ "getChar", "robot_8cpp.html#a116eceb372bf4bda7e6a360286e762b1", null ], - [ "open_communication_robot", "robot_8cpp.html#a9360e75fe324da14faaa87105771140e", null ], - [ "readSerial", "robot_8cpp.html#a2e1339c58b604c970f67096c7d143c2a", null ], - [ "receiveMsg", "robot_8cpp.html#adf885bd17005f841896acf2e49350db7", null ], - [ "send_command_to_robot", "robot_8cpp.html#a68c01c5d6226d21fc0d141f681806677", null ], - [ "sendCmd", "robot_8cpp.html#ac9d64c6d05c20ae9fdb8c158e2ee7098", null ], - [ "fd", "robot_8cpp.html#a6f8059414f0228f0256115e024eeed4b", null ] -]; 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robot.cpp
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1 /*
2  * Copyright (C) 2018 dimercur
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
26 #include "robot.h"
27 
28 int fd;
29 
30 int getChar(char * c);
31 int readSerial(char * msg);
32 char checkSumGO(char * msg);
33 int receiveMsg(void);
34 int sendCmd(char cmd, const char * arg);
35 
36 int open_communication_robot(const char * path)
37 {
38 #ifndef __STUB__
39  struct termios options;
40  fd = open(path, O_RDWR | O_NOCTTY | O_NDELAY);
41  if(fd !=-1)
42  {
43  fcntl(fd, F_SETFL, 0);
44  tcgetattr(fd, &options);
45  options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
46  cfsetospeed (&options, B9600);
47  cfsetispeed (&options, B9600);
48  options.c_cc[VMIN]=0;
49  options.c_cc[VTIME]=0;
50  tcsetattr(fd, TCSANOW, &options);
51  return 0;
52  }
53  else
54  {
55  perror("can't openSerial");
56  return -1;
57  }
58 #else
59  return 0;
60 #endif
61 }
62 
63 
64 int close_communication_robot(void)
65 {
66 #ifndef __STUB__
67  return close(fd);
68 #else
69  return 0;
70 #endif
71 }
72 
73 
74 int send_command_to_robot(char cmd, const char * arg)
75 {
76 #ifndef __STUB__
77  sendCmd(cmd,arg);
78  // TODO : check return from sendCmd
79  return receiveMsg();
80 #else
81  int reponse;
82  switch(cmd)
83  {
84  case DMB_PING:
85  reponse = 0;
86  break;
87  case DMB_IDLE:
88  reponse = 0;
89  break;
90  case DMB_START_WITH_WD:
91  reponse = 0;
92  break;
93  case DMB_RELOAD_WD:
94  reponse = 0;
95  break;
96  case DMB_GET_VBAT:
97  reponse = 2;
98  break;
99  case DMB_IS_BUSY:
100  reponse = 1;
101  break;
102  case DMB_START_WITHOUT_WD:
103  reponse = 0;
104  break;
105  case DMB_MOVE:
106  reponse = 0;
107  break;
108  case DMB_TURN:
109  reponse = 0;
110  break;
111  case DMB_GO_FORWARD:
112  reponse = 0;
113  break;
114  case DMB_GO_BACK:
115  reponse = 0;
116  break;
117  case DMB_GO_LEFT:
118  reponse = 0;
119  break;
120  case DMB_GO_RIGHT:
121  reponse = 0;
122  break;
123  case DMB_STOP_MOVE:
124  reponse = 0;
125  break;
126  default:
127  reponse = 0;
128  break;
129  }
130  return reponse;
131 #endif
132 }
133 
134 /****************************/
135 /* PRIVATE */
136 /****************************/
137 
138 int sendCmd(char cmd, const char * arg)
139 {
140  char cmdWithArg[20]={};
141  cmdWithArg[0]=cmd;
142  switch(cmd)
143  {
144  case DMB_GO_FORWARD: strcpy(cmdWithArg,"M=+64000");
145  break;
146  case DMB_GO_BACK: strcpy(cmdWithArg,"M=-64000");
147  break;
148  case DMB_GO_LEFT: strcpy(cmdWithArg,"T=+64000");
149  break;
150  case DMB_GO_RIGHT: strcpy(cmdWithArg,"T=-64000");
151  break;
152  case DMB_STOP_MOVE: strcpy(cmdWithArg,"M=0");
153  break;
154  case DMB_MOVE: strcat(cmdWithArg,"=");
155  strcat(cmdWithArg,arg);
156  break;
157  case DMB_TURN: strcat(cmdWithArg,"=");
158  strcat(cmdWithArg,arg);
159  break;
160  }
161  int sizeCmd = strlen(cmdWithArg);
162  cmdWithArg[sizeCmd] = checkSumGO(cmdWithArg);
163  cmdWithArg[sizeCmd+1] = '\r';
164  cmdWithArg[sizeCmd+2] = '\0';
165  return write(fd,cmdWithArg,strlen(cmdWithArg));
166 }
167 
168 int receiveMsg(void)
169 {
170  char msg[20];
171  int b;
172  if((b = readSerial(msg))!=ROBOT_TIMED_OUT)
173  {
174  int taille = strlen(msg);
175  char checksum = msg[taille-2];
176  msg[taille-1] = 0;
177  msg[taille-2] = 0;
178  if(checksum!=checkSumGO(msg))
179  {
180  return ROBOT_CHECKSUM;
181  }
182  else
183  {
184  switch(msg[0])
185  {
186  case 'O' : return 0;
187  case 'E' : return ROBOT_ERROR;
188  case 'C' : return ROBOT_UKNOWN_CMD;
189  default : return atoi(&msg[0]);
190  }
191  }
192  }
193  else
194  {
195  return ROBOT_TIMED_OUT;
196  }
197 }
198 
199 int getChar(char * c)
200 {
201  int n =0;
202  int delay =0;
203  while((n=read(fd,c,1)) <=0)
204  {
205  usleep(5000);
206  delay++;
207  if(delay > 10)
208  {
209  return ROBOT_TIMED_OUT;
210  }
211 
212  }
213  return n;
214 }
215 
216 int readSerial(char * msg)
217 {
218  char car=0;
219  int i=0;
220  for(int j = 0 ; j < 20 ; j++)
221  msg[j]=0;
222 
223  while(car !='\r' && car!='\n') {
224  if(i>=20)
225  return -5;
226 
227  if(getChar(&car)==ROBOT_TIMED_OUT) {
228  return ROBOT_TIMED_OUT;
229  }
230 
231  msg[i] = car;
232  i++;
233  }
234  return i;
235 }
236 
237 char checkSumGO(char * msg)
238 {
239  char resultat = 0;
240  int i = 0;
241  int taille = strlen(msg);
242  for(i=0;i<taille;i++)
243  {
244  resultat^=msg[i];
245  }
246  return resultat;
247 
248 }
249 
250 
251 
DMB_PING
#define DMB_PING
Definition: definitions.h:33
-
DMB_RELOAD_WD
#define DMB_RELOAD_WD
Definition: definitions.h:37
-
DMB_GO_LEFT
#define DMB_GO_LEFT
Definition: definitions.h:44
-
DMB_START_WITH_WD
#define DMB_START_WITH_WD
Definition: definitions.h:36
-
DMB_GO_BACK
#define DMB_GO_BACK
Definition: definitions.h:43
-
robot.h
Fonctions for communicating with robot.
-
checkSumGO
char checkSumGO(char *msg)
Definition: robot.cpp:237
-
readSerial
int readSerial(char *msg)
Definition: robot.cpp:216
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ROBOT_ERROR
#define ROBOT_ERROR
Definition: definitions.h:50
-
ROBOT_CHECKSUM
#define ROBOT_CHECKSUM
Definition: definitions.h:51
-
DMB_START_WITHOUT_WD
#define DMB_START_WITHOUT_WD
Definition: definitions.h:35
-
receiveMsg
int receiveMsg(void)
Definition: robot.cpp:168
-
getChar
int getChar(char *c)
Definition: robot.cpp:199
-
ROBOT_UKNOWN_CMD
#define ROBOT_UKNOWN_CMD
Definition: definitions.h:49
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DMB_IDLE
#define DMB_IDLE
Definition: definitions.h:34
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DMB_GO_RIGHT
#define DMB_GO_RIGHT
Definition: definitions.h:45
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sendCmd
int sendCmd(char cmd, const char *arg)
Definition: robot.cpp:138
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DMB_IS_BUSY
#define DMB_IS_BUSY
Definition: definitions.h:39
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DMB_GET_VBAT
#define DMB_GET_VBAT
Definition: definitions.h:38
-
ROBOT_TIMED_OUT
#define ROBOT_TIMED_OUT
Definition: definitions.h:48
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DMB_GO_FORWARD
#define DMB_GO_FORWARD
Definition: definitions.h:42
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send_command_to_robot
int send_command_to_robot(char cmd, const char *arg)
Envoi une commande au robot et attends sa réponse.
Definition: robot.cpp:74
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fd
int fd
Definition: robot.cpp:28
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open_communication_robot
int open_communication_robot(const char *path)
Ouvre la communication avec le robot.
Definition: robot.cpp:36
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DMB_STOP_MOVE
#define DMB_STOP_MOVE
Definition: definitions.h:46
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close_communication_robot
int close_communication_robot(void)
Ferme la communication avec le robot.
Definition: robot.cpp:64
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DMB_TURN
#define DMB_TURN
Definition: definitions.h:41
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DMB_MOVE
#define DMB_MOVE
Definition: definitions.h:40
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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/robot_8h.html b/software/raspberry/superviseur-robot/lib/doc/html/robot_8h.html deleted file mode 100644 index 258c699..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/robot_8h.html +++ /dev/null @@ -1,262 +0,0 @@ - - - - - - - -Bibliotheques TP RT: robot.h File Reference - - - - - - - - - - - - - - -
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Bibliotheques TP RT -  1.0 -
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Bibliotheque de support pour TP/RT
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-Classes | -Macros | -Functions
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robot.h File Reference
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Fonctions for communicating with robot. -More...

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#include <stdio.h>
-#include <unistd.h>
-#include <fcntl.h>
-#include <termios.h>
-#include <string.h>
-#include <stdlib.h>
-#include "definitions.h"
-
-Include dependency graph for robot.h:
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Go to the source code of this file.

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-Classes

struct  MessageToRobot
 
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-Macros

#define serialPort   "/dev/ttyS0"
 
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-Functions

int open_communication_robot (const char *path=serialPort)
 Ouvre la communication avec le robot. More...
 
int close_communication_robot (void)
 Ferme la communication avec le robot. More...
 
int send_command_to_robot (char cmd, const char *arg=NULL)
 Envoi une commande au robot et attends sa réponse. More...
 
-

Detailed Description

-

Fonctions for communicating with robot.

-
Author
L.Senaneuch
-
Version
1.0
-
Date
06/06/2017
- -

Definition in file robot.h.

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Macro Definition Documentation

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◆ serialPort

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#define serialPort   "/dev/ttyS0"
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Definition at line 40 of file robot.h.

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Function Documentation

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◆ close_communication_robot()

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int close_communication_robot (void )
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Ferme la communication avec le robot.

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Ferme le descripteur de fichier du port serie contrôlant le robot.

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Returns
Retourne -1 en cas d'erreur ou 0 en cas de fermeture effectué
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◆ open_communication_robot()

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int open_communication_robot (const char * path = serialPort)
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Ouvre la communication avec le robot.

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Ouvre le serial port passé en paramétre. Par defaut cette fonction ouvre le port ttySO connecté au module xbee.

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Parameters
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pathChaine de caractère contenant le path du port serie à ouvrir.
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Return -1 si l'ouverture c'est mal passé et 0 si le port est ouvert.
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◆ send_command_to_robot()

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int send_command_to_robot (char cmd,
const char * arg = NULL 
)
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Envoi une commande au robot et attends sa réponse.

-

Envoi une commande au robot en ajoutant le checksum et lis la réponse du robot en verifiant le checksum. Le premier paramétre cmd correspond au type de commande ex : PING, SETMOVE ... Le second paramétre *arg correspond aux arguments à la commande ex : SETMOVE, "100" La fonction retourne un code confirmation transmise par le robot (ROBOT_CHEKSUM, ROBOT_ERROR, ROBOT_TIMED_OUT, ROBOT_OK, ROBOT_UKNOW_CMD)

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cmdEntête de la commande
argArgument de la commande
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Returns
Retourne un code confirmation.
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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/robot_8h.js b/software/raspberry/superviseur-robot/lib/doc/html/robot_8h.js deleted file mode 100644 index 9c39a86..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/robot_8h.js +++ /dev/null @@ -1,8 +0,0 @@ -var robot_8h = -[ - [ "MessageToRobot", "struct_message_to_robot.html", "struct_message_to_robot" ], - [ "serialPort", "robot_8h.html#a32c8768c18732c59b503f8ee7515a693", null ], - [ "close_communication_robot", "robot_8h.html#a3fbce7530a62f9287f8a3b85b9c7e4d7", null ], - [ "open_communication_robot", "robot_8h.html#a0e70fa821a04d349552b8bd54f6935db", null ], - [ "send_command_to_robot", "robot_8h.html#abe88fd581be321a9d86ae7063abd2f65", null ] -]; \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/html/robot_8h__dep__incl.map b/software/raspberry/superviseur-robot/lib/doc/html/robot_8h__dep__incl.map deleted file mode 100644 index 5726183..0000000 --- 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Bibliotheques TP RT -  1.0 -
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Bibliotheque de support pour TP/RT
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robot.h
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-Go to the documentation of this file.
1 /*
2  * Copyright (C) 2018 dimercur
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
26 #ifndef _ROBOT_H_
27 #define _ROBOT_H_
28 
29 #include <stdio.h>
30 #include <unistd.h>
31 #include <fcntl.h>
32 #include <termios.h>
33 #include <string.h>
34 #include <stdlib.h>
35 #include "definitions.h"
36 
37 #ifdef __FOR_PC__
38 #define serialPort "/dev/ttyUSB0"
39 #else
40 #define serialPort "/dev/ttyS0"
41 #endif /* __FOR_PC__ */
42 
43 typedef struct
44  {
45  char header[4];
46  char data[20];
47  } MessageToRobot;
48 
56 int open_communication_robot(const char * path=serialPort);
57 
64 int close_communication_robot(void);
65 
77 int send_command_to_robot(char cmd, const char * arg=NULL);
78 
79 #endif //_ROBOT_H_
close_communication_robot
int close_communication_robot(void)
Ferme la communication avec le robot.
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serialPort
#define serialPort
Definition: robot.h:40
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definitions.h
Various constants used in destjil project.
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open_communication_robot
int open_communication_robot(const char *path=serialPort)
Ouvre la communication avec le robot.
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send_command_to_robot
int send_command_to_robot(char cmd, const char *arg=NULL)
Envoi une commande au robot et attends sa réponse.
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- - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/search/search.css b/software/raspberry/superviseur-robot/lib/doc/html/search/search.css deleted file mode 100644 index 3cf9df9..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/search/search.css +++ /dev/null @@ -1,271 +0,0 @@ -/*---------------- Search Box */ - -#FSearchBox { - float: left; -} - -#MSearchBox { - white-space : nowrap; - float: none; - margin-top: 8px; - right: 0px; - width: 170px; - height: 24px; - z-index: 102; -} - -#MSearchBox .left -{ - display:block; - position:absolute; - left:10px; - width:20px; - height:19px; - background:url('search_l.png') no-repeat; - background-position:right; -} - -#MSearchSelect { - display:block; - position:absolute; - width:20px; - height:19px; -} - -.left #MSearchSelect { - left:4px; -} - -.right #MSearchSelect { - right:5px; -} - -#MSearchField { - display:block; - position:absolute; - height:19px; - background:url('search_m.png') repeat-x; - border:none; - width:115px; - margin-left:20px; - padding-left:4px; - color: #909090; - outline: none; - font: 9pt Arial, Verdana, sans-serif; - -webkit-border-radius: 0px; -} - -#FSearchBox #MSearchField { - margin-left:15px; -} - -#MSearchBox .right { - display:block; - position:absolute; - right:10px; - top:8px; - width:20px; - height:19px; - background:url('search_r.png') no-repeat; - background-position:left; -} - -#MSearchClose { - display: none; - position: absolute; - top: 4px; - background : none; - border: none; - margin: 0px 4px 0px 0px; - padding: 0px 0px; - outline: none; -} - -.left #MSearchClose { - left: 6px; -} - -.right #MSearchClose { - right: 2px; -} - -.MSearchBoxActive #MSearchField { - color: #000000; -} - -/*---------------- Search filter selection */ - -#MSearchSelectWindow { - display: none; - position: absolute; - left: 0; top: 0; - border: 1px solid #90A5CE; - background-color: #F9FAFC; - z-index: 10001; - padding-top: 4px; - padding-bottom: 4px; - -moz-border-radius: 4px; - -webkit-border-top-left-radius: 4px; - -webkit-border-top-right-radius: 4px; - -webkit-border-bottom-left-radius: 4px; - -webkit-border-bottom-right-radius: 4px; - -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); -} - -.SelectItem { - font: 8pt Arial, Verdana, sans-serif; - padding-left: 2px; - padding-right: 12px; - border: 0px; -} - -span.SelectionMark { - margin-right: 4px; - font-family: monospace; - outline-style: none; - text-decoration: none; -} - -a.SelectItem { - display: block; - outline-style: none; - color: #000000; - text-decoration: none; - padding-left: 6px; - padding-right: 12px; -} - -a.SelectItem:focus, -a.SelectItem:active { - color: #000000; - outline-style: none; - text-decoration: none; -} - -a.SelectItem:hover { - color: #FFFFFF; - background-color: #3D578C; - outline-style: none; - text-decoration: none; - cursor: pointer; - display: block; -} - -/*---------------- Search results window */ - -iframe#MSearchResults { - width: 60ex; - height: 15em; -} - -#MSearchResultsWindow { - display: none; - position: absolute; - left: 0; top: 0; - border: 1px solid #000; - background-color: #EEF1F7; - z-index:10000; -} - -/* ----------------------------------- */ - - -#SRIndex { - clear:both; - padding-bottom: 15px; -} - -.SREntry { - font-size: 10pt; - padding-left: 1ex; -} - -.SRPage .SREntry { - font-size: 8pt; - padding: 1px 5px; -} - -body.SRPage { - margin: 5px 2px; -} - -.SRChildren { - padding-left: 3ex; padding-bottom: .5em -} - -.SRPage .SRChildren { - display: none; -} - -.SRSymbol { - font-weight: bold; - color: #425E97; - font-family: Arial, Verdana, sans-serif; - text-decoration: none; - outline: none; -} - -a.SRScope { - display: block; - color: #425E97; - font-family: Arial, Verdana, sans-serif; - text-decoration: none; - outline: none; -} - -a.SRSymbol:focus, a.SRSymbol:active, -a.SRScope:focus, a.SRScope:active { - text-decoration: underline; -} - -span.SRScope { - padding-left: 4px; -} - -.SRPage .SRStatus { - padding: 2px 5px; - font-size: 8pt; - font-style: italic; -} - -.SRResult { - display: none; -} - -DIV.searchresults { - margin-left: 10px; - margin-right: 10px; -} - -/*---------------- External search page results */ - -.searchresult { - background-color: #F0F3F8; -} - -.pages b { - color: white; - padding: 5px 5px 3px 5px; - background-image: url("../tab_a.png"); - background-repeat: repeat-x; - text-shadow: 0 1px 1px #000000; -} - -.pages { - line-height: 17px; - margin-left: 4px; - text-decoration: none; -} - -.hl { - font-weight: bold; -} - -#searchresults { - margin-bottom: 20px; -} - -.searchpages { - margin-top: 10px; -} - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/search/search.js b/software/raspberry/superviseur-robot/lib/doc/html/search/search.js deleted file mode 100644 index dedce3b..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/search/search.js +++ /dev/null @@ -1,791 +0,0 @@ -function convertToId(search) -{ - var result = ''; - for (i=0;i do a search - { - this.Search(); - } - } - - this.OnSearchSelectKey = function(evt) - { - var e = (evt) ? evt : window.event; // for IE - if (e.keyCode==40 && this.searchIndex0) // Up - { - this.searchIndex--; - this.OnSelectItem(this.searchIndex); - } - else if (e.keyCode==13 || e.keyCode==27) - { - this.OnSelectItem(this.searchIndex); - this.CloseSelectionWindow(); - this.DOMSearchField().focus(); - } - return false; - } - - // --------- Actions - - // Closes the results window. - this.CloseResultsWindow = function() - { - this.DOMPopupSearchResultsWindow().style.display = 'none'; - this.DOMSearchClose().style.display = 'none'; - this.Activate(false); - } - - this.CloseSelectionWindow = function() - { - this.DOMSearchSelectWindow().style.display = 'none'; - } - - // Performs a search. - this.Search = function() - { - this.keyTimeout = 0; - - // strip leading whitespace - var searchValue = this.DOMSearchField().value.replace(/^ +/, ""); - - var code = searchValue.toLowerCase().charCodeAt(0); - var idxChar = searchValue.substr(0, 1).toLowerCase(); - if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair - { - idxChar = searchValue.substr(0, 2); - } - - var resultsPage; - var resultsPageWithSearch; - var hasResultsPage; - - var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); - if (idx!=-1) - { - var hexCode=idx.toString(16); - resultsPage = this.resultsPath + '/' + indexSectionNames[this.searchIndex] + '_' + hexCode + '.html'; - resultsPageWithSearch = resultsPage+'?'+escape(searchValue); - hasResultsPage = true; - } - else // nothing available for this search term - { - resultsPage = this.resultsPath + '/nomatches.html'; - resultsPageWithSearch = resultsPage; - hasResultsPage = false; - } - - window.frames.MSearchResults.location = resultsPageWithSearch; - var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); - - if (domPopupSearchResultsWindow.style.display!='block') - { - var domSearchBox = this.DOMSearchBox(); - this.DOMSearchClose().style.display = 'inline'; - if (this.insideFrame) - { - var domPopupSearchResults = this.DOMPopupSearchResults(); - domPopupSearchResultsWindow.style.position = 'relative'; - domPopupSearchResultsWindow.style.display = 'block'; - var width = document.body.clientWidth - 8; // the -8 is for IE :-( - domPopupSearchResultsWindow.style.width = width + 'px'; - domPopupSearchResults.style.width = width + 'px'; - } - else - { - var domPopupSearchResults = this.DOMPopupSearchResults(); - var left = getXPos(domSearchBox) + 150; // domSearchBox.offsetWidth; - var top = getYPos(domSearchBox) + 20; // domSearchBox.offsetHeight + 1; - domPopupSearchResultsWindow.style.display = 'block'; - left -= domPopupSearchResults.offsetWidth; - domPopupSearchResultsWindow.style.top = top + 'px'; - domPopupSearchResultsWindow.style.left = left + 'px'; - } - } - - this.lastSearchValue = searchValue; - this.lastResultsPage = resultsPage; - } - - // -------- Activation Functions - - // Activates or deactivates the search panel, resetting things to - // their default values if necessary. - this.Activate = function(isActive) - { - if (isActive || // open it - this.DOMPopupSearchResultsWindow().style.display == 'block' - ) - { - this.DOMSearchBox().className = 'MSearchBoxActive'; - - var searchField = this.DOMSearchField(); - - if (searchField.value == this.searchLabel) // clear "Search" term upon entry - { - searchField.value = ''; - this.searchActive = true; - } - } - else if (!isActive) // directly remove the panel - { - this.DOMSearchBox().className = 'MSearchBoxInactive'; - this.DOMSearchField().value = this.searchLabel; - this.searchActive = false; - this.lastSearchValue = '' - this.lastResultsPage = ''; - } - } -} - -// ----------------------------------------------------------------------- - -// The class that handles everything on the search results page. -function SearchResults(name) -{ - // The number of matches from the last run of . - this.lastMatchCount = 0; - this.lastKey = 0; - this.repeatOn = false; - - // Toggles the visibility of the passed element ID. - this.FindChildElement = function(id) - { - var parentElement = document.getElementById(id); - var element = parentElement.firstChild; - - while (element && element!=parentElement) - { - if (element.nodeName == 'DIV' && element.className == 'SRChildren') - { - return element; - } - - if (element.nodeName == 'DIV' && element.hasChildNodes()) - { - element = element.firstChild; - } - else if (element.nextSibling) - { - element = element.nextSibling; - } - else - { - do - { - element = element.parentNode; - } - while (element && element!=parentElement && !element.nextSibling); - - if (element && element!=parentElement) - { - element = element.nextSibling; - } - } - } - } - - this.Toggle = function(id) - { - var element = this.FindChildElement(id); - if (element) - { - if (element.style.display == 'block') - { - element.style.display = 'none'; - } - else - { - element.style.display = 'block'; - } - } - } - - // Searches for the passed string. If there is no parameter, - // it takes it from the URL query. - // - // Always returns true, since other documents may try to call it - // and that may or may not be possible. - this.Search = function(search) - { - if (!search) // get search word from URL - { - search = window.location.search; - search = search.substring(1); // Remove the leading '?' - search = unescape(search); - } - - search = search.replace(/^ +/, ""); // strip leading spaces - search = search.replace(/ +$/, ""); // strip trailing spaces - search = search.toLowerCase(); - search = convertToId(search); - - var resultRows = document.getElementsByTagName("div"); - var matches = 0; - - var i = 0; - while (i < resultRows.length) - { - var row = resultRows.item(i); - if (row.className == "SRResult") - { - var rowMatchName = row.id.toLowerCase(); - rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_' - - if (search.length<=rowMatchName.length && - rowMatchName.substr(0, search.length)==search) - { - row.style.display = 'block'; - matches++; - } - else - { - row.style.display = 'none'; - } - } - i++; - } - document.getElementById("Searching").style.display='none'; - if (matches == 0) // no results - { - document.getElementById("NoMatches").style.display='block'; - } - else // at least one result - { - document.getElementById("NoMatches").style.display='none'; - } - this.lastMatchCount = matches; - return true; - } - - // return the first item with index index or higher that is visible - this.NavNext = function(index) - { - var focusItem; - while (1) - { - var focusName = 'Item'+index; - focusItem = document.getElementById(focusName); - if (focusItem && focusItem.parentNode.parentNode.style.display=='block') - { - break; - } - else if (!focusItem) // last element - { - break; - } - focusItem=null; - index++; - } - return focusItem; - } - - this.NavPrev = function(index) - { - var focusItem; - while (1) - { - var focusName = 'Item'+index; - focusItem = document.getElementById(focusName); - if (focusItem && focusItem.parentNode.parentNode.style.display=='block') - { - break; - } - else if (!focusItem) // last element - { - break; - } - focusItem=null; - index--; - } - return focusItem; - } - - this.ProcessKeys = function(e) - { - if (e.type == "keydown") - { - this.repeatOn = false; - this.lastKey = e.keyCode; - } - else if (e.type == "keypress") - { - if (!this.repeatOn) - { - if (this.lastKey) this.repeatOn = true; - return false; // ignore first keypress after keydown - } - } - else if (e.type == "keyup") - { - this.lastKey = 0; - this.repeatOn = false; - } - return this.lastKey!=0; - } - - this.Nav = function(evt,itemIndex) - { - var e = (evt) ? evt : window.event; // for IE - if (e.keyCode==13) return true; - if (!this.ProcessKeys(e)) return false; - - if (this.lastKey==38) // Up - { - var newIndex = itemIndex-1; - var focusItem = this.NavPrev(newIndex); - if (focusItem) - { - var child = this.FindChildElement(focusItem.parentNode.parentNode.id); - if (child && child.style.display == 'block') // children visible - { - var n=0; - var tmpElem; - while (1) // search for last child - { - tmpElem = document.getElementById('Item'+newIndex+'_c'+n); - if (tmpElem) - { - focusItem = tmpElem; - } - else // found it! - { - break; - } - n++; - } - } - } - if (focusItem) - { - focusItem.focus(); - } - else // return focus to search field - { - parent.document.getElementById("MSearchField").focus(); - } - } - else if (this.lastKey==40) // Down - { - var newIndex = itemIndex+1; - var focusItem; - var item = document.getElementById('Item'+itemIndex); - var elem = this.FindChildElement(item.parentNode.parentNode.id); - if (elem && elem.style.display == 'block') // children visible - { - focusItem = document.getElementById('Item'+itemIndex+'_c0'); - } - if (!focusItem) focusItem = this.NavNext(newIndex); - if (focusItem) focusItem.focus(); - } - else if (this.lastKey==39) // Right - { - var item = document.getElementById('Item'+itemIndex); - var elem = this.FindChildElement(item.parentNode.parentNode.id); - if (elem) elem.style.display = 'block'; - } - else if (this.lastKey==37) // Left - { - var item = document.getElementById('Item'+itemIndex); - var elem = this.FindChildElement(item.parentNode.parentNode.id); - if (elem) elem.style.display = 'none'; - } - else if (this.lastKey==27) // Escape - { - parent.searchBox.CloseResultsWindow(); - parent.document.getElementById("MSearchField").focus(); - } - else if (this.lastKey==13) // Enter - { - return true; - } - return false; - } - - this.NavChild = function(evt,itemIndex,childIndex) - { - var e = (evt) ? evt : window.event; // for IE - if (e.keyCode==13) return true; - if (!this.ProcessKeys(e)) return false; - - if (this.lastKey==38) // Up - { - if (childIndex>0) - { - var newIndex = childIndex-1; - document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); - } - else // already at first child, jump to parent - { - document.getElementById('Item'+itemIndex).focus(); - } - } - else if (this.lastKey==40) // Down - { - var newIndex = childIndex+1; - var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); - if (!elem) // last child, jump to parent next parent - { - elem = this.NavNext(itemIndex+1); - } - if (elem) - { - elem.focus(); - } - } - else if (this.lastKey==27) // Escape - { - parent.searchBox.CloseResultsWindow(); - parent.document.getElementById("MSearchField").focus(); - } - else if (this.lastKey==13) // Enter - { - return true; - } - return false; - } -} - -function setKeyActions(elem,action) -{ - elem.setAttribute('onkeydown',action); - elem.setAttribute('onkeypress',action); - elem.setAttribute('onkeyup',action); -} - -function setClassAttr(elem,attr) -{ - elem.setAttribute('class',attr); - elem.setAttribute('className',attr); -} - -function createResults() -{ - var results = document.getElementById("SRResults"); - for (var e=0; ek7RCwB~R6VQOP#AvB$vH7i{6H{96zot$7cZT<7246EF5Np6N}+$IbiG6W zg#87A+NFaX+=_^xM1#gCtshC=E{%9^uQX_%?YwXvo{#q&MnpJ8uh(O?ZRc&~_1%^SsPxG@rfElJg-?U zm!Cz-IOn(qJP3kDp-^~qt+FGbl=5jNli^Wj_xIBG{Rc0en{!oFvyoNC7{V~T8}b>| z=jL2WIReZzX(YN(_9fV;BBD$VXQIxNasAL8ATvEu822WQ%mvv4FO#qs` BFGc_W diff --git a/software/raspberry/superviseur-robot/lib/doc/html/search/search_r.png b/software/raspberry/superviseur-robot/lib/doc/html/search/search_r.png deleted file mode 100644 index 97ee8b439687084201b79c6f776a41f495c6392a..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 612 zcmV-q0-ODbP)PbXFRCwB?)W514K@j&X?z2*SxFI6-@HT2E2K=9X9%Pb zEK*!TBw&g(DMC;|A)uGlRkOS9vd-?zNs%bR4d$w+ox_iFnE8fvIvv7^5<(>Te12Li z7C)9srCzmK{ZcNM{YIl9j{DePFgOWiS%xG@5CnnnJa4nvY<^glbz7^|-ZY!dUkAwd z{gaTC@_>b5h~;ug#R0wRL0>o5!hxm*s0VW?8dr}O#zXTRTnrQm_Z7z1Mrnx>&p zD4qifUjzLvbVVWi?l?rUzwt^sdb~d!f_LEhsRVIXZtQ=qSxuxqm zEX#tf>$?M_Y1-LSDT)HqG?`%-%ZpY!#{N!rcNIiL;G7F0`l?)mNGTD9;f9F5Up3Kg zw}a<-JylhG&;=!>B+fZaCX+?C+kHYrP%c?X2!Zu_olK|GcS4A70HEy;vn)I0>0kLH z`jc(WIaaHc7!HS@f*^R^Znx8W=_jIl2oWJoQ*h1^$FX!>*PqR1J8k|fw}w_y}TpE>7m8DqDO<3z`OzXt$ccSejbEZCg@0000 - - - - - - - - -
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- - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/search/typedefs_0.js b/software/raspberry/superviseur-robot/lib/doc/html/search/typedefs_0.js deleted file mode 100644 index 3df5a05..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/search/typedefs_0.js +++ /dev/null @@ -1,4 +0,0 @@ -var searchData= -[ - ['arene',['Arene',['../image_8h.html#aa856a7cb8a1535c9f13096bede6c8586',1,'image.h']]] -]; diff --git a/software/raspberry/superviseur-robot/lib/doc/html/search/typedefs_1.html b/software/raspberry/superviseur-robot/lib/doc/html/search/typedefs_1.html deleted file mode 100644 index b77c533..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/search/typedefs_1.html +++ /dev/null @@ -1,26 +0,0 @@ - - - - - - - - - -
-
Loading...
-
- -
Searching...
-
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-Macros | -Functions | -Variables
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server.cpp File Reference
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Library for opening a TCP server, receiving data and sending message to monitor. -More...

-
#include "server.h"
-#include <sys/socket.h>
-#include <arpa/inet.h>
-#include <netinet/in.h>
-#include <stdio.h>
-#include <stdlib.h>
-#include <unistd.h>
-
-Include dependency graph for server.cpp:
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Go to the source code of this file.

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-Macros

#define NB_CONNECTION_MAX   1
 
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-Functions

int openServer (int port)
 
int closeServer ()
 
int acceptClient ()
 
int sendDataToServer (char *data, int length)
 
int sendDataToServerForClient (int client, char *data, int length)
 
int receiveDataFromServer (char *data, int size)
 
int receiveDataFromServerFromClient (int client, char *data, int size)
 
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-Variables

int socketFD = -1
 
int clientID = -1
 
-

Detailed Description

-

Library for opening a TCP server, receiving data and sending message to monitor.

-
Author
PE.Hladik
-
Version
1.0
-
Date
06/06/2017
- -

Definition in file server.cpp.

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Macro Definition Documentation

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◆ NB_CONNECTION_MAX

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#define NB_CONNECTION_MAX   1
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Definition at line 35 of file server.cpp.

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Function Documentation

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◆ acceptClient()

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int acceptClient ()
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Definition at line 71 of file server.cpp.

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◆ closeServer()

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int closeServer ()
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Definition at line 63 of file server.cpp.

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◆ openServer()

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int openServer (int port)
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Definition at line 40 of file server.cpp.

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◆ receiveDataFromServer()

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int receiveDataFromServer (char * data,
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Definition at line 95 of file server.cpp.

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◆ receiveDataFromServerFromClient()

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int receiveDataFromServerFromClient (int client,
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Definition at line 99 of file server.cpp.

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◆ sendDataToServer()

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int sendDataToServer (char * data,
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Definition at line 85 of file server.cpp.

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◆ sendDataToServerForClient()

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int sendDataToServerForClient (int client,
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Definition at line 89 of file server.cpp.

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Variable Documentation

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◆ clientID

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int clientID = -1
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Definition at line 38 of file server.cpp.

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Definition at line 37 of file server.cpp.

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-
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server.cpp
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1 /*
2  * Copyright (C) 2018 dimercur
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
26 #include "server.h"
27 #include <sys/socket.h>
28 #include <arpa/inet.h>
29 #include <netinet/in.h>
30 
31 #include <stdio.h>
32 #include <stdlib.h>
33 #include <unistd.h>
34 
35 #define NB_CONNECTION_MAX 1
36 
37 int socketFD = -1;
38 int clientID = -1;
39 
40 int openServer(int port) {
41  struct sockaddr_in server;
42 
43  socketFD = socket(AF_INET, SOCK_STREAM, 0);
44  if (socketFD < 0) {
45  perror("Can not create socket");
46  exit(-1);
47  }
48 
49  server.sin_addr.s_addr = INADDR_ANY;
50  server.sin_family = AF_INET;
51  server.sin_port = htons(port);
52 
53  if (bind(socketFD, (struct sockaddr *) &server, sizeof (server)) < 0) {
54  perror("Can not bind socket");
55  exit(-1);
56  }
57 
58  listen(socketFD, NB_CONNECTION_MAX);
59 
60  return socketFD;
61 }
62 
63 int closeServer() {
64  close(socketFD);
65 
66  socketFD = -1;
67 
68  return 0;
69 }
70 
71 int acceptClient() {
72  struct sockaddr_in client;
73  int c = sizeof (struct sockaddr_in);
74 
75  clientID = accept(socketFD, (struct sockaddr *) &client, (socklen_t*) & c);
76 
77  if (clientID < 0) {
78  perror("Accept failed in acceptClient");
79  exit(-1);
80  }
81 
82  return clientID;
83 }
84 
85 int sendDataToServer(char *data, int length) {
86  return sendDataToServerForClient(clientID, data, length);
87 }
88 
89 int sendDataToServerForClient(int client, char *data, int length) {
90  if (client >= 0)
91  return write(client, (void*)data, length);
92  else return 0;
93 }
94 
95 int receiveDataFromServer(char *data, int size) {
96  return receiveDataFromServerFromClient(clientID, data, size);
97 }
98 
99 int receiveDataFromServerFromClient(int client, char *data, int size) {
100  char length = 0;
101 
102  if (client > 0) {
103  if ((length = recv(client, (void*)data, size, 0)) > 0) {
104  data[length] = 0;
105  }
106  }
107 
108  return length;
109 }
110 
111 
112 
113 
receiveDataFromServerFromClient
int receiveDataFromServerFromClient(int client, char *data, int size)
Definition: server.cpp:99
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closeServer
int closeServer()
Definition: server.cpp:63
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NB_CONNECTION_MAX
#define NB_CONNECTION_MAX
Definition: server.cpp:35
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clientID
int clientID
Definition: server.cpp:38
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receiveDataFromServer
int receiveDataFromServer(char *data, int size)
Definition: server.cpp:95
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openServer
int openServer(int port)
Definition: server.cpp:40
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acceptClient
int acceptClient()
Definition: server.cpp:71
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socketFD
int socketFD
Definition: server.cpp:37
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sendDataToServerForClient
int sendDataToServerForClient(int client, char *data, int length)
Definition: server.cpp:89
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sendDataToServer
int sendDataToServer(char *data, int length)
Definition: server.cpp:85
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server.h File Reference
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Library for opening a TCP server, receiving data and sending message to monitor. -More...

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#include "image.h"
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-Include dependency graph for server.h:
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Go to the source code of this file.

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-Macros

#define DEFAULT_SERVER_PORT   2323
 
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-Functions

int openServer (int port)
 Open server port, connect and listen to given port. More...
 
int closeServer ()
 Close server. More...
 
int acceptClient ()
 Wait for a client to connect. More...
 
int sendDataToServer (char *data, int length)
 Send given data to monitor. More...
 
int sendDataToServerForClient (int client, char *data, int length)
 Send given data to monitor, using specific client ID. More...
 
int receiveDataFromServer (char *data, int size)
 Read data from monitor. More...
 
int receiveDataFromServerFromClient (int client, char *data, int size)
 Read data from monitor, using specific client ID. More...
 
int sendImage (Jpg *image)
 Send image to monitor using default client ID. More...
 
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Detailed Description

-

Library for opening a TCP server, receiving data and sending message to monitor.

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Author
PE.Hladik
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Version
1.0
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Date
06/06/2017
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Definition in file server.h.

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Macro Definition Documentation

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◆ DEFAULT_SERVER_PORT

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#define DEFAULT_SERVER_PORT   2323
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Definition at line 30 of file server.h.

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Function Documentation

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◆ acceptClient()

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int acceptClient ()
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Wait for a client to connect.

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Returns
Return client Id or -1 if it failed
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◆ closeServer()

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int closeServer ()
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Close server.

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Returns
-1 if closing failed , 0 otherwise
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◆ openServer()

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int openServer (int port)
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Open server port, connect and listen to given port.

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Parameters
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portA valid port number (1024 - 65535)
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Returns
-1 if opening failed or the socket number
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◆ receiveDataFromServer()

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int receiveDataFromServer (char * data,
int size 
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Read data from monitor.

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Read, at most, size data from monitor. Data must be a valid pointer to a buffer large enough.

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Parameters
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dataA valid pointer to a buffer
sizeAmount of data to read
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Returns
Return amount of data really received. 0 if communication is broken
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◆ receiveDataFromServerFromClient()

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int receiveDataFromServerFromClient (int client,
char * data,
int size 
)
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Read data from monitor, using specific client ID.

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Read, at most, size data from monitor. Data must be a valid pointer to a buffer large enough.

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Parameters
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clientClient Id to receive from
dataA valid pointer to a buffer
sizeAmount of data to read
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Return amount of data really received. 0 if communication is broken
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◆ sendDataToServer()

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int sendDataToServer (char * data,
int length 
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Send given data to monitor.

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Send given data to monitor using default client ID

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Parameters
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dataA valid pointer to a buffer
lengthAmount of data to send
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Return amount of data really written. 0 if communication is broken
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◆ sendDataToServerForClient()

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int sendDataToServerForClient (int client,
char * data,
int length 
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Send given data to monitor, using specific client ID.

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Send given data to monitor using given client ID.

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clientClient Id to send data to
dataA valid pointer to a buffer
lengthAmount of data to send
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Return amount of data really written. 0 if communication is broken
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◆ sendImage()

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int sendImage (Jpg * image)
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Send image to monitor using default client ID.

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Convert image to raw data, and add correct header before sending to monitor

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Parameters
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imageAn image object after compression
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Return amount of data really received. 0 if communication is broken
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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/server_8h.js b/software/raspberry/superviseur-robot/lib/doc/html/server_8h.js deleted file mode 100644 index 02acab3..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/server_8h.js +++ /dev/null @@ -1,12 +0,0 @@ -var server_8h = -[ - [ "DEFAULT_SERVER_PORT", "server_8h.html#af257e2a3e091629829857a2eb8931a7a", null ], - [ "acceptClient", "server_8h.html#abff9f8e931ecce919588b371dc511857", null ], - [ "closeServer", "server_8h.html#ab65b2df50051036defe0f35366f5a3d6", null ], - [ "openServer", "server_8h.html#a99b54d5b3404766f906f49605a4aa0e3", null ], - [ "receiveDataFromServer", "server_8h.html#a8b66a2007f3f9ed8538428a309c9d368", null ], - [ "receiveDataFromServerFromClient", "server_8h.html#a247e0124af257d0cc7abc25a7c448d1b", null ], - [ "sendDataToServer", "server_8h.html#a8d865d29914b980fd71ed8d347e4ec50", null ], - [ "sendDataToServerForClient", "server_8h.html#a4c2df7961aa7379ac79d80980a1c537b", null ], - [ "sendImage", "server_8h.html#a51b9372f5467705aa81d76ae034c7628", null ] -]; \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/html/server_8h__dep__incl.map b/software/raspberry/superviseur-robot/lib/doc/html/server_8h__dep__incl.map deleted file mode 100644 index 363b09e..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/server_8h__dep__incl.map +++ /dev/null @@ -1,4 +0,0 @@ - - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/server_8h__dep__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/html/server_8h__dep__incl.md5 deleted file mode 100644 index 9f4d061..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/server_8h__dep__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -2b1d20aa36893ad804427c79a70e4ebe \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/html/server_8h__dep__incl.png b/software/raspberry/superviseur-robot/lib/doc/html/server_8h__dep__incl.png 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server.h
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1 /*
2  * Copyright (C) 2018 dimercur
3  *
4  * This program is free software: you can redistribute it and/or modify
5  * it under the terms of the GNU General Public License as published by
6  * the Free Software Foundation, either version 3 of the License, or
7  * (at your option) any later version.
8  *
9  * This program is distributed in the hope that it will be useful,
10  * but WITHOUT ANY WARRANTY; without even the implied warranty of
11  * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
12  * GNU General Public License for more details.
13  *
14  * You should have received a copy of the GNU General Public License
15  * along with this program. If not, see <http://www.gnu.org/licenses/>.
16  */
17 
26 #ifndef _SERVER_H_
27 #define _SERVER_H_
28 
29 #include "image.h"
30 #define DEFAULT_SERVER_PORT 2323
31 
38 int openServer (int port);
39 
45 int closeServer();
46 
52 int acceptClient();
53 
62 int sendDataToServer(char *data, int length);
63 
73 int sendDataToServerForClient(int client, char *data, int length);
74 
83 int receiveDataFromServer(char *data, int size);
84 
94 int receiveDataFromServerFromClient(int client, char *data, int size);
95 
103 int sendImage(Jpg *image);
104 #endif /* _SERVER_H_ */
105 
openServer
int openServer(int port)
Open server port, connect and listen to given port.
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image.h
Functions for image treatment.
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closeServer
int closeServer()
Close server.
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sendImage
int sendImage(Jpg *image)
Send image to monitor using default client ID.
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Jpg
vector< unsigned char > Jpg
Definition: image.h:67
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receiveDataFromServerFromClient
int receiveDataFromServerFromClient(int client, char *data, int size)
Read data from monitor, using specific client ID.
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receiveDataFromServer
int receiveDataFromServer(char *data, int size)
Read data from monitor.
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sendDataToServer
int sendDataToServer(char *data, int length)
Send given data to monitor.
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sendDataToServerForClient
int sendDataToServerForClient(int client, char *data, int length)
Send given data to monitor, using specific client ID.
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acceptClient
int acceptClient()
Wait for a client to connect.
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MessageFromMon Member List
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This is the complete list of members for MessageFromMon, including all inherited members.

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dataMessageFromMon
headerMessageFromMon
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-Public Attributes | -List of all members
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MessageFromMon Struct Reference
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#include <monitor.h>

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-Public Attributes

char header [4]
 
char data [100]
 
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Detailed Description

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Definition at line 74 of file monitor.h.

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Member Data Documentation

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◆ data

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char MessageFromMon::data[100]
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Definition at line 76 of file monitor.h.

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◆ header

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char MessageFromMon::header[4]
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Definition at line 75 of file monitor.h.

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The documentation for this struct was generated from the following file: -
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- - - - diff --git a/software/raspberry/superviseur-robot/lib/doc/html/struct_message_from_mon.js b/software/raspberry/superviseur-robot/lib/doc/html/struct_message_from_mon.js deleted file mode 100644 index d4dc39f..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/struct_message_from_mon.js +++ /dev/null @@ -1,5 +0,0 @@ -var struct_message_from_mon = -[ - [ "data", "struct_message_from_mon.html#a1aea445500b0fa020a1b08eaff791107", null ], - [ "header", "struct_message_from_mon.html#ad46f6e6dd24be5cb2bc5eae5b3cdd095", null ] -]; \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/html/struct_message_to_mon-members.html b/software/raspberry/superviseur-robot/lib/doc/html/struct_message_to_mon-members.html deleted file mode 100644 index 5205875..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/struct_message_to_mon-members.html +++ /dev/null @@ -1,105 +0,0 @@ - - - - - - - -Bibliotheques TP RT: Member List - - - - - - - - - - - - - - -
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Bibliotheques TP RT -  1.0 -
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MessageToMon Member List
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dataMessageToMon
headerMessageToMon
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MessageToMon Struct Reference
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#include <message.h>

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char header [4]
 
void * data = NULL
 
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Definition at line 34 of file message.h.

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void* MessageToMon::data = NULL
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Definition at line 36 of file message.h.

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◆ header

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char MessageToMon::header[4]
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Definition at line 35 of file message.h.

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Bibliotheques TP RT -  1.0 -
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MessageToRobot Member List
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dataMessageToRobot
headerMessageToRobot
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MessageToRobot Struct Reference
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#include <robot.h>

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char header [4]
 
char data [20]
 
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Definition at line 43 of file robot.h.

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char MessageToRobot::data[20]
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Definition at line 46 of file robot.h.

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char MessageToRobot::header[4]
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Definition at line 45 of file robot.h.

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Position Member List
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This is the complete list of members for Position, including all inherited members.

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anglePosition
centerPosition
directionPosition
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Position Struct Reference
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#include <image.h>

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Point center
 
Point direction
 
float angle
 
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Definition at line 69 of file image.h.

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float Position::angle
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Definition at line 72 of file image.h.

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Point Position::center
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Definition at line 70 of file image.h.

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Point Position::direction
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Definition at line 71 of file image.h.

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transparent}.sm-dox>li>ul:after{top:-16px;left:31px;border-width:8px;border-color:transparent transparent #fff transparent}.sm-dox ul{border:1px solid #bbb;padding:5px 0;background:#fff;border-radius:5px !important;box-shadow:0 5px 9px rgba(0,0,0,0.2)}.sm-dox ul a span.sub-arrow{right:8px;top:50%;margin-top:-5px;border-width:5px;border-color:transparent transparent transparent #555;border-style:dashed dashed dashed solid}.sm-dox ul a,.sm-dox ul a:hover,.sm-dox ul a:focus,.sm-dox ul a:active,.sm-dox ul a.highlighted{color:#555;background-image:none;border:0 !important;color:#555;background-image:none}.sm-dox ul a:hover{background-image:url("tab_a.png");background-repeat:repeat-x;color:#fff;text-shadow:0px 1px 1px #000}.sm-dox ul a:hover span.sub-arrow{border-color:transparent transparent transparent #fff}.sm-dox span.scroll-up,.sm-dox span.scroll-down{position:absolute;display:none;visibility:hidden;overflow:hidden;background:#fff;height:36px}.sm-dox span.scroll-up:hover,.sm-dox span.scroll-down:hover{background:#eee}.sm-dox span.scroll-up:hover span.scroll-up-arrow,.sm-dox span.scroll-up:hover span.scroll-down-arrow{border-color:transparent transparent #D23600 transparent}.sm-dox span.scroll-down:hover span.scroll-down-arrow{border-color:#D23600 transparent transparent transparent}.sm-dox span.scroll-up-arrow,.sm-dox span.scroll-down-arrow{position:absolute;top:0;left:50%;margin-left:-6px;width:0;height:0;overflow:hidden;border-width:6px;border-style:dashed dashed solid dashed;border-color:transparent transparent #555 transparent}.sm-dox span.scroll-down-arrow{top:8px;border-style:solid dashed dashed dashed;border-color:#555 transparent transparent transparent}.sm-dox.sm-rtl a.has-submenu{padding-right:12px;padding-left:24px}.sm-dox.sm-rtl a span.sub-arrow{right:auto;left:12px}.sm-dox.sm-rtl.sm-vertical a.has-submenu{padding:10px 20px}.sm-dox.sm-rtl.sm-vertical a span.sub-arrow{right:auto;left:8px;border-style:dashed solid dashed dashed;border-color:transparent #555 transparent transparent}.sm-dox.sm-rtl>li>ul:before{left:auto;right:30px}.sm-dox.sm-rtl>li>ul:after{left:auto;right:31px}.sm-dox.sm-rtl ul a.has-submenu{padding:10px 20px !important}.sm-dox.sm-rtl ul a span.sub-arrow{right:auto;left:8px;border-style:dashed solid dashed dashed;border-color:transparent #555 transparent transparent}.sm-dox.sm-vertical{padding:10px 0;border-radius:5px}.sm-dox.sm-vertical a{padding:10px 20px}.sm-dox.sm-vertical a:hover,.sm-dox.sm-vertical a:focus,.sm-dox.sm-vertical a:active,.sm-dox.sm-vertical a.highlighted{background:#fff}.sm-dox.sm-vertical a.disabled{background-image:url("tab_b.png")}.sm-dox.sm-vertical a span.sub-arrow{right:8px;top:50%;margin-top:-5px;border-width:5px;border-style:dashed dashed dashed solid;border-color:transparent transparent transparent #555}.sm-dox.sm-vertical>li>ul:before,.sm-dox.sm-vertical>li>ul:after{display:none}.sm-dox.sm-vertical ul a{padding:10px 20px}.sm-dox.sm-vertical ul a:hover,.sm-dox.sm-vertical ul a:focus,.sm-dox.sm-vertical ul a:active,.sm-dox.sm-vertical ul a.highlighted{background:#eee}.sm-dox.sm-vertical ul a.disabled{background:#fff}} diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/annotated.tex b/software/raspberry/superviseur-robot/lib/doc/latex/annotated.tex deleted file mode 100644 index cbbe8b0..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/annotated.tex +++ /dev/null @@ -1,7 +0,0 @@ -\section{Class List} -Here are the classes, structs, unions and interfaces with brief descriptions\+:\begin{DoxyCompactList} -\item\contentsline{section}{\hyperlink{struct_message_from_mon}{Message\+From\+Mon} }{\pageref{struct_message_from_mon}}{} -\item\contentsline{section}{\hyperlink{struct_message_to_mon}{Message\+To\+Mon} }{\pageref{struct_message_to_mon}}{} -\item\contentsline{section}{\hyperlink{struct_message_to_robot}{Message\+To\+Robot} }{\pageref{struct_message_to_robot}}{} -\item\contentsline{section}{\hyperlink{struct_position}{Position} }{\pageref{struct_position}}{} -\end{DoxyCompactList} diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/definitions_8h.tex b/software/raspberry/superviseur-robot/lib/doc/latex/definitions_8h.tex deleted file mode 100644 index aaba1f1..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/definitions_8h.tex +++ /dev/null @@ -1,430 +0,0 @@ -\hypertarget{definitions_8h}{}\section{definitions.\+h File Reference} -\label{definitions_8h}\index{definitions.\+h@{definitions.\+h}} - - -Various constants used in destjil project. - - -This graph shows which files directly or indirectly include this file\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=202pt]{definitions_8h__dep__incl} -\end{center} -\end{figure} -\subsection*{Macros} -\begin{DoxyCompactItemize} -\item -\#define \hyperlink{definitions_8h_aac798eaf6994ddcadd8a38ad8aba234f}{O\+P\+E\+N\+\_\+\+C\+O\+M\+\_\+\+D\+MB}~\textquotesingle{}o\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a1b18773c1ce9068c4d38c2cbd2900263}{C\+L\+O\+S\+E\+\_\+\+C\+O\+M\+\_\+\+D\+MB}~\textquotesingle{}C\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_acf7d51360dcb103fc57604725ec2816d}{D\+M\+B\+\_\+\+P\+I\+NG}~\textquotesingle{}p\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a82b279c49221d3cd3d875d521dfb97b9}{D\+M\+B\+\_\+\+I\+D\+LE}~\textquotesingle{}r\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a5ebbd37042a6244b4f9d473ae7132780}{D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+O\+U\+T\+\_\+\+WD}~\textquotesingle{}u\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_adee1628bbc796ba55f4a349895f4e0fa}{D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+\_\+\+WD}~\textquotesingle{}W\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a2ca219902014ffb39aab27cca08a948f}{D\+M\+B\+\_\+\+R\+E\+L\+O\+A\+D\+\_\+\+WD}~\textquotesingle{}w\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_af1737e8fe4da4e8bc2d5db9d26c42462}{D\+M\+B\+\_\+\+G\+E\+T\+\_\+\+V\+B\+AT}~\textquotesingle{}v\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_ad58c241121e685f26a291aa4bd5f9c80}{D\+M\+B\+\_\+\+I\+S\+\_\+\+B\+U\+SY}~\textquotesingle{}b\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_ac48dee90eb71d036d001321674abbb8b}{D\+M\+B\+\_\+\+M\+O\+VE}~\textquotesingle{}M\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_ac6c5492c8100e73f8d30ed36072684db}{D\+M\+B\+\_\+\+T\+U\+RN}~\textquotesingle{}T\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_ae363a29a4961cd8a646a0ca9199bc6cf}{D\+M\+B\+\_\+\+G\+O\+\_\+\+F\+O\+R\+W\+A\+RD}~\textquotesingle{}F\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a499f41cc19a4459de033687049cbbe71}{D\+M\+B\+\_\+\+G\+O\+\_\+\+B\+A\+CK}~\textquotesingle{}B\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_aefcb838e73a335f1a2a6c914ee2ff752}{D\+M\+B\+\_\+\+G\+O\+\_\+\+L\+E\+FT}~\textquotesingle{}L\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_ad681962f7b8cf4797ebd48be0405d1b9}{D\+M\+B\+\_\+\+G\+O\+\_\+\+R\+I\+G\+HT}~\textquotesingle{}R\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a7308179907a0a2989c162865e7a7979a}{D\+M\+B\+\_\+\+S\+T\+O\+P\+\_\+\+M\+O\+VE}~\textquotesingle{}S\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a624686d3af63394ee02f0a197967d44a}{R\+O\+B\+O\+T\+\_\+\+T\+I\+M\+E\+D\+\_\+\+O\+UT}~-\/3 -\item -\#define \hyperlink{definitions_8h_a70a2d5db14b900843364adb7cfe53ac8}{R\+O\+B\+O\+T\+\_\+\+U\+K\+N\+O\+W\+N\+\_\+\+C\+MD}~-\/2 -\item -\#define \hyperlink{definitions_8h_a4aefbbdd5d35999aa0575ab7183148d4}{R\+O\+B\+O\+T\+\_\+\+E\+R\+R\+OR}~-\/1 -\item -\#define \hyperlink{definitions_8h_af1118b8a83d446b4965347bba126a488}{R\+O\+B\+O\+T\+\_\+\+C\+H\+E\+C\+K\+S\+UM}~-\/4 -\item -\#define \hyperlink{definitions_8h_ad7b2f95c0b423fb9784acb897b910c36}{R\+O\+B\+O\+T\+\_\+\+OK}~0 -\item -\#define \hyperlink{definitions_8h_a2a7149bbe097fae8e799ce2ab6f69390}{C\+A\+M\+\_\+\+O\+P\+EN}~\textquotesingle{}A\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a675009273c3923e8ad1a6d2818063b61}{C\+A\+M\+\_\+\+C\+L\+O\+SE}~\textquotesingle{}I\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a6418778d1f34e618aebd9ca1861ab500}{C\+A\+M\+\_\+\+A\+S\+K\+\_\+\+A\+R\+E\+NA}~\textquotesingle{}y\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a15d9063cd3c60755685ceb75df4a7354}{C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+C\+O\+N\+F\+I\+RM}~\textquotesingle{}x\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_ac836c6abc7e32d2cf7f59ed2a8383ca7}{C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+I\+N\+F\+I\+RM}~\textquotesingle{}z\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a74fdb9d00556feb699d3c72bd7b5d5e5}{C\+A\+M\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON}~\textquotesingle{}p\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_ae864cfaefbf5a210e67678b2144a289f}{C\+A\+M\+\_\+\+S\+T\+O\+P\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON}~\textquotesingle{}s\textquotesingle{} -\item -\#define \hyperlink{definitions_8h_a66c0c4960c1e81c8da8c8e1d4a202352}{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+L\+OW}~0 -\item -\#define \hyperlink{definitions_8h_aea6ef1c13db1a8a4a29b065d0c3f73e4}{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+M\+E\+D\+I\+UM}~1 -\item -\#define \hyperlink{definitions_8h_ab34c46794a9de6746a96752668c73754}{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+H\+I\+GH}~2 -\item -\#define \hyperlink{definitions_8h_a3327443cd321f0c356a5d3d74377892b}{D\+M\+B\+\_\+\+B\+U\+SY}~1 -\item -\#define \hyperlink{definitions_8h_a07650c5f6647c5143bac535fdbeb77d5}{D\+M\+B\+\_\+\+D\+O\+\_\+\+N\+O\+T\+H\+I\+NG}~0 -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Various constants used in destjil project. - -\begin{DoxyAuthor}{Author} -P\+E.\+Hladik -\end{DoxyAuthor} -\begin{DoxyVersion}{Version} -1.\+0 -\end{DoxyVersion} -\begin{DoxyDate}{Date} -06/06/2017 -\end{DoxyDate} - - -\subsection{Macro Definition Documentation} -\mbox{\Hypertarget{definitions_8h_a15d9063cd3c60755685ceb75df4a7354}\label{definitions_8h_a15d9063cd3c60755685ceb75df4a7354}} -\index{definitions.\+h@{definitions.\+h}!C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+C\+O\+N\+F\+I\+RM@{C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+C\+O\+N\+F\+I\+RM}} -\index{C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+C\+O\+N\+F\+I\+RM@{C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+C\+O\+N\+F\+I\+RM}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+C\+O\+N\+F\+I\+RM}{CAM\_ARENA\_CONFIRM}} -{\footnotesize\ttfamily \#define C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+C\+O\+N\+F\+I\+RM~\textquotesingle{}x\textquotesingle{}} - - - -Definition at line 57 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_ac836c6abc7e32d2cf7f59ed2a8383ca7}\label{definitions_8h_ac836c6abc7e32d2cf7f59ed2a8383ca7}} -\index{definitions.\+h@{definitions.\+h}!C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+I\+N\+F\+I\+RM@{C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+I\+N\+F\+I\+RM}} -\index{C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+I\+N\+F\+I\+RM@{C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+I\+N\+F\+I\+RM}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+I\+N\+F\+I\+RM}{CAM\_ARENA\_INFIRM}} -{\footnotesize\ttfamily \#define C\+A\+M\+\_\+\+A\+R\+E\+N\+A\+\_\+\+I\+N\+F\+I\+RM~\textquotesingle{}z\textquotesingle{}} - - - -Definition at line 58 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a6418778d1f34e618aebd9ca1861ab500}\label{definitions_8h_a6418778d1f34e618aebd9ca1861ab500}} -\index{definitions.\+h@{definitions.\+h}!C\+A\+M\+\_\+\+A\+S\+K\+\_\+\+A\+R\+E\+NA@{C\+A\+M\+\_\+\+A\+S\+K\+\_\+\+A\+R\+E\+NA}} -\index{C\+A\+M\+\_\+\+A\+S\+K\+\_\+\+A\+R\+E\+NA@{C\+A\+M\+\_\+\+A\+S\+K\+\_\+\+A\+R\+E\+NA}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{C\+A\+M\+\_\+\+A\+S\+K\+\_\+\+A\+R\+E\+NA}{CAM\_ASK\_ARENA}} -{\footnotesize\ttfamily \#define C\+A\+M\+\_\+\+A\+S\+K\+\_\+\+A\+R\+E\+NA~\textquotesingle{}y\textquotesingle{}} - - - -Definition at line 56 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a675009273c3923e8ad1a6d2818063b61}\label{definitions_8h_a675009273c3923e8ad1a6d2818063b61}} -\index{definitions.\+h@{definitions.\+h}!C\+A\+M\+\_\+\+C\+L\+O\+SE@{C\+A\+M\+\_\+\+C\+L\+O\+SE}} -\index{C\+A\+M\+\_\+\+C\+L\+O\+SE@{C\+A\+M\+\_\+\+C\+L\+O\+SE}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{C\+A\+M\+\_\+\+C\+L\+O\+SE}{CAM\_CLOSE}} -{\footnotesize\ttfamily \#define C\+A\+M\+\_\+\+C\+L\+O\+SE~\textquotesingle{}I\textquotesingle{}} - - - -Definition at line 55 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a74fdb9d00556feb699d3c72bd7b5d5e5}\label{definitions_8h_a74fdb9d00556feb699d3c72bd7b5d5e5}} -\index{definitions.\+h@{definitions.\+h}!C\+A\+M\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON@{C\+A\+M\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON}} -\index{C\+A\+M\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON@{C\+A\+M\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{C\+A\+M\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON}{CAM\_COMPUTE\_POSITION}} -{\footnotesize\ttfamily \#define C\+A\+M\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON~\textquotesingle{}p\textquotesingle{}} - - - -Definition at line 59 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a2a7149bbe097fae8e799ce2ab6f69390}\label{definitions_8h_a2a7149bbe097fae8e799ce2ab6f69390}} -\index{definitions.\+h@{definitions.\+h}!C\+A\+M\+\_\+\+O\+P\+EN@{C\+A\+M\+\_\+\+O\+P\+EN}} -\index{C\+A\+M\+\_\+\+O\+P\+EN@{C\+A\+M\+\_\+\+O\+P\+EN}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{C\+A\+M\+\_\+\+O\+P\+EN}{CAM\_OPEN}} -{\footnotesize\ttfamily \#define C\+A\+M\+\_\+\+O\+P\+EN~\textquotesingle{}A\textquotesingle{}} - - - -Definition at line 54 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_ae864cfaefbf5a210e67678b2144a289f}\label{definitions_8h_ae864cfaefbf5a210e67678b2144a289f}} -\index{definitions.\+h@{definitions.\+h}!C\+A\+M\+\_\+\+S\+T\+O\+P\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON@{C\+A\+M\+\_\+\+S\+T\+O\+P\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON}} -\index{C\+A\+M\+\_\+\+S\+T\+O\+P\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON@{C\+A\+M\+\_\+\+S\+T\+O\+P\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{C\+A\+M\+\_\+\+S\+T\+O\+P\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON}{CAM\_STOP\_COMPUTE\_POSITION}} -{\footnotesize\ttfamily \#define C\+A\+M\+\_\+\+S\+T\+O\+P\+\_\+\+C\+O\+M\+P\+U\+T\+E\+\_\+\+P\+O\+S\+I\+T\+I\+ON~\textquotesingle{}s\textquotesingle{}} - - - -Definition at line 60 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a1b18773c1ce9068c4d38c2cbd2900263}\label{definitions_8h_a1b18773c1ce9068c4d38c2cbd2900263}} -\index{definitions.\+h@{definitions.\+h}!C\+L\+O\+S\+E\+\_\+\+C\+O\+M\+\_\+\+D\+MB@{C\+L\+O\+S\+E\+\_\+\+C\+O\+M\+\_\+\+D\+MB}} -\index{C\+L\+O\+S\+E\+\_\+\+C\+O\+M\+\_\+\+D\+MB@{C\+L\+O\+S\+E\+\_\+\+C\+O\+M\+\_\+\+D\+MB}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{C\+L\+O\+S\+E\+\_\+\+C\+O\+M\+\_\+\+D\+MB}{CLOSE\_COM\_DMB}} -{\footnotesize\ttfamily \#define C\+L\+O\+S\+E\+\_\+\+C\+O\+M\+\_\+\+D\+MB~\textquotesingle{}C\textquotesingle{}} - - - -Definition at line 31 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_ab34c46794a9de6746a96752668c73754}\label{definitions_8h_ab34c46794a9de6746a96752668c73754}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+H\+I\+GH@{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+H\+I\+GH}} -\index{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+H\+I\+GH@{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+H\+I\+GH}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+H\+I\+GH}{DMB\_BAT\_HIGH}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+H\+I\+GH~2} - - - -Definition at line 64 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a66c0c4960c1e81c8da8c8e1d4a202352}\label{definitions_8h_a66c0c4960c1e81c8da8c8e1d4a202352}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+L\+OW@{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+L\+OW}} -\index{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+L\+OW@{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+L\+OW}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+L\+OW}{DMB\_BAT\_LOW}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+L\+OW~0} - - - -Definition at line 62 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_aea6ef1c13db1a8a4a29b065d0c3f73e4}\label{definitions_8h_aea6ef1c13db1a8a4a29b065d0c3f73e4}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+M\+E\+D\+I\+UM@{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+M\+E\+D\+I\+UM}} -\index{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+M\+E\+D\+I\+UM@{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+M\+E\+D\+I\+UM}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+M\+E\+D\+I\+UM}{DMB\_BAT\_MEDIUM}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+B\+A\+T\+\_\+\+M\+E\+D\+I\+UM~1} - - - -Definition at line 63 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a3327443cd321f0c356a5d3d74377892b}\label{definitions_8h_a3327443cd321f0c356a5d3d74377892b}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+B\+U\+SY@{D\+M\+B\+\_\+\+B\+U\+SY}} -\index{D\+M\+B\+\_\+\+B\+U\+SY@{D\+M\+B\+\_\+\+B\+U\+SY}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+B\+U\+SY}{DMB\_BUSY}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+B\+U\+SY~1} - - - -Definition at line 66 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a07650c5f6647c5143bac535fdbeb77d5}\label{definitions_8h_a07650c5f6647c5143bac535fdbeb77d5}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+D\+O\+\_\+\+N\+O\+T\+H\+I\+NG@{D\+M\+B\+\_\+\+D\+O\+\_\+\+N\+O\+T\+H\+I\+NG}} -\index{D\+M\+B\+\_\+\+D\+O\+\_\+\+N\+O\+T\+H\+I\+NG@{D\+M\+B\+\_\+\+D\+O\+\_\+\+N\+O\+T\+H\+I\+NG}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+D\+O\+\_\+\+N\+O\+T\+H\+I\+NG}{DMB\_DO\_NOTHING}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+D\+O\+\_\+\+N\+O\+T\+H\+I\+NG~0} - - - -Definition at line 67 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_af1737e8fe4da4e8bc2d5db9d26c42462}\label{definitions_8h_af1737e8fe4da4e8bc2d5db9d26c42462}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+G\+E\+T\+\_\+\+V\+B\+AT@{D\+M\+B\+\_\+\+G\+E\+T\+\_\+\+V\+B\+AT}} -\index{D\+M\+B\+\_\+\+G\+E\+T\+\_\+\+V\+B\+AT@{D\+M\+B\+\_\+\+G\+E\+T\+\_\+\+V\+B\+AT}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+G\+E\+T\+\_\+\+V\+B\+AT}{DMB\_GET\_VBAT}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+G\+E\+T\+\_\+\+V\+B\+AT~\textquotesingle{}v\textquotesingle{}} - - - -Definition at line 38 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a499f41cc19a4459de033687049cbbe71}\label{definitions_8h_a499f41cc19a4459de033687049cbbe71}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+G\+O\+\_\+\+B\+A\+CK@{D\+M\+B\+\_\+\+G\+O\+\_\+\+B\+A\+CK}} -\index{D\+M\+B\+\_\+\+G\+O\+\_\+\+B\+A\+CK@{D\+M\+B\+\_\+\+G\+O\+\_\+\+B\+A\+CK}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+G\+O\+\_\+\+B\+A\+CK}{DMB\_GO\_BACK}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+G\+O\+\_\+\+B\+A\+CK~\textquotesingle{}B\textquotesingle{}} - - - -Definition at line 43 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_ae363a29a4961cd8a646a0ca9199bc6cf}\label{definitions_8h_ae363a29a4961cd8a646a0ca9199bc6cf}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+G\+O\+\_\+\+F\+O\+R\+W\+A\+RD@{D\+M\+B\+\_\+\+G\+O\+\_\+\+F\+O\+R\+W\+A\+RD}} -\index{D\+M\+B\+\_\+\+G\+O\+\_\+\+F\+O\+R\+W\+A\+RD@{D\+M\+B\+\_\+\+G\+O\+\_\+\+F\+O\+R\+W\+A\+RD}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+G\+O\+\_\+\+F\+O\+R\+W\+A\+RD}{DMB\_GO\_FORWARD}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+G\+O\+\_\+\+F\+O\+R\+W\+A\+RD~\textquotesingle{}F\textquotesingle{}} - - - -Definition at line 42 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_aefcb838e73a335f1a2a6c914ee2ff752}\label{definitions_8h_aefcb838e73a335f1a2a6c914ee2ff752}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+G\+O\+\_\+\+L\+E\+FT@{D\+M\+B\+\_\+\+G\+O\+\_\+\+L\+E\+FT}} -\index{D\+M\+B\+\_\+\+G\+O\+\_\+\+L\+E\+FT@{D\+M\+B\+\_\+\+G\+O\+\_\+\+L\+E\+FT}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+G\+O\+\_\+\+L\+E\+FT}{DMB\_GO\_LEFT}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+G\+O\+\_\+\+L\+E\+FT~\textquotesingle{}L\textquotesingle{}} - - - -Definition at line 44 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_ad681962f7b8cf4797ebd48be0405d1b9}\label{definitions_8h_ad681962f7b8cf4797ebd48be0405d1b9}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+G\+O\+\_\+\+R\+I\+G\+HT@{D\+M\+B\+\_\+\+G\+O\+\_\+\+R\+I\+G\+HT}} -\index{D\+M\+B\+\_\+\+G\+O\+\_\+\+R\+I\+G\+HT@{D\+M\+B\+\_\+\+G\+O\+\_\+\+R\+I\+G\+HT}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+G\+O\+\_\+\+R\+I\+G\+HT}{DMB\_GO\_RIGHT}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+G\+O\+\_\+\+R\+I\+G\+HT~\textquotesingle{}R\textquotesingle{}} - - - -Definition at line 45 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a82b279c49221d3cd3d875d521dfb97b9}\label{definitions_8h_a82b279c49221d3cd3d875d521dfb97b9}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+I\+D\+LE@{D\+M\+B\+\_\+\+I\+D\+LE}} -\index{D\+M\+B\+\_\+\+I\+D\+LE@{D\+M\+B\+\_\+\+I\+D\+LE}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+I\+D\+LE}{DMB\_IDLE}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+I\+D\+LE~\textquotesingle{}r\textquotesingle{}} - - - -Definition at line 34 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_ad58c241121e685f26a291aa4bd5f9c80}\label{definitions_8h_ad58c241121e685f26a291aa4bd5f9c80}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+I\+S\+\_\+\+B\+U\+SY@{D\+M\+B\+\_\+\+I\+S\+\_\+\+B\+U\+SY}} -\index{D\+M\+B\+\_\+\+I\+S\+\_\+\+B\+U\+SY@{D\+M\+B\+\_\+\+I\+S\+\_\+\+B\+U\+SY}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+I\+S\+\_\+\+B\+U\+SY}{DMB\_IS\_BUSY}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+I\+S\+\_\+\+B\+U\+SY~\textquotesingle{}b\textquotesingle{}} - - - -Definition at line 39 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_ac48dee90eb71d036d001321674abbb8b}\label{definitions_8h_ac48dee90eb71d036d001321674abbb8b}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+M\+O\+VE@{D\+M\+B\+\_\+\+M\+O\+VE}} -\index{D\+M\+B\+\_\+\+M\+O\+VE@{D\+M\+B\+\_\+\+M\+O\+VE}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+M\+O\+VE}{DMB\_MOVE}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+M\+O\+VE~\textquotesingle{}M\textquotesingle{}} - - - -Definition at line 40 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_acf7d51360dcb103fc57604725ec2816d}\label{definitions_8h_acf7d51360dcb103fc57604725ec2816d}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+P\+I\+NG@{D\+M\+B\+\_\+\+P\+I\+NG}} -\index{D\+M\+B\+\_\+\+P\+I\+NG@{D\+M\+B\+\_\+\+P\+I\+NG}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+P\+I\+NG}{DMB\_PING}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+P\+I\+NG~\textquotesingle{}p\textquotesingle{}} - - - -Definition at line 33 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a2ca219902014ffb39aab27cca08a948f}\label{definitions_8h_a2ca219902014ffb39aab27cca08a948f}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+R\+E\+L\+O\+A\+D\+\_\+\+WD@{D\+M\+B\+\_\+\+R\+E\+L\+O\+A\+D\+\_\+\+WD}} -\index{D\+M\+B\+\_\+\+R\+E\+L\+O\+A\+D\+\_\+\+WD@{D\+M\+B\+\_\+\+R\+E\+L\+O\+A\+D\+\_\+\+WD}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+R\+E\+L\+O\+A\+D\+\_\+\+WD}{DMB\_RELOAD\_WD}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+R\+E\+L\+O\+A\+D\+\_\+\+WD~\textquotesingle{}w\textquotesingle{}} - - - -Definition at line 37 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_adee1628bbc796ba55f4a349895f4e0fa}\label{definitions_8h_adee1628bbc796ba55f4a349895f4e0fa}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+\_\+\+WD@{D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+\_\+\+WD}} -\index{D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+\_\+\+WD@{D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+\_\+\+WD}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+\_\+\+WD}{DMB\_START\_WITH\_WD}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+\_\+\+WD~\textquotesingle{}W\textquotesingle{}} - - - -Definition at line 36 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a5ebbd37042a6244b4f9d473ae7132780}\label{definitions_8h_a5ebbd37042a6244b4f9d473ae7132780}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+O\+U\+T\+\_\+\+WD@{D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+O\+U\+T\+\_\+\+WD}} -\index{D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+O\+U\+T\+\_\+\+WD@{D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+O\+U\+T\+\_\+\+WD}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+O\+U\+T\+\_\+\+WD}{DMB\_START\_WITHOUT\_WD}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+S\+T\+A\+R\+T\+\_\+\+W\+I\+T\+H\+O\+U\+T\+\_\+\+WD~\textquotesingle{}u\textquotesingle{}} - - - -Definition at line 35 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a7308179907a0a2989c162865e7a7979a}\label{definitions_8h_a7308179907a0a2989c162865e7a7979a}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+S\+T\+O\+P\+\_\+\+M\+O\+VE@{D\+M\+B\+\_\+\+S\+T\+O\+P\+\_\+\+M\+O\+VE}} -\index{D\+M\+B\+\_\+\+S\+T\+O\+P\+\_\+\+M\+O\+VE@{D\+M\+B\+\_\+\+S\+T\+O\+P\+\_\+\+M\+O\+VE}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+S\+T\+O\+P\+\_\+\+M\+O\+VE}{DMB\_STOP\_MOVE}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+S\+T\+O\+P\+\_\+\+M\+O\+VE~\textquotesingle{}S\textquotesingle{}} - - - -Definition at line 46 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_ac6c5492c8100e73f8d30ed36072684db}\label{definitions_8h_ac6c5492c8100e73f8d30ed36072684db}} -\index{definitions.\+h@{definitions.\+h}!D\+M\+B\+\_\+\+T\+U\+RN@{D\+M\+B\+\_\+\+T\+U\+RN}} -\index{D\+M\+B\+\_\+\+T\+U\+RN@{D\+M\+B\+\_\+\+T\+U\+RN}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{D\+M\+B\+\_\+\+T\+U\+RN}{DMB\_TURN}} -{\footnotesize\ttfamily \#define D\+M\+B\+\_\+\+T\+U\+RN~\textquotesingle{}T\textquotesingle{}} - - - -Definition at line 41 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_aac798eaf6994ddcadd8a38ad8aba234f}\label{definitions_8h_aac798eaf6994ddcadd8a38ad8aba234f}} -\index{definitions.\+h@{definitions.\+h}!O\+P\+E\+N\+\_\+\+C\+O\+M\+\_\+\+D\+MB@{O\+P\+E\+N\+\_\+\+C\+O\+M\+\_\+\+D\+MB}} -\index{O\+P\+E\+N\+\_\+\+C\+O\+M\+\_\+\+D\+MB@{O\+P\+E\+N\+\_\+\+C\+O\+M\+\_\+\+D\+MB}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{O\+P\+E\+N\+\_\+\+C\+O\+M\+\_\+\+D\+MB}{OPEN\_COM\_DMB}} -{\footnotesize\ttfamily \#define O\+P\+E\+N\+\_\+\+C\+O\+M\+\_\+\+D\+MB~\textquotesingle{}o\textquotesingle{}} - - - -Definition at line 30 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_af1118b8a83d446b4965347bba126a488}\label{definitions_8h_af1118b8a83d446b4965347bba126a488}} -\index{definitions.\+h@{definitions.\+h}!R\+O\+B\+O\+T\+\_\+\+C\+H\+E\+C\+K\+S\+UM@{R\+O\+B\+O\+T\+\_\+\+C\+H\+E\+C\+K\+S\+UM}} -\index{R\+O\+B\+O\+T\+\_\+\+C\+H\+E\+C\+K\+S\+UM@{R\+O\+B\+O\+T\+\_\+\+C\+H\+E\+C\+K\+S\+UM}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{R\+O\+B\+O\+T\+\_\+\+C\+H\+E\+C\+K\+S\+UM}{ROBOT\_CHECKSUM}} -{\footnotesize\ttfamily \#define R\+O\+B\+O\+T\+\_\+\+C\+H\+E\+C\+K\+S\+UM~-\/4} - - - -Definition at line 51 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a4aefbbdd5d35999aa0575ab7183148d4}\label{definitions_8h_a4aefbbdd5d35999aa0575ab7183148d4}} -\index{definitions.\+h@{definitions.\+h}!R\+O\+B\+O\+T\+\_\+\+E\+R\+R\+OR@{R\+O\+B\+O\+T\+\_\+\+E\+R\+R\+OR}} -\index{R\+O\+B\+O\+T\+\_\+\+E\+R\+R\+OR@{R\+O\+B\+O\+T\+\_\+\+E\+R\+R\+OR}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{R\+O\+B\+O\+T\+\_\+\+E\+R\+R\+OR}{ROBOT\_ERROR}} -{\footnotesize\ttfamily \#define R\+O\+B\+O\+T\+\_\+\+E\+R\+R\+OR~-\/1} - - - -Definition at line 50 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_ad7b2f95c0b423fb9784acb897b910c36}\label{definitions_8h_ad7b2f95c0b423fb9784acb897b910c36}} -\index{definitions.\+h@{definitions.\+h}!R\+O\+B\+O\+T\+\_\+\+OK@{R\+O\+B\+O\+T\+\_\+\+OK}} -\index{R\+O\+B\+O\+T\+\_\+\+OK@{R\+O\+B\+O\+T\+\_\+\+OK}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{R\+O\+B\+O\+T\+\_\+\+OK}{ROBOT\_OK}} -{\footnotesize\ttfamily \#define R\+O\+B\+O\+T\+\_\+\+OK~0} - - - -Definition at line 52 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a624686d3af63394ee02f0a197967d44a}\label{definitions_8h_a624686d3af63394ee02f0a197967d44a}} -\index{definitions.\+h@{definitions.\+h}!R\+O\+B\+O\+T\+\_\+\+T\+I\+M\+E\+D\+\_\+\+O\+UT@{R\+O\+B\+O\+T\+\_\+\+T\+I\+M\+E\+D\+\_\+\+O\+UT}} -\index{R\+O\+B\+O\+T\+\_\+\+T\+I\+M\+E\+D\+\_\+\+O\+UT@{R\+O\+B\+O\+T\+\_\+\+T\+I\+M\+E\+D\+\_\+\+O\+UT}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{R\+O\+B\+O\+T\+\_\+\+T\+I\+M\+E\+D\+\_\+\+O\+UT}{ROBOT\_TIMED\_OUT}} -{\footnotesize\ttfamily \#define R\+O\+B\+O\+T\+\_\+\+T\+I\+M\+E\+D\+\_\+\+O\+UT~-\/3} - - - -Definition at line 48 of file definitions.\+h. - -\mbox{\Hypertarget{definitions_8h_a70a2d5db14b900843364adb7cfe53ac8}\label{definitions_8h_a70a2d5db14b900843364adb7cfe53ac8}} -\index{definitions.\+h@{definitions.\+h}!R\+O\+B\+O\+T\+\_\+\+U\+K\+N\+O\+W\+N\+\_\+\+C\+MD@{R\+O\+B\+O\+T\+\_\+\+U\+K\+N\+O\+W\+N\+\_\+\+C\+MD}} -\index{R\+O\+B\+O\+T\+\_\+\+U\+K\+N\+O\+W\+N\+\_\+\+C\+MD@{R\+O\+B\+O\+T\+\_\+\+U\+K\+N\+O\+W\+N\+\_\+\+C\+MD}!definitions.\+h@{definitions.\+h}} -\subsubsection{\texorpdfstring{R\+O\+B\+O\+T\+\_\+\+U\+K\+N\+O\+W\+N\+\_\+\+C\+MD}{ROBOT\_UKNOWN\_CMD}} -{\footnotesize\ttfamily \#define R\+O\+B\+O\+T\+\_\+\+U\+K\+N\+O\+W\+N\+\_\+\+C\+MD~-\/2} - - - -Definition at line 49 of file definitions.\+h. - diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/definitions_8h__dep__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/definitions_8h__dep__incl.md5 deleted file mode 100644 index ceaa7c5..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/definitions_8h__dep__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -0ff198e66f93f7f3727a8650ff7342c9 \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/definitions_8h__dep__incl.pdf b/software/raspberry/superviseur-robot/lib/doc/latex/definitions_8h__dep__incl.pdf deleted file mode 100644 index 1f303a811fc5334a0958e58b8439384a524fc39b..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 11951 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-% Color used for table heading -\newcommand{\tableheadbgcolor}{lightgray}% - -% Version of hypertarget with correct landing location -\newcommand{\Hypertarget}[1]{\Hy@raisedlink{\hypertarget{#1}{}}} - -% Define caption that is also suitable in a table -\makeatletter -\def\doxyfigcaption{% -\refstepcounter{figure}% -\@dblarg{\@caption{figure}}} -\makeatother diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/files.tex b/software/raspberry/superviseur-robot/lib/doc/latex/files.tex deleted file mode 100644 index 1ea8262..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/files.tex +++ /dev/null @@ -1,9 +0,0 @@ -\section{File List} -Here is a list of all files with brief descriptions\+:\begin{DoxyCompactList} -\item\contentsline{section}{\hyperlink{definitions_8h}{definitions.\+h} \\*Various constants used in destjil project }{\pageref{definitions_8h}}{} -\item\contentsline{section}{\hyperlink{image_8h}{image.\+h} \\*Functions for image treatment }{\pageref{image_8h}}{} -\item\contentsline{section}{\hyperlink{message_8h}{message.\+h} \\*Functions for sending message to monitor }{\pageref{message_8h}}{} -\item\contentsline{section}{\hyperlink{monitor_8h}{monitor.\+h} \\*Library for sending message to monitor or receiving message }{\pageref{monitor_8h}}{} -\item\contentsline{section}{\hyperlink{robot_8h}{robot.\+h} \\*Fonctions for communicating with robot }{\pageref{robot_8h}}{} -\item\contentsline{section}{\hyperlink{server_8h}{server.\+h} \\*Library for opening a T\+CP server, receiving data and sending message to monitor }{\pageref{server_8h}}{} -\end{DoxyCompactList} diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/image_8cpp.tex b/software/raspberry/superviseur-robot/lib/doc/latex/image_8cpp.tex deleted file mode 100644 index 7f053b0..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/image_8cpp.tex +++ /dev/null @@ -1,283 +0,0 @@ -\hypertarget{image_8cpp}{}\section{src/image.cpp File Reference} -\label{image_8cpp}\index{src/image.\+cpp@{src/image.\+cpp}} - - -Fonctions de traitement d\textquotesingle{}image utilisable pour la détection du robot. - - -{\ttfamily \#include \char`\"{}image.\+h\char`\"{}}\newline -{\ttfamily \#include $<$iostream$>$}\newline -Include dependency graph for image.\+cpp\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{image_8cpp__incl} -\end{center} -\end{figure} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -float \hyperlink{image_8cpp_afe015c86402c7d09d9d7b28587c7fd1b}{calcul\+Angle} (\hyperlink{struct_position}{Position} $\ast$position\+Robot) -\item -int \hyperlink{image_8cpp_a41fa265b5f57fcd2a13e726880297d12}{crop\+Arena} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Output, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$Arene\+Input) -\item -float \hyperlink{image_8cpp_a73f53d1da08f1f8123da89585d16c7ef}{euclidean\+Dist} (Point \&p, Point \&q) -\item -void \hyperlink{image_8cpp_a5ffd032a466af45a505fb46252194bbf}{draw\+\_\+arena} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Output, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$mon\+Arene) -\begin{DoxyCompactList}\small\item\em Dessine le plus petit rectangle contenant l\textquotesingle{}arène. \end{DoxyCompactList}\item -int \hyperlink{image_8cpp_aca0662ab31eac7fdb2d64fecc52ff1da}{open\+\_\+camera} (\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$camera) -\begin{DoxyCompactList}\small\item\em Ouvre une camera. \end{DoxyCompactList}\item -void \hyperlink{image_8cpp_a864afddf57678b37b99d9eca70405d63}{get\+\_\+image} (\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$camera, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$mon\+Image, const char $\ast$fichier) -\begin{DoxyCompactList}\small\item\em Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. \end{DoxyCompactList}\item -void \hyperlink{image_8cpp_a19eac11a04cb4b86fd32e6a36445ad5d}{close\+\_\+camera} (\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$camera) -\begin{DoxyCompactList}\small\item\em Ferme la camera passé en paramètre. \end{DoxyCompactList}\item -int \hyperlink{image_8cpp_acad45df4061a55f17be0db97c1406249}{detect\+\_\+arena} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$mon\+Image, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$rectangle) -\begin{DoxyCompactList}\small\item\em Détecte une arène dans une image fournis en paramètre. \end{DoxyCompactList}\item -void \hyperlink{image_8cpp_a909ca7577f0ac2e4bd0ea21291690dce}{compress\+\_\+image} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a9ac2855e21920c676a108df386ff9415}{Jpg} $\ast$image\+Compress) -\begin{DoxyCompactList}\small\item\em Détecte la position d\textquotesingle{}un robot. \end{DoxyCompactList}\item -int \hyperlink{image_8cpp_ac813f76084a0d9d252fb5c01830ab7df}{detect\+\_\+position} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{struct_position}{Position} $\ast$pos\+Triangle, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$mon\+Arene) -\begin{DoxyCompactList}\small\item\em Détecte la position d\textquotesingle{}un robot. \end{DoxyCompactList}\item -void \hyperlink{image_8cpp_a869c3946d4a414b8730ca4f91fbd9556}{draw\+\_\+position} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Output, \hyperlink{struct_position}{Position} $\ast$position\+Robot) -\begin{DoxyCompactList}\small\item\em Dessine sur une image en entrée la position d\textquotesingle{}un robot et sa direction. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Fonctions de traitement d\textquotesingle{}image utilisable pour la détection du robot. - -\begin{DoxyAuthor}{Author} -L.\+Senaneuch -\end{DoxyAuthor} -\begin{DoxyVersion}{Version} -1.\+0 -\end{DoxyVersion} -\begin{DoxyDate}{Date} -06/06/2017 -\end{DoxyDate} -Ce fichier utilise la libraire open\+C\+V2 pour faciliter le traitement d\textquotesingle{}image dans le projet Destijl. Il permet de faciliter la détection de l\textquotesingle{}arène et la détection du robot. /!\textbackslash{} Attention Bien que celui-\/ci soit un .cpp la structure du code n\textquotesingle{}est pas sous forme d\textquotesingle{}objet. - -\subsection{Function Documentation} -\mbox{\Hypertarget{image_8cpp_afe015c86402c7d09d9d7b28587c7fd1b}\label{image_8cpp_afe015c86402c7d09d9d7b28587c7fd1b}} -\index{image.\+cpp@{image.\+cpp}!calcul\+Angle@{calcul\+Angle}} -\index{calcul\+Angle@{calcul\+Angle}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{calcul\+Angle()}{calculAngle()}} -{\footnotesize\ttfamily float calcul\+Angle (\begin{DoxyParamCaption}\item[{\hyperlink{struct_position}{Position} $\ast$}]{position\+Robot }\end{DoxyParamCaption})} - - - -Definition at line 253 of file image.\+cpp. - -\mbox{\Hypertarget{image_8cpp_a19eac11a04cb4b86fd32e6a36445ad5d}\label{image_8cpp_a19eac11a04cb4b86fd32e6a36445ad5d}} -\index{image.\+cpp@{image.\+cpp}!close\+\_\+camera@{close\+\_\+camera}} -\index{close\+\_\+camera@{close\+\_\+camera}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{close\+\_\+camera()}{close\_camera()}} -{\footnotesize\ttfamily void close\+\_\+camera (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$}]{camera }\end{DoxyParamCaption})} - - - -Ferme la camera passé en paramètre. - - -\begin{DoxyParams}{Parameters} -{\em $\ast$\+Camera} & Pointeur sur la camera à fermer \\ -\hline -\end{DoxyParams} - - -Definition at line 112 of file image.\+cpp. - -\mbox{\Hypertarget{image_8cpp_a909ca7577f0ac2e4bd0ea21291690dce}\label{image_8cpp_a909ca7577f0ac2e4bd0ea21291690dce}} -\index{image.\+cpp@{image.\+cpp}!compress\+\_\+image@{compress\+\_\+image}} -\index{compress\+\_\+image@{compress\+\_\+image}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{compress\+\_\+image()}{compress\_image()}} -{\footnotesize\ttfamily void compress\+\_\+image (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a9ac2855e21920c676a108df386ff9415}{Jpg} $\ast$}]{image\+Compress }\end{DoxyParamCaption})} - - - -Détecte la position d\textquotesingle{}un robot. - -Détecte la position de triangles blanc sur une image /a img\+Input passé en paramètre d\textquotesingle{}entrer. - - -\begin{DoxyParams}{Parameters} -{\em $\ast$img\+Input} & Pointeur sur l\textquotesingle{}image à sauvegarder en mémoire sous format jpg. \\ -\hline -{\em $\ast$image\+Compress} & Pointeur sur une image .jpg. \\ -\hline -\end{DoxyParams} - - -Definition at line 164 of file image.\+cpp. - -\mbox{\Hypertarget{image_8cpp_a41fa265b5f57fcd2a13e726880297d12}\label{image_8cpp_a41fa265b5f57fcd2a13e726880297d12}} -\index{image.\+cpp@{image.\+cpp}!crop\+Arena@{crop\+Arena}} -\index{crop\+Arena@{crop\+Arena}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{crop\+Arena()}{cropArena()}} -{\footnotesize\ttfamily int crop\+Arena (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Output, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{Arene\+Input }\end{DoxyParamCaption})} - - - -Definition at line 150 of file image.\+cpp. - -\mbox{\Hypertarget{image_8cpp_acad45df4061a55f17be0db97c1406249}\label{image_8cpp_acad45df4061a55f17be0db97c1406249}} -\index{image.\+cpp@{image.\+cpp}!detect\+\_\+arena@{detect\+\_\+arena}} -\index{detect\+\_\+arena@{detect\+\_\+arena}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{detect\+\_\+arena()}{detect\_arena()}} -{\footnotesize\ttfamily int detect\+\_\+arena (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{mon\+Image, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{rectangle }\end{DoxyParamCaption})} - - - -Détecte une arène dans une image fournis en paramètre. - - -\begin{DoxyParams}{Parameters} -{\em $\ast$mon\+Image} & Pointeur sur l\textquotesingle{}image d\textquotesingle{}entrée \\ -\hline -{\em $\ast$rectangle} & Pointeur sur les coordonnées du rectangles trouvé. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Retourne -\/1 si aucune arène n\textquotesingle{}est détectée. Sinon retourne 0 -\end{DoxyReturn} - - -Definition at line 126 of file image.\+cpp. - -\mbox{\Hypertarget{image_8cpp_ac813f76084a0d9d252fb5c01830ab7df}\label{image_8cpp_ac813f76084a0d9d252fb5c01830ab7df}} -\index{image.\+cpp@{image.\+cpp}!detect\+\_\+position@{detect\+\_\+position}} -\index{detect\+\_\+position@{detect\+\_\+position}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{detect\+\_\+position()}{detect\_position()}} -{\footnotesize\ttfamily int detect\+\_\+position (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{struct_position}{Position} $\ast$}]{pos\+Triangle, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{mon\+Arene = {\ttfamily NULL} }\end{DoxyParamCaption})} - - - -Détecte la position d\textquotesingle{}un robot. - -Détecte la position de triangles blanc sur une image /a img\+Input passé en paramètre d\textquotesingle{}entrer. - - -\begin{DoxyParams}{Parameters} -{\em $\ast$img\+Input} & Pointeur sur l\textquotesingle{}image sur laquelle chercher la position du des robots. \\ -\hline -{\em $\ast$pos\+Triangle} & Pointeur sur un tableau de position ou seront stocké les positions des triangles détectés. \\ -\hline -{\em $\ast$mon\+Arene} & Pointeur de type Arène si nécessaire d\textquotesingle{}affiner la recherche (optionnel) \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Le nombre de triangles détectés. -\end{DoxyReturn} - - -Definition at line 170 of file image.\+cpp. - -\mbox{\Hypertarget{image_8cpp_a5ffd032a466af45a505fb46252194bbf}\label{image_8cpp_a5ffd032a466af45a505fb46252194bbf}} -\index{image.\+cpp@{image.\+cpp}!draw\+\_\+arena@{draw\+\_\+arena}} -\index{draw\+\_\+arena@{draw\+\_\+arena}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{draw\+\_\+arena()}{draw\_arena()}} -{\footnotesize\ttfamily void draw\+\_\+arena (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Output, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{mon\+Arene }\end{DoxyParamCaption})} - - - -Dessine le plus petit rectangle contenant l\textquotesingle{}arène. - - -\begin{DoxyParams}{Parameters} -{\em $\ast$img\+Input} & Pointeur sur l\textquotesingle{}image d\textquotesingle{}entrée. \\ -\hline -{\em $\ast$img\+Output} & Pointeur sur l\textquotesingle{}image de sortie (image d\textquotesingle{}entrée + arène marquée) \\ -\hline -{\em $\ast$mon\+Arene} & Pointeur de type Arène contenant les information à dessiner \\ -\hline -\end{DoxyParams} - - -Definition at line 51 of file image.\+cpp. - -\mbox{\Hypertarget{image_8cpp_a869c3946d4a414b8730ca4f91fbd9556}\label{image_8cpp_a869c3946d4a414b8730ca4f91fbd9556}} -\index{image.\+cpp@{image.\+cpp}!draw\+\_\+position@{draw\+\_\+position}} -\index{draw\+\_\+position@{draw\+\_\+position}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{draw\+\_\+position()}{draw\_position()}} -{\footnotesize\ttfamily void draw\+\_\+position (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Output, }\item[{\hyperlink{struct_position}{Position} $\ast$}]{position\+Robot }\end{DoxyParamCaption})} - - - -Dessine sur une image en entrée la position d\textquotesingle{}un robot et sa direction. - -Sauvegarde l\textquotesingle{}image des coordonnées passées par position\+Robot superposée à l\textquotesingle{}image d\textquotesingle{}entrée sur img\+Output. - - -\begin{DoxyParams}{Parameters} -{\em $\ast$img\+Input} & Pointeur sur l\textquotesingle{}image d\textquotesingle{}entrée \\ -\hline -{\em $\ast$img\+Output} & Pointeur sur l\textquotesingle{}image de sortie ( image d\textquotesingle{}entrée + dessin de la position) \\ -\hline -{\em $\ast$position\+Robot} & Pointeur sur la structure position d\textquotesingle{}un robot. \\ -\hline -\end{DoxyParams} - - -Definition at line 244 of file image.\+cpp. - -\mbox{\Hypertarget{image_8cpp_a73f53d1da08f1f8123da89585d16c7ef}\label{image_8cpp_a73f53d1da08f1f8123da89585d16c7ef}} -\index{image.\+cpp@{image.\+cpp}!euclidean\+Dist@{euclidean\+Dist}} -\index{euclidean\+Dist@{euclidean\+Dist}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{euclidean\+Dist()}{euclideanDist()}} -{\footnotesize\ttfamily float euclidean\+Dist (\begin{DoxyParamCaption}\item[{Point \&}]{p, }\item[{Point \&}]{q }\end{DoxyParamCaption})} - - - -Definition at line 159 of file image.\+cpp. - -\mbox{\Hypertarget{image_8cpp_a864afddf57678b37b99d9eca70405d63}\label{image_8cpp_a864afddf57678b37b99d9eca70405d63}} -\index{image.\+cpp@{image.\+cpp}!get\+\_\+image@{get\+\_\+image}} -\index{get\+\_\+image@{get\+\_\+image}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{get\+\_\+image()}{get\_image()}} -{\footnotesize\ttfamily void get\+\_\+image (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$}]{camera, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{mon\+Image, }\item[{const char $\ast$}]{fichier = {\ttfamily NULL} }\end{DoxyParamCaption})} - - - -Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. - -La camera doit préalablement être ouverte via {\itshape open\+Camera}(...) - - -\begin{DoxyParams}{Parameters} -{\em $\ast$\+Camera} & Pointeur sur la camera passée en entrée. \\ -\hline -{\em $\ast$mon\+Image} & Pointeur sur une image capturée. \\ -\hline -{\em $\ast$fichier} & chemin du fichier d\textquotesingle{}image \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Retourne -\/1 si une erreur survient. -\end{DoxyReturn} - - -Definition at line 93 of file image.\+cpp. - -\mbox{\Hypertarget{image_8cpp_aca0662ab31eac7fdb2d64fecc52ff1da}\label{image_8cpp_aca0662ab31eac7fdb2d64fecc52ff1da}} -\index{image.\+cpp@{image.\+cpp}!open\+\_\+camera@{open\+\_\+camera}} -\index{open\+\_\+camera@{open\+\_\+camera}!image.\+cpp@{image.\+cpp}} -\subsubsection{\texorpdfstring{open\+\_\+camera()}{open\_camera()}} -{\footnotesize\ttfamily int open\+\_\+camera (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$}]{camera }\end{DoxyParamCaption})} - - - -Ouvre une camera. - -Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte - - -\begin{DoxyParams}{Parameters} -{\em $\ast$\+Camera} & Pointeur d\textquotesingle{}un file descriptor d\textquotesingle{}une camera ouverte \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -retourne 0 si la camera a été ouverte correctement et -\/1 si une erreur survient. -\end{DoxyReturn} - - -Definition at line 58 of file image.\+cpp. - diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/image_8cpp__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/image_8cpp__incl.md5 deleted file mode 100644 index 9ae2540..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/image_8cpp__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -1a9e436ff61a4ce15dc9d75b9819db92 \ No newline at end of file diff --git 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b/software/raspberry/superviseur-robot/lib/doc/latex/image_8h.tex deleted file mode 100644 index e3c9431..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/image_8h.tex +++ /dev/null @@ -1,312 +0,0 @@ -\hypertarget{image_8h}{}\section{image.\+h File Reference} -\label{image_8h}\index{image.\+h@{image.\+h}} - - -Functions for image treatment. - - -{\ttfamily \#include $<$raspicam/raspicam\+\_\+cv.\+h$>$}\newline -{\ttfamily \#include \char`\"{}opencv2/imgproc/imgproc.\+hpp\char`\"{}}\newline -{\ttfamily \#include $<$unistd.\+h$>$}\newline -{\ttfamily \#include $<$math.\+h$>$}\newline -Include dependency graph for image.\+h\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{image_8h__incl} -\end{center} -\end{figure} -This graph shows which files directly or indirectly include this file\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=208pt]{image_8h__dep__incl} -\end{center} -\end{figure} -\subsection*{Classes} -\begin{DoxyCompactItemize} -\item -struct \hyperlink{struct_position}{Position} -\end{DoxyCompactItemize} -\subsection*{Macros} -\begin{DoxyCompactItemize} -\item -\#define \hyperlink{image_8h_a241aeeb764887ae5e3de58b98f04b16d}{W\+I\+D\+TH}~480 -\item -\#define \hyperlink{image_8h_aed89bd71aee8be823e8a20ec4e093c1e}{H\+E\+I\+G\+HT}~360 -\end{DoxyCompactItemize} -\subsection*{Typedefs} -\begin{DoxyCompactItemize} -\item -typedef Mat \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} -\item -typedef Raspi\+Cam\+\_\+\+Cv \hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} -\item -typedef Rect \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} -\item -typedef vector$<$ unsigned char $>$ \hyperlink{image_8h_a9ac2855e21920c676a108df386ff9415}{Jpg} -\end{DoxyCompactItemize} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -int \hyperlink{image_8h_aca0662ab31eac7fdb2d64fecc52ff1da}{open\+\_\+camera} (\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$camera) -\begin{DoxyCompactList}\small\item\em Ouvre une camera. \end{DoxyCompactList}\item -void \hyperlink{image_8h_a19eac11a04cb4b86fd32e6a36445ad5d}{close\+\_\+camera} (\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$camera) -\begin{DoxyCompactList}\small\item\em Ferme la camera passé en paramètre. \end{DoxyCompactList}\item -void \hyperlink{image_8h_ad904f3348c2d44f9c82435c94cd83844}{get\+\_\+image} (\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$camera, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$mon\+Image, const char $\ast$fichier=N\+U\+LL) -\begin{DoxyCompactList}\small\item\em Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. \end{DoxyCompactList}\item -int \hyperlink{image_8h_acad45df4061a55f17be0db97c1406249}{detect\+\_\+arena} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$mon\+Image, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$rectangle) -\begin{DoxyCompactList}\small\item\em Détecte une arène dans une image fournis en paramètre. \end{DoxyCompactList}\item -void \hyperlink{image_8h_a5ffd032a466af45a505fb46252194bbf}{draw\+\_\+arena} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Output, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$mon\+Arene) -\begin{DoxyCompactList}\small\item\em Dessine le plus petit rectangle contenant l\textquotesingle{}arène. \end{DoxyCompactList}\item -int \hyperlink{image_8h_af9f6e2dd4409486f2f6446d1a8a02c40}{detect\+\_\+position} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{struct_position}{Position} $\ast$pos\+Triangle, \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$mon\+Arene=N\+U\+LL) -\begin{DoxyCompactList}\small\item\em Détecte la position d\textquotesingle{}un robot. \end{DoxyCompactList}\item -void \hyperlink{image_8h_a869c3946d4a414b8730ca4f91fbd9556}{draw\+\_\+position} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Output, \hyperlink{struct_position}{Position} $\ast$position\+Robot) -\begin{DoxyCompactList}\small\item\em Dessine sur une image en entrée la position d\textquotesingle{}un robot et sa direction. \end{DoxyCompactList}\item -void \hyperlink{image_8h_a909ca7577f0ac2e4bd0ea21291690dce}{compress\+\_\+image} (\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$img\+Input, \hyperlink{image_8h_a9ac2855e21920c676a108df386ff9415}{Jpg} $\ast$image\+Compress) -\begin{DoxyCompactList}\small\item\em Détecte la position d\textquotesingle{}un robot. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Functions for image treatment. - -\begin{DoxyAuthor}{Author} -L.\+Senaneuch -\end{DoxyAuthor} -\begin{DoxyVersion}{Version} -1.\+0 -\end{DoxyVersion} -\begin{DoxyDate}{Date} -06/06/2017 -\end{DoxyDate} -This file use open\+C\+V2 library for picture processing. This allow to detect arena and robot. - -\subsection{Macro Definition Documentation} -\mbox{\Hypertarget{image_8h_aed89bd71aee8be823e8a20ec4e093c1e}\label{image_8h_aed89bd71aee8be823e8a20ec4e093c1e}} -\index{image.\+h@{image.\+h}!H\+E\+I\+G\+HT@{H\+E\+I\+G\+HT}} -\index{H\+E\+I\+G\+HT@{H\+E\+I\+G\+HT}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{H\+E\+I\+G\+HT}{HEIGHT}} -{\footnotesize\ttfamily \#define H\+E\+I\+G\+HT~360} - - - -Definition at line 45 of file image.\+h. - -\mbox{\Hypertarget{image_8h_a241aeeb764887ae5e3de58b98f04b16d}\label{image_8h_a241aeeb764887ae5e3de58b98f04b16d}} -\index{image.\+h@{image.\+h}!W\+I\+D\+TH@{W\+I\+D\+TH}} -\index{W\+I\+D\+TH@{W\+I\+D\+TH}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{W\+I\+D\+TH}{WIDTH}} -{\footnotesize\ttfamily \#define W\+I\+D\+TH~480} - - - -Definition at line 44 of file image.\+h. - - - -\subsection{Typedef Documentation} -\mbox{\Hypertarget{image_8h_aa856a7cb8a1535c9f13096bede6c8586}\label{image_8h_aa856a7cb8a1535c9f13096bede6c8586}} -\index{image.\+h@{image.\+h}!Arene@{Arene}} -\index{Arene@{Arene}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{Arene}{Arene}} -{\footnotesize\ttfamily typedef Rect \hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene}} - - - -Definition at line 66 of file image.\+h. - -\mbox{\Hypertarget{image_8h_a739dda3f6f6ddbab22617837b43a692a}\label{image_8h_a739dda3f6f6ddbab22617837b43a692a}} -\index{image.\+h@{image.\+h}!Camera@{Camera}} -\index{Camera@{Camera}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{Camera}{Camera}} -{\footnotesize\ttfamily typedef Raspi\+Cam\+\_\+\+Cv \hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera}} - - - -Definition at line 58 of file image.\+h. - -\mbox{\Hypertarget{image_8h_a466446fef9c0348568bc6743186d1a38}\label{image_8h_a466446fef9c0348568bc6743186d1a38}} -\index{image.\+h@{image.\+h}!Image@{Image}} -\index{Image@{Image}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{Image}{Image}} -{\footnotesize\ttfamily typedef Mat \hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image}} - - - -Definition at line 55 of file image.\+h. - -\mbox{\Hypertarget{image_8h_a9ac2855e21920c676a108df386ff9415}\label{image_8h_a9ac2855e21920c676a108df386ff9415}} -\index{image.\+h@{image.\+h}!Jpg@{Jpg}} -\index{Jpg@{Jpg}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{Jpg}{Jpg}} -{\footnotesize\ttfamily typedef vector$<$unsigned char$>$ \hyperlink{image_8h_a9ac2855e21920c676a108df386ff9415}{Jpg}} - - - -Definition at line 67 of file image.\+h. - - - -\subsection{Function Documentation} -\mbox{\Hypertarget{image_8h_a19eac11a04cb4b86fd32e6a36445ad5d}\label{image_8h_a19eac11a04cb4b86fd32e6a36445ad5d}} -\index{image.\+h@{image.\+h}!close\+\_\+camera@{close\+\_\+camera}} -\index{close\+\_\+camera@{close\+\_\+camera}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{close\+\_\+camera()}{close\_camera()}} -{\footnotesize\ttfamily void close\+\_\+camera (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$}]{camera }\end{DoxyParamCaption})} - - - -Ferme la camera passé en paramètre. - - -\begin{DoxyParams}{Parameters} -{\em camera} & Pointeur sur la camera à fermer \\ -\hline -\end{DoxyParams} -\mbox{\Hypertarget{image_8h_a909ca7577f0ac2e4bd0ea21291690dce}\label{image_8h_a909ca7577f0ac2e4bd0ea21291690dce}} -\index{image.\+h@{image.\+h}!compress\+\_\+image@{compress\+\_\+image}} -\index{compress\+\_\+image@{compress\+\_\+image}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{compress\+\_\+image()}{compress\_image()}} -{\footnotesize\ttfamily void compress\+\_\+image (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a9ac2855e21920c676a108df386ff9415}{Jpg} $\ast$}]{image\+Compress }\end{DoxyParamCaption})} - - - -Détecte la position d\textquotesingle{}un robot. - -Détecte la position de triangles blanc sur une image /a img\+Input passé en paramètre d\textquotesingle{}entrer. - - -\begin{DoxyParams}{Parameters} -{\em img\+Input} & Pointeur sur l\textquotesingle{}image à sauvegarder en mémoire sous format jpg. \\ -\hline -{\em image\+Compress} & Pointeur sur une image .jpg. \\ -\hline -\end{DoxyParams} -\mbox{\Hypertarget{image_8h_acad45df4061a55f17be0db97c1406249}\label{image_8h_acad45df4061a55f17be0db97c1406249}} -\index{image.\+h@{image.\+h}!detect\+\_\+arena@{detect\+\_\+arena}} -\index{detect\+\_\+arena@{detect\+\_\+arena}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{detect\+\_\+arena()}{detect\_arena()}} -{\footnotesize\ttfamily int detect\+\_\+arena (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{mon\+Image, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{rectangle }\end{DoxyParamCaption})} - - - -Détecte une arène dans une image fournis en paramètre. - - -\begin{DoxyParams}{Parameters} -{\em mon\+Image} & Pointeur sur l\textquotesingle{}image d\textquotesingle{}entrée \\ -\hline -{\em rectangle} & Pointeur sur les coordonnées du rectangles trouvé. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Retourne -\/1 si aucune arène n\textquotesingle{}est détectée. Sinon retourne 0 -\end{DoxyReturn} -\mbox{\Hypertarget{image_8h_af9f6e2dd4409486f2f6446d1a8a02c40}\label{image_8h_af9f6e2dd4409486f2f6446d1a8a02c40}} -\index{image.\+h@{image.\+h}!detect\+\_\+position@{detect\+\_\+position}} -\index{detect\+\_\+position@{detect\+\_\+position}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{detect\+\_\+position()}{detect\_position()}} -{\footnotesize\ttfamily int detect\+\_\+position (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{struct_position}{Position} $\ast$}]{pos\+Triangle, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{mon\+Arene = {\ttfamily NULL} }\end{DoxyParamCaption})} - - - -Détecte la position d\textquotesingle{}un robot. - -Détecte la position de triangles blanc sur une image /a img\+Input passé en paramètre d\textquotesingle{}entrer. - - -\begin{DoxyParams}{Parameters} -{\em img\+Input} & Pointeur sur l\textquotesingle{}image sur laquelle chercher la position du des robots. \\ -\hline -{\em pos\+Triangle} & Pointeur sur un tableau de position ou seront stocké les positions des triangles détectés. \\ -\hline -{\em mon\+Arene} & Pointeur de type Arène si nécessaire d\textquotesingle{}affiner la recherche (optionnel) \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Le nombre de triangles détectés. -\end{DoxyReturn} -\mbox{\Hypertarget{image_8h_a5ffd032a466af45a505fb46252194bbf}\label{image_8h_a5ffd032a466af45a505fb46252194bbf}} -\index{image.\+h@{image.\+h}!draw\+\_\+arena@{draw\+\_\+arena}} -\index{draw\+\_\+arena@{draw\+\_\+arena}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{draw\+\_\+arena()}{draw\_arena()}} -{\footnotesize\ttfamily void draw\+\_\+arena (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Output, }\item[{\hyperlink{image_8h_aa856a7cb8a1535c9f13096bede6c8586}{Arene} $\ast$}]{mon\+Arene }\end{DoxyParamCaption})} - - - -Dessine le plus petit rectangle contenant l\textquotesingle{}arène. - - -\begin{DoxyParams}{Parameters} -{\em img\+Input} & Pointeur sur l\textquotesingle{}image d\textquotesingle{}entrée. \\ -\hline -{\em img\+Output} & Pointeur sur l\textquotesingle{}image de sortie (image d\textquotesingle{}entrée + arène marquée) \\ -\hline -{\em mon\+Arene} & Pointeur de type Arène contenant les information à dessiner \\ -\hline -\end{DoxyParams} -\mbox{\Hypertarget{image_8h_a869c3946d4a414b8730ca4f91fbd9556}\label{image_8h_a869c3946d4a414b8730ca4f91fbd9556}} -\index{image.\+h@{image.\+h}!draw\+\_\+position@{draw\+\_\+position}} -\index{draw\+\_\+position@{draw\+\_\+position}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{draw\+\_\+position()}{draw\_position()}} -{\footnotesize\ttfamily void draw\+\_\+position (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Input, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{img\+Output, }\item[{\hyperlink{struct_position}{Position} $\ast$}]{position\+Robot }\end{DoxyParamCaption})} - - - -Dessine sur une image en entrée la position d\textquotesingle{}un robot et sa direction. - -Sauvegarde l\textquotesingle{}image des coordonnées passées par position\+Robot superposée à l\textquotesingle{}image d\textquotesingle{}entrée sur img\+Output. - - -\begin{DoxyParams}{Parameters} -{\em img\+Input} & Pointeur sur l\textquotesingle{}image d\textquotesingle{}entrée \\ -\hline -{\em img\+Output} & Pointeur sur l\textquotesingle{}image de sortie ( image d\textquotesingle{}entrée + dessin de la position) \\ -\hline -{\em position\+Robot} & Pointeur sur la structure position d\textquotesingle{}un robot. \\ -\hline -\end{DoxyParams} -\mbox{\Hypertarget{image_8h_ad904f3348c2d44f9c82435c94cd83844}\label{image_8h_ad904f3348c2d44f9c82435c94cd83844}} -\index{image.\+h@{image.\+h}!get\+\_\+image@{get\+\_\+image}} -\index{get\+\_\+image@{get\+\_\+image}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{get\+\_\+image()}{get\_image()}} -{\footnotesize\ttfamily void get\+\_\+image (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$}]{camera, }\item[{\hyperlink{image_8h_a466446fef9c0348568bc6743186d1a38}{Image} $\ast$}]{mon\+Image, }\item[{const char $\ast$}]{fichier = {\ttfamily NULL} }\end{DoxyParamCaption})} - - - -Capture une image avec la camera passée en entrée. En cas de test sans camera, la fonction charge une image. - -La camera doit préalablement être ouverte via {\itshape open\+Camera}(...) - - -\begin{DoxyParams}{Parameters} -{\em camera} & Pointeur sur la camera passée en entrée. \\ -\hline -{\em mon\+Image} & Pointeur sur une image capturée. \\ -\hline -{\em fichier} & Chemin du fichier d\textquotesingle{}image \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Retourne -\/1 si une erreur survient. -\end{DoxyReturn} -\mbox{\Hypertarget{image_8h_aca0662ab31eac7fdb2d64fecc52ff1da}\label{image_8h_aca0662ab31eac7fdb2d64fecc52ff1da}} -\index{image.\+h@{image.\+h}!open\+\_\+camera@{open\+\_\+camera}} -\index{open\+\_\+camera@{open\+\_\+camera}!image.\+h@{image.\+h}} -\subsubsection{\texorpdfstring{open\+\_\+camera()}{open\_camera()}} -{\footnotesize\ttfamily int open\+\_\+camera (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a739dda3f6f6ddbab22617837b43a692a}{Camera} $\ast$}]{camera }\end{DoxyParamCaption})} - - - -Ouvre une camera. - -Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte - - -\begin{DoxyParams}{Parameters} -{\em camera} & Pointeur d\textquotesingle{}un file descriptor d\textquotesingle{}une camera ouverte \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Retourne 0 si la camera a été ouverte correctement et -\/1 si une erreur survient. -\end{DoxyReturn} diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/image_8h__dep__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/image_8h__dep__incl.md5 deleted file mode 100644 index 7ad25e2..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/image_8h__dep__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -45c78d7de27e76d5c6847b572d8f01af \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/image_8h__dep__incl.pdf b/software/raspberry/superviseur-robot/lib/doc/latex/image_8h__dep__incl.pdf deleted file mode 100644 index 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deleted file mode 100644 index f1537eb..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/message_8cpp.tex +++ /dev/null @@ -1,84 +0,0 @@ -\hypertarget{message_8cpp}{}\section{src/message.cpp File Reference} -\label{message_8cpp}\index{src/message.\+cpp@{src/message.\+cpp}} - - -Functions for sending message to monitor. - - -{\ttfamily \#include \char`\"{}message.\+h\char`\"{}}\newline -Include dependency graph for message.\+cpp\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=329pt]{message_8cpp__incl} -\end{center} -\end{figure} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -void \hyperlink{message_8cpp_a8c768ba3ccfd64ba1e39079c967aff26}{set\+\_\+msg\+To\+Mon\+\_\+header} (\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$msg, char $\ast$header) -\item -void \hyperlink{message_8cpp_aa938f8156bfca7379f533b751334ca6f}{set\+\_\+msg\+To\+Mon\+\_\+data} (\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$msg, void $\ast$data) -\item -void \hyperlink{message_8cpp_a285193a5a9d3b142f3f1c53c471d3173}{free\+\_\+msg\+To\+Mon\+\_\+data} (\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$msg) -\item -void \hyperlink{message_8cpp_ae409e822d69cee7483a2d41c62698a85}{print\+\_\+msg\+To\+Mon} (\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$msg) -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Functions for sending message to monitor. - -\begin{DoxyAuthor}{Author} -P\+E.\+Hladik -\end{DoxyAuthor} -\begin{DoxyVersion}{Version} -1.\+0 -\end{DoxyVersion} -\begin{DoxyDate}{Date} -06/06/2017 -\end{DoxyDate} - - -\subsection{Function Documentation} -\mbox{\Hypertarget{message_8cpp_a285193a5a9d3b142f3f1c53c471d3173}\label{message_8cpp_a285193a5a9d3b142f3f1c53c471d3173}} -\index{message.\+cpp@{message.\+cpp}!free\+\_\+msg\+To\+Mon\+\_\+data@{free\+\_\+msg\+To\+Mon\+\_\+data}} -\index{free\+\_\+msg\+To\+Mon\+\_\+data@{free\+\_\+msg\+To\+Mon\+\_\+data}!message.\+cpp@{message.\+cpp}} -\subsubsection{\texorpdfstring{free\+\_\+msg\+To\+Mon\+\_\+data()}{free\_msgToMon\_data()}} -{\footnotesize\ttfamily void free\+\_\+msg\+To\+Mon\+\_\+data (\begin{DoxyParamCaption}\item[{\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$}]{msg }\end{DoxyParamCaption})} - - - -Definition at line 40 of file message.\+cpp. - -\mbox{\Hypertarget{message_8cpp_ae409e822d69cee7483a2d41c62698a85}\label{message_8cpp_ae409e822d69cee7483a2d41c62698a85}} -\index{message.\+cpp@{message.\+cpp}!print\+\_\+msg\+To\+Mon@{print\+\_\+msg\+To\+Mon}} -\index{print\+\_\+msg\+To\+Mon@{print\+\_\+msg\+To\+Mon}!message.\+cpp@{message.\+cpp}} -\subsubsection{\texorpdfstring{print\+\_\+msg\+To\+Mon()}{print\_msgToMon()}} -{\footnotesize\ttfamily void print\+\_\+msg\+To\+Mon (\begin{DoxyParamCaption}\item[{\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$}]{msg }\end{DoxyParamCaption})} - - - -Definition at line 46 of file message.\+cpp. - -\mbox{\Hypertarget{message_8cpp_aa938f8156bfca7379f533b751334ca6f}\label{message_8cpp_aa938f8156bfca7379f533b751334ca6f}} -\index{message.\+cpp@{message.\+cpp}!set\+\_\+msg\+To\+Mon\+\_\+data@{set\+\_\+msg\+To\+Mon\+\_\+data}} -\index{set\+\_\+msg\+To\+Mon\+\_\+data@{set\+\_\+msg\+To\+Mon\+\_\+data}!message.\+cpp@{message.\+cpp}} -\subsubsection{\texorpdfstring{set\+\_\+msg\+To\+Mon\+\_\+data()}{set\_msgToMon\_data()}} -{\footnotesize\ttfamily void set\+\_\+msg\+To\+Mon\+\_\+data (\begin{DoxyParamCaption}\item[{\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$}]{msg, }\item[{void $\ast$}]{data }\end{DoxyParamCaption})} - - - -Definition at line 32 of file message.\+cpp. - -\mbox{\Hypertarget{message_8cpp_a8c768ba3ccfd64ba1e39079c967aff26}\label{message_8cpp_a8c768ba3ccfd64ba1e39079c967aff26}} -\index{message.\+cpp@{message.\+cpp}!set\+\_\+msg\+To\+Mon\+\_\+header@{set\+\_\+msg\+To\+Mon\+\_\+header}} -\index{set\+\_\+msg\+To\+Mon\+\_\+header@{set\+\_\+msg\+To\+Mon\+\_\+header}!message.\+cpp@{message.\+cpp}} -\subsubsection{\texorpdfstring{set\+\_\+msg\+To\+Mon\+\_\+header()}{set\_msgToMon\_header()}} -{\footnotesize\ttfamily void set\+\_\+msg\+To\+Mon\+\_\+header (\begin{DoxyParamCaption}\item[{\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$}]{msg, }\item[{char $\ast$}]{header }\end{DoxyParamCaption})} - - - -Definition at line 28 of file message.\+cpp. - diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/message_8cpp__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/message_8cpp__incl.md5 deleted file mode 100644 index 3cb14b8..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/message_8cpp__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -c131ced6abd12634f212035041a05e9c \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/message_8cpp__incl.pdf 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$<$stdio.\+h$>$}\newline -{\ttfamily \#include $<$stdlib.\+h$>$}\newline -{\ttfamily \#include $<$unistd.\+h$>$}\newline -{\ttfamily \#include $<$string.\+h$>$}\newline -Include dependency graph for message.\+h\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=329pt]{message_8h__incl} -\end{center} -\end{figure} -\subsection*{Classes} -\begin{DoxyCompactItemize} -\item -struct \hyperlink{struct_message_to_mon}{Message\+To\+Mon} -\end{DoxyCompactItemize} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -void \hyperlink{message_8h_a8c768ba3ccfd64ba1e39079c967aff26}{set\+\_\+msg\+To\+Mon\+\_\+header} (\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$msg, char $\ast$header) -\begin{DoxyCompactList}\small\item\em Set header part of monitor message. \end{DoxyCompactList}\item -void \hyperlink{message_8h_aa938f8156bfca7379f533b751334ca6f}{set\+\_\+msg\+To\+Mon\+\_\+data} (\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$msg, void $\ast$data) -\begin{DoxyCompactList}\small\item\em Set data part of monitor message. \end{DoxyCompactList}\item -void \hyperlink{message_8h_a285193a5a9d3b142f3f1c53c471d3173}{free\+\_\+msg\+To\+Mon\+\_\+data} (\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$msg) -\begin{DoxyCompactList}\small\item\em Dealocate moemory pointed by data part of message. \end{DoxyCompactList}\item -void \hyperlink{message_8h_ae409e822d69cee7483a2d41c62698a85}{print\+\_\+msg\+To\+Mon} (\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$msg) -\begin{DoxyCompactList}\small\item\em Print message, header and data. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Functions for sending message to monitor. - -\begin{DoxyAuthor}{Author} -P\+E.\+Hladik -\end{DoxyAuthor} -\begin{DoxyVersion}{Version} -1.\+0 -\end{DoxyVersion} -\begin{DoxyDate}{Date} -06/06/2017 -\end{DoxyDate} - - -\subsection{Function Documentation} -\mbox{\Hypertarget{message_8h_a285193a5a9d3b142f3f1c53c471d3173}\label{message_8h_a285193a5a9d3b142f3f1c53c471d3173}} -\index{message.\+h@{message.\+h}!free\+\_\+msg\+To\+Mon\+\_\+data@{free\+\_\+msg\+To\+Mon\+\_\+data}} -\index{free\+\_\+msg\+To\+Mon\+\_\+data@{free\+\_\+msg\+To\+Mon\+\_\+data}!message.\+h@{message.\+h}} -\subsubsection{\texorpdfstring{free\+\_\+msg\+To\+Mon\+\_\+data()}{free\_msgToMon\_data()}} -{\footnotesize\ttfamily void free\+\_\+msg\+To\+Mon\+\_\+data (\begin{DoxyParamCaption}\item[{\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$}]{msg }\end{DoxyParamCaption})} - - - -Dealocate moemory pointed by data part of message. - -\mbox{\Hypertarget{message_8h_ae409e822d69cee7483a2d41c62698a85}\label{message_8h_ae409e822d69cee7483a2d41c62698a85}} -\index{message.\+h@{message.\+h}!print\+\_\+msg\+To\+Mon@{print\+\_\+msg\+To\+Mon}} -\index{print\+\_\+msg\+To\+Mon@{print\+\_\+msg\+To\+Mon}!message.\+h@{message.\+h}} -\subsubsection{\texorpdfstring{print\+\_\+msg\+To\+Mon()}{print\_msgToMon()}} -{\footnotesize\ttfamily void print\+\_\+msg\+To\+Mon (\begin{DoxyParamCaption}\item[{\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$}]{msg }\end{DoxyParamCaption})} - - - -Print message, header and data. - -\mbox{\Hypertarget{message_8h_aa938f8156bfca7379f533b751334ca6f}\label{message_8h_aa938f8156bfca7379f533b751334ca6f}} -\index{message.\+h@{message.\+h}!set\+\_\+msg\+To\+Mon\+\_\+data@{set\+\_\+msg\+To\+Mon\+\_\+data}} -\index{set\+\_\+msg\+To\+Mon\+\_\+data@{set\+\_\+msg\+To\+Mon\+\_\+data}!message.\+h@{message.\+h}} -\subsubsection{\texorpdfstring{set\+\_\+msg\+To\+Mon\+\_\+data()}{set\_msgToMon\_data()}} -{\footnotesize\ttfamily void set\+\_\+msg\+To\+Mon\+\_\+data (\begin{DoxyParamCaption}\item[{\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$}]{msg, }\item[{void $\ast$}]{data }\end{DoxyParamCaption})} - - - -Set data part of monitor message. - -\mbox{\Hypertarget{message_8h_a8c768ba3ccfd64ba1e39079c967aff26}\label{message_8h_a8c768ba3ccfd64ba1e39079c967aff26}} -\index{message.\+h@{message.\+h}!set\+\_\+msg\+To\+Mon\+\_\+header@{set\+\_\+msg\+To\+Mon\+\_\+header}} -\index{set\+\_\+msg\+To\+Mon\+\_\+header@{set\+\_\+msg\+To\+Mon\+\_\+header}!message.\+h@{message.\+h}} -\subsubsection{\texorpdfstring{set\+\_\+msg\+To\+Mon\+\_\+header()}{set\_msgToMon\_header()}} -{\footnotesize\ttfamily void set\+\_\+msg\+To\+Mon\+\_\+header (\begin{DoxyParamCaption}\item[{\hyperlink{struct_message_to_mon}{Message\+To\+Mon} $\ast$}]{msg, }\item[{char $\ast$}]{header }\end{DoxyParamCaption})} - - - -Set header part of monitor message. - diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/message_8h__dep__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/message_8h__dep__incl.md5 deleted file mode 100644 index 8d61829..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/message_8h__dep__incl.md5 +++ /dev/null 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\#include \char`\"{}monitor.\+h\char`\"{}}\newline -{\ttfamily \#include \char`\"{}server.\+h\char`\"{}}\newline -Include dependency graph for monitor.\+cpp\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{monitor_8cpp__incl} -\end{center} -\end{figure} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -string \hyperlink{monitor_8cpp_a04c8d7ed93b301fafe6dcc08d64ba21b}{server\+Receive} (int size) -\item -int \hyperlink{monitor_8cpp_a7265ec937de7d9ca68b81e5bd8203962}{send\+Message} (const char $\ast$data, int data\+Length) -\item -int \hyperlink{monitor_8cpp_aef87d80a1e44bf1953b3282967282ef0}{receive} (char $\ast$data) -\item -int \hyperlink{monitor_8cpp_af49d46447ce41019bd13a2c07a000644}{send\+\_\+message\+\_\+to\+\_\+monitor} (const char $\ast$type\+Message, const void $\ast$data) -\begin{DoxyCompactList}\small\item\em Envoi d\textquotesingle{}un message vers l\textquotesingle{}interface graphique. \end{DoxyCompactList}\item -int \hyperlink{monitor_8cpp_a61eca0d5b49118350db39583e1bd1032}{receive\+\_\+message\+\_\+from\+\_\+monitor} (char $\ast$type\+Message, char $\ast$data) -\begin{DoxyCompactList}\small\item\em Réception d\textquotesingle{}un message. La fonction est bloquante et retourne par référence le type de message reçu (D\+MB pour un ordre au robot, A\+RN pour la détection des arènes et P\+OS pour un calcul de position) ainsi que les données associées. \end{DoxyCompactList}\end{DoxyCompactItemize} -\subsection*{Variables} -\begin{DoxyCompactItemize} -\item -\hyperlink{monitor_8h_a29046dc0232f0e5c70adbc25090d77b8}{S\+O\+C\+K\+A\+D\+D\+R\+\_\+\+IN} \hyperlink{monitor_8cpp_a1f38ae3a59ce304779ebbca10378654a}{ssin} -\item -\hyperlink{monitor_8h_a8dc8083897335125630f1af5dafd5831}{S\+O\+C\+K\+ET} \hyperlink{monitor_8cpp_a6e91849780a994f2adde299b33642829}{sock} -\item -socklen\+\_\+t \hyperlink{monitor_8cpp_acd1a03adb2455aaacbd886642518d569}{recsize} = sizeof (\hyperlink{monitor_8cpp_a1f38ae3a59ce304779ebbca10378654a}{ssin}) -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Library for sending message to monitor or receiving message. - -\begin{DoxyAuthor}{Author} -L.\+senaneuch -\end{DoxyAuthor} -\begin{DoxyVersion}{Version} -1.\+0 -\end{DoxyVersion} -\begin{DoxyDate}{Date} -06/06/2017 -\end{DoxyDate} - - -\subsection{Function Documentation} -\mbox{\Hypertarget{monitor_8cpp_aef87d80a1e44bf1953b3282967282ef0}\label{monitor_8cpp_aef87d80a1e44bf1953b3282967282ef0}} -\index{monitor.\+cpp@{monitor.\+cpp}!receive@{receive}} -\index{receive@{receive}!monitor.\+cpp@{monitor.\+cpp}} -\subsubsection{\texorpdfstring{receive()}{receive()}} -{\footnotesize\ttfamily int receive (\begin{DoxyParamCaption}\item[{char $\ast$}]{data }\end{DoxyParamCaption})} - - - -Definition at line 90 of file monitor.\+cpp. - -\mbox{\Hypertarget{monitor_8cpp_a61eca0d5b49118350db39583e1bd1032}\label{monitor_8cpp_a61eca0d5b49118350db39583e1bd1032}} -\index{monitor.\+cpp@{monitor.\+cpp}!receive\+\_\+message\+\_\+from\+\_\+monitor@{receive\+\_\+message\+\_\+from\+\_\+monitor}} -\index{receive\+\_\+message\+\_\+from\+\_\+monitor@{receive\+\_\+message\+\_\+from\+\_\+monitor}!monitor.\+cpp@{monitor.\+cpp}} -\subsubsection{\texorpdfstring{receive\+\_\+message\+\_\+from\+\_\+monitor()}{receive\_message\_from\_monitor()}} -{\footnotesize\ttfamily int receive\+\_\+message\+\_\+from\+\_\+monitor (\begin{DoxyParamCaption}\item[{char $\ast$}]{type\+Message, }\item[{char $\ast$}]{data }\end{DoxyParamCaption})} - - - -Réception d\textquotesingle{}un message. La fonction est bloquante et retourne par référence le type de message reçu (D\+MB pour un ordre au robot, A\+RN pour la détection des arènes et P\+OS pour un calcul de position) ainsi que les données associées. - - -\begin{DoxyParams}{Parameters} -{\em type\+Message} & Type du message reçu \+: D\+MB pour un ordre au robot, A\+RN pour la demande de détection de l\textquotesingle{}arène, P\+OS pour un calcul de position et M\+SG pour un message de l\textquotesingle{}interface \\ -\hline -{\em data} & données associées au message reçu. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -retourne 0 la taille du message reçu ou une valeur négative si la connexion est perdue. -\end{DoxyReturn} - - -Definition at line 83 of file monitor.\+cpp. - -\mbox{\Hypertarget{monitor_8cpp_af49d46447ce41019bd13a2c07a000644}\label{monitor_8cpp_af49d46447ce41019bd13a2c07a000644}} -\index{monitor.\+cpp@{monitor.\+cpp}!send\+\_\+message\+\_\+to\+\_\+monitor@{send\+\_\+message\+\_\+to\+\_\+monitor}} -\index{send\+\_\+message\+\_\+to\+\_\+monitor@{send\+\_\+message\+\_\+to\+\_\+monitor}!monitor.\+cpp@{monitor.\+cpp}} -\subsubsection{\texorpdfstring{send\+\_\+message\+\_\+to\+\_\+monitor()}{send\_message\_to\_monitor()}} -{\footnotesize\ttfamily int send\+\_\+message\+\_\+to\+\_\+monitor (\begin{DoxyParamCaption}\item[{const char $\ast$}]{type\+Message, }\item[{const void $\ast$}]{data = {\ttfamily NULL} }\end{DoxyParamCaption})} - - - -Envoi d\textquotesingle{}un message vers l\textquotesingle{}interface graphique. - - -\begin{DoxyParams}{Parameters} -{\em type\+Message} & Type du message envoyé. Les valeurs possibles sont I\+MG pour une image, M\+ES pour un message à afficher dans la console, P\+OS pour la position du robot, B\+AT pour une valeur de la batterie et A\+CK pour valider un message de l\textquotesingle{}interface. \\ -\hline -{\em data} & données associées au message. Le type de la donnée doit correspondre au message \+: Image pour I\+MG, char $\ast$ M\+ES, \hyperlink{struct_position}{Position} pour P\+OS, char $\ast$ pour B\+AT et rien pour A\+CK. Attention, il n\textquotesingle{}y a aucune vérification a posterio. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -retourne 0 si l\textquotesingle{}envoie a bien été réalisé et -\/1 en cas de problème. -\end{DoxyReturn} - - -Definition at line 40 of file monitor.\+cpp. - -\mbox{\Hypertarget{monitor_8cpp_a7265ec937de7d9ca68b81e5bd8203962}\label{monitor_8cpp_a7265ec937de7d9ca68b81e5bd8203962}} -\index{monitor.\+cpp@{monitor.\+cpp}!send\+Message@{send\+Message}} -\index{send\+Message@{send\+Message}!monitor.\+cpp@{monitor.\+cpp}} -\subsubsection{\texorpdfstring{send\+Message()}{sendMessage()}} -{\footnotesize\ttfamily int send\+Message (\begin{DoxyParamCaption}\item[{const char $\ast$}]{data, }\item[{int}]{data\+Length }\end{DoxyParamCaption})} - - - -Definition at line 97 of file monitor.\+cpp. - -\mbox{\Hypertarget{monitor_8cpp_a04c8d7ed93b301fafe6dcc08d64ba21b}\label{monitor_8cpp_a04c8d7ed93b301fafe6dcc08d64ba21b}} -\index{monitor.\+cpp@{monitor.\+cpp}!server\+Receive@{server\+Receive}} -\index{server\+Receive@{server\+Receive}!monitor.\+cpp@{monitor.\+cpp}} -\subsubsection{\texorpdfstring{server\+Receive()}{serverReceive()}} -{\footnotesize\ttfamily string server\+Receive (\begin{DoxyParamCaption}\item[{int}]{size }\end{DoxyParamCaption})} - - - -\subsection{Variable Documentation} -\mbox{\Hypertarget{monitor_8cpp_acd1a03adb2455aaacbd886642518d569}\label{monitor_8cpp_acd1a03adb2455aaacbd886642518d569}} -\index{monitor.\+cpp@{monitor.\+cpp}!recsize@{recsize}} -\index{recsize@{recsize}!monitor.\+cpp@{monitor.\+cpp}} -\subsubsection{\texorpdfstring{recsize}{recsize}} -{\footnotesize\ttfamily socklen\+\_\+t recsize = sizeof (\hyperlink{monitor_8cpp_a1f38ae3a59ce304779ebbca10378654a}{ssin})} - - - -Definition at line 33 of file monitor.\+cpp. - -\mbox{\Hypertarget{monitor_8cpp_a6e91849780a994f2adde299b33642829}\label{monitor_8cpp_a6e91849780a994f2adde299b33642829}} -\index{monitor.\+cpp@{monitor.\+cpp}!sock@{sock}} -\index{sock@{sock}!monitor.\+cpp@{monitor.\+cpp}} -\subsubsection{\texorpdfstring{sock}{sock}} -{\footnotesize\ttfamily \hyperlink{monitor_8h_a8dc8083897335125630f1af5dafd5831}{S\+O\+C\+K\+ET} sock} - - - -Definition at line 32 of file monitor.\+cpp. - -\mbox{\Hypertarget{monitor_8cpp_a1f38ae3a59ce304779ebbca10378654a}\label{monitor_8cpp_a1f38ae3a59ce304779ebbca10378654a}} -\index{monitor.\+cpp@{monitor.\+cpp}!ssin@{ssin}} -\index{ssin@{ssin}!monitor.\+cpp@{monitor.\+cpp}} -\subsubsection{\texorpdfstring{ssin}{ssin}} -{\footnotesize\ttfamily \hyperlink{monitor_8h_a29046dc0232f0e5c70adbc25090d77b8}{S\+O\+C\+K\+A\+D\+D\+R\+\_\+\+IN} ssin} - - - -Definition at line 31 of file monitor.\+cpp. - diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/monitor_8cpp__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/monitor_8cpp__incl.md5 deleted file mode 100644 index d1b2e27..0000000 --- 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z-e?|gl$QU{0l7HeLj3P`OiaKx{?5PafLv^E)8*fEKvq`fw@2#VbWF@FO#fxa^2Rv% z4?7?W2kU?O0I~wv|I3aQ$oa;&`8OXxRxXzR^b2HTdV72P)6Uh|=xu^K{~-mdSb3Yh x$LjrUrR?DFHt2uRY2IZid-J!k{qtP>MR+lCcKs7wARCa09gdt_OhFv({{V$bLXrRg diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/monitor_8h.tex b/software/raspberry/superviseur-robot/lib/doc/latex/monitor_8h.tex deleted file mode 100644 index 46a8552..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/monitor_8h.tex +++ /dev/null @@ -1,406 +0,0 @@ -\hypertarget{monitor_8h}{}\section{monitor.\+h File Reference} -\label{monitor_8h}\index{monitor.\+h@{monitor.\+h}} - - -Library for sending message to monitor or receiving message. - - -{\ttfamily \#include $<$sys/types.\+h$>$}\newline -{\ttfamily \#include $<$sys/socket.\+h$>$}\newline -{\ttfamily \#include $<$netinet/in.\+h$>$}\newline -{\ttfamily \#include $<$arpa/inet.\+h$>$}\newline -{\ttfamily \#include $<$unistd.\+h$>$}\newline -{\ttfamily \#include $<$signal.\+h$>$}\newline -{\ttfamily \#include $<$stdlib.\+h$>$}\newline -{\ttfamily \#include $<$stdio.\+h$>$}\newline -{\ttfamily \#include $<$string.\+h$>$}\newline -{\ttfamily \#include \char`\"{}image.\+h\char`\"{}}\newline -{\ttfamily \#include \char`\"{}definitions.\+h\char`\"{}}\newline -Include dependency graph for monitor.\+h\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{monitor_8h__incl} -\end{center} -\end{figure} -\subsection*{Classes} -\begin{DoxyCompactItemize} -\item -struct \hyperlink{struct_message_from_mon}{Message\+From\+Mon} -\end{DoxyCompactItemize} -\subsection*{Macros} -\begin{DoxyCompactItemize} -\item -\#define \hyperlink{monitor_8h_ad62b697bd25a71d171db46740aef2830}{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+I\+M\+A\+GE}~\char`\"{}I\+MG\char`\"{} -\item -\#define \hyperlink{monitor_8h_a0de226ae5af8b83f3b163ff4413eef95}{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+B\+AT}~\char`\"{}B\+AT\char`\"{} -\item -\#define \hyperlink{monitor_8h_a6a07aae2539981459edc8070a0f019db}{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+P\+OS}~\char`\"{}P\+OS\char`\"{} -\item -\#define \hyperlink{monitor_8h_ac2e64478522da4e3b45c139c0c72557f}{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+N\+O\+\_\+\+A\+CK}~\char`\"{}N\+AK\char`\"{} -\item -\#define \hyperlink{monitor_8h_af2325d19ae9da4310eb608c744149f53}{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+A\+CK}~\char`\"{}A\+CK\char`\"{} -\item -\#define \hyperlink{monitor_8h_ac1034bccb09918cccd3ba142377a6788}{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+M\+ES}~\char`\"{}M\+SG\char`\"{} -\item -\#define \hyperlink{monitor_8h_afe29ce74d16751828da8aec7e13ad06b}{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+L\+O\+S\+T\+\_\+\+D\+MB}~\char`\"{}L\+CD\char`\"{} -\item -\#define \hyperlink{monitor_8h_a980e8f9457e30018fddcd4d997f17a85}{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+M\+SG}~\char`\"{}M\+SG\char`\"{} -\item -\#define \hyperlink{monitor_8h_a5ccd30e6502bb94eaa13a597edb1f156}{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+D\+M\+B\+\_\+\+O\+R\+D\+ER}~\char`\"{}D\+MB\char`\"{} -\item -\#define \hyperlink{monitor_8h_a0c829d92889c5c9b2d485964ce933fab}{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+O\+M\+\_\+\+D\+MB}~\char`\"{}C\+OM\char`\"{} -\item -\#define \hyperlink{monitor_8h_a91e2658cf20010646211ba748885c180}{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+A\+M\+E\+RA}~\char`\"{}C\+AM\char`\"{} -\item -\#define \hyperlink{monitor_8h_a2be30c9a3e65eaf5502b8542a6ac6259}{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+S\+T\+OP}~\char`\"{}S\+TO\char`\"{} -\item -\#define \hyperlink{monitor_8h_a26769957ec1a2beaf223f33b66ee64ab}{I\+N\+V\+A\+L\+I\+D\+\_\+\+S\+O\+C\+K\+ET}~-\/1 -\item -\#define \hyperlink{monitor_8h_a633b0396ff93d336a088412a190a5072}{S\+O\+C\+K\+E\+T\+\_\+\+E\+R\+R\+OR}~-\/1 -\item -\#define \hyperlink{monitor_8h_a16b710f592bf8f7900666392adc444dc}{D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+O\+RT}~8080 -\item -\#define \hyperlink{monitor_8h_a939612a13947b5bb9fc848e3222a231d}{D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+A\+R\+I\+TY}~0 -\item -\#define \hyperlink{monitor_8h_ab3be9ae187e8b98bb000ca0bca68e982}{D\+E\+T\+E\+C\+T\+\_\+\+A\+R\+E\+NA}~(1) -\item -\#define \hyperlink{monitor_8h_a22d20ac264e03c59d6941cb11386aa89}{C\+H\+E\+C\+K\+\_\+\+A\+R\+E\+NA}~(2) -\item -\#define \hyperlink{monitor_8h_a1d58e03abc2a587c7f0a0665c94c0e68}{N\+O\+\_\+\+A\+R\+E\+NA}~(3) -\item -\#define \hyperlink{monitor_8h_a2c47b710f0858fe41c544517c6b2a2fd}{D\+E\+F\+A\+U\+L\+T\+\_\+\+N\+O\+D\+E\+J\+S\+\_\+\+P\+A\+TH}~\char`\"{}/usr/bin/nodejs\char`\"{} -\item -\#define \hyperlink{monitor_8h_af533d8bd7d6a1d9f9efba3b259280e32}{D\+E\+F\+A\+U\+L\+T\+\_\+\+I\+N\+T\+E\+R\+F\+A\+C\+E\+\_\+\+F\+I\+LE}~\char`\"{}./interface.\+js\char`\"{} -\item -\#define \hyperlink{monitor_8h_ab6b45251e218af8f09c5d627b5262398}{closesocket}(param)~close(param) -\end{DoxyCompactItemize} -\subsection*{Typedefs} -\begin{DoxyCompactItemize} -\item -typedef int \hyperlink{monitor_8h_a8dc8083897335125630f1af5dafd5831}{S\+O\+C\+K\+ET} -\item -typedef struct sockaddr\+\_\+in \hyperlink{monitor_8h_a29046dc0232f0e5c70adbc25090d77b8}{S\+O\+C\+K\+A\+D\+D\+R\+\_\+\+IN} -\item -typedef struct sockaddr \hyperlink{monitor_8h_ae334b73cedf7204187dce3f817576009}{S\+O\+C\+K\+A\+D\+DR} -\end{DoxyCompactItemize} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -int \hyperlink{monitor_8h_ac3d876b96642b6ee46f6a96b7ffcb864}{send\+\_\+message\+\_\+to\+\_\+monitor} (const char $\ast$type\+Message, const void $\ast$data=N\+U\+LL) -\begin{DoxyCompactList}\small\item\em Envoi d\textquotesingle{}un message vers l\textquotesingle{}interface graphique. \end{DoxyCompactList}\item -int \hyperlink{monitor_8h_a61eca0d5b49118350db39583e1bd1032}{receive\+\_\+message\+\_\+from\+\_\+monitor} (char $\ast$type\+Message, char $\ast$data) -\begin{DoxyCompactList}\small\item\em Réception d\textquotesingle{}un message. La fonction est bloquante et retourne par référence le type de message reçu (D\+MB pour un ordre au robot, A\+RN pour la détection des arènes et P\+OS pour un calcul de position) ainsi que les données associées. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Library for sending message to monitor or receiving message. - -\begin{DoxyAuthor}{Author} -L.\+senaneuch -\end{DoxyAuthor} -\begin{DoxyVersion}{Version} -1.\+0 -\end{DoxyVersion} -\begin{DoxyDate}{Date} -06/06/2017 -\end{DoxyDate} - - -\subsection{Macro Definition Documentation} -\mbox{\Hypertarget{monitor_8h_a22d20ac264e03c59d6941cb11386aa89}\label{monitor_8h_a22d20ac264e03c59d6941cb11386aa89}} -\index{monitor.\+h@{monitor.\+h}!C\+H\+E\+C\+K\+\_\+\+A\+R\+E\+NA@{C\+H\+E\+C\+K\+\_\+\+A\+R\+E\+NA}} -\index{C\+H\+E\+C\+K\+\_\+\+A\+R\+E\+NA@{C\+H\+E\+C\+K\+\_\+\+A\+R\+E\+NA}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{C\+H\+E\+C\+K\+\_\+\+A\+R\+E\+NA}{CHECK\_ARENA}} -{\footnotesize\ttfamily \#define C\+H\+E\+C\+K\+\_\+\+A\+R\+E\+NA~(2)} - - - -Definition at line 62 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_ab6b45251e218af8f09c5d627b5262398}\label{monitor_8h_ab6b45251e218af8f09c5d627b5262398}} -\index{monitor.\+h@{monitor.\+h}!closesocket@{closesocket}} -\index{closesocket@{closesocket}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{closesocket}{closesocket}} -{\footnotesize\ttfamily \#define closesocket(\begin{DoxyParamCaption}\item[{}]{param }\end{DoxyParamCaption})~close(param)} - - - -Definition at line 68 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_af533d8bd7d6a1d9f9efba3b259280e32}\label{monitor_8h_af533d8bd7d6a1d9f9efba3b259280e32}} -\index{monitor.\+h@{monitor.\+h}!D\+E\+F\+A\+U\+L\+T\+\_\+\+I\+N\+T\+E\+R\+F\+A\+C\+E\+\_\+\+F\+I\+LE@{D\+E\+F\+A\+U\+L\+T\+\_\+\+I\+N\+T\+E\+R\+F\+A\+C\+E\+\_\+\+F\+I\+LE}} -\index{D\+E\+F\+A\+U\+L\+T\+\_\+\+I\+N\+T\+E\+R\+F\+A\+C\+E\+\_\+\+F\+I\+LE@{D\+E\+F\+A\+U\+L\+T\+\_\+\+I\+N\+T\+E\+R\+F\+A\+C\+E\+\_\+\+F\+I\+LE}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{D\+E\+F\+A\+U\+L\+T\+\_\+\+I\+N\+T\+E\+R\+F\+A\+C\+E\+\_\+\+F\+I\+LE}{DEFAULT\_INTERFACE\_FILE}} -{\footnotesize\ttfamily \#define D\+E\+F\+A\+U\+L\+T\+\_\+\+I\+N\+T\+E\+R\+F\+A\+C\+E\+\_\+\+F\+I\+LE~\char`\"{}./interface.\+js\char`\"{}} - - - -Definition at line 66 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a2c47b710f0858fe41c544517c6b2a2fd}\label{monitor_8h_a2c47b710f0858fe41c544517c6b2a2fd}} -\index{monitor.\+h@{monitor.\+h}!D\+E\+F\+A\+U\+L\+T\+\_\+\+N\+O\+D\+E\+J\+S\+\_\+\+P\+A\+TH@{D\+E\+F\+A\+U\+L\+T\+\_\+\+N\+O\+D\+E\+J\+S\+\_\+\+P\+A\+TH}} -\index{D\+E\+F\+A\+U\+L\+T\+\_\+\+N\+O\+D\+E\+J\+S\+\_\+\+P\+A\+TH@{D\+E\+F\+A\+U\+L\+T\+\_\+\+N\+O\+D\+E\+J\+S\+\_\+\+P\+A\+TH}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{D\+E\+F\+A\+U\+L\+T\+\_\+\+N\+O\+D\+E\+J\+S\+\_\+\+P\+A\+TH}{DEFAULT\_NODEJS\_PATH}} -{\footnotesize\ttfamily \#define D\+E\+F\+A\+U\+L\+T\+\_\+\+N\+O\+D\+E\+J\+S\+\_\+\+P\+A\+TH~\char`\"{}/usr/bin/nodejs\char`\"{}} - - - -Definition at line 65 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a939612a13947b5bb9fc848e3222a231d}\label{monitor_8h_a939612a13947b5bb9fc848e3222a231d}} -\index{monitor.\+h@{monitor.\+h}!D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+A\+R\+I\+TY@{D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+A\+R\+I\+TY}} -\index{D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+A\+R\+I\+TY@{D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+A\+R\+I\+TY}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+A\+R\+I\+TY}{DEFAULT\_PARITY}} -{\footnotesize\ttfamily \#define D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+A\+R\+I\+TY~0} - - - -Definition at line 59 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a16b710f592bf8f7900666392adc444dc}\label{monitor_8h_a16b710f592bf8f7900666392adc444dc}} -\index{monitor.\+h@{monitor.\+h}!D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+O\+RT@{D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+O\+RT}} -\index{D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+O\+RT@{D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+O\+RT}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+O\+RT}{DEFAULT\_PORT}} -{\footnotesize\ttfamily \#define D\+E\+F\+A\+U\+L\+T\+\_\+\+P\+O\+RT~8080} - - - -Definition at line 58 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_ab3be9ae187e8b98bb000ca0bca68e982}\label{monitor_8h_ab3be9ae187e8b98bb000ca0bca68e982}} -\index{monitor.\+h@{monitor.\+h}!D\+E\+T\+E\+C\+T\+\_\+\+A\+R\+E\+NA@{D\+E\+T\+E\+C\+T\+\_\+\+A\+R\+E\+NA}} -\index{D\+E\+T\+E\+C\+T\+\_\+\+A\+R\+E\+NA@{D\+E\+T\+E\+C\+T\+\_\+\+A\+R\+E\+NA}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{D\+E\+T\+E\+C\+T\+\_\+\+A\+R\+E\+NA}{DETECT\_ARENA}} -{\footnotesize\ttfamily \#define D\+E\+T\+E\+C\+T\+\_\+\+A\+R\+E\+NA~(1)} - - - -Definition at line 61 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a91e2658cf20010646211ba748885c180}\label{monitor_8h_a91e2658cf20010646211ba748885c180}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+A\+M\+E\+RA@{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+A\+M\+E\+RA}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+A\+M\+E\+RA@{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+A\+M\+E\+RA}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+A\+M\+E\+RA}{HEADER\_MTS\_CAMERA}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+A\+M\+E\+RA~\char`\"{}C\+AM\char`\"{}} - - - -Definition at line 52 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a0c829d92889c5c9b2d485964ce933fab}\label{monitor_8h_a0c829d92889c5c9b2d485964ce933fab}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+O\+M\+\_\+\+D\+MB@{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+O\+M\+\_\+\+D\+MB}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+O\+M\+\_\+\+D\+MB@{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+O\+M\+\_\+\+D\+MB}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+O\+M\+\_\+\+D\+MB}{HEADER\_MTS\_COM\_DMB}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+C\+O\+M\+\_\+\+D\+MB~\char`\"{}C\+OM\char`\"{}} - - - -Definition at line 51 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a5ccd30e6502bb94eaa13a597edb1f156}\label{monitor_8h_a5ccd30e6502bb94eaa13a597edb1f156}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+D\+M\+B\+\_\+\+O\+R\+D\+ER@{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+D\+M\+B\+\_\+\+O\+R\+D\+ER}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+D\+M\+B\+\_\+\+O\+R\+D\+ER@{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+D\+M\+B\+\_\+\+O\+R\+D\+ER}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+D\+M\+B\+\_\+\+O\+R\+D\+ER}{HEADER\_MTS\_DMB\_ORDER}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+D\+M\+B\+\_\+\+O\+R\+D\+ER~\char`\"{}D\+MB\char`\"{}} - - - -Definition at line 50 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a980e8f9457e30018fddcd4d997f17a85}\label{monitor_8h_a980e8f9457e30018fddcd4d997f17a85}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+M\+SG@{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+M\+SG}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+M\+SG@{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+M\+SG}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+M\+SG}{HEADER\_MTS\_MSG}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+M\+SG~\char`\"{}M\+SG\char`\"{}} - - - -Definition at line 49 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a2be30c9a3e65eaf5502b8542a6ac6259}\label{monitor_8h_a2be30c9a3e65eaf5502b8542a6ac6259}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+S\+T\+OP@{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+S\+T\+OP}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+S\+T\+OP@{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+S\+T\+OP}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+S\+T\+OP}{HEADER\_MTS\_STOP}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+M\+T\+S\+\_\+\+S\+T\+OP~\char`\"{}S\+TO\char`\"{}} - - - -Definition at line 53 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_af2325d19ae9da4310eb608c744149f53}\label{monitor_8h_af2325d19ae9da4310eb608c744149f53}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+A\+CK@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+A\+CK}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+A\+CK@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+A\+CK}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+A\+CK}{HEADER\_STM\_ACK}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+A\+CK~\char`\"{}A\+CK\char`\"{}} - - - -Definition at line 45 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a0de226ae5af8b83f3b163ff4413eef95}\label{monitor_8h_a0de226ae5af8b83f3b163ff4413eef95}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+B\+AT@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+B\+AT}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+B\+AT@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+B\+AT}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+B\+AT}{HEADER\_STM\_BAT}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+B\+AT~\char`\"{}B\+AT\char`\"{}} - - - -Definition at line 42 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_ad62b697bd25a71d171db46740aef2830}\label{monitor_8h_ad62b697bd25a71d171db46740aef2830}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+I\+M\+A\+GE@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+I\+M\+A\+GE}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+I\+M\+A\+GE@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+I\+M\+A\+GE}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+I\+M\+A\+GE}{HEADER\_STM\_IMAGE}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+I\+M\+A\+GE~\char`\"{}I\+MG\char`\"{}} - - - -Definition at line 41 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_afe29ce74d16751828da8aec7e13ad06b}\label{monitor_8h_afe29ce74d16751828da8aec7e13ad06b}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+L\+O\+S\+T\+\_\+\+D\+MB@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+L\+O\+S\+T\+\_\+\+D\+MB}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+L\+O\+S\+T\+\_\+\+D\+MB@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+L\+O\+S\+T\+\_\+\+D\+MB}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+L\+O\+S\+T\+\_\+\+D\+MB}{HEADER\_STM\_LOST\_DMB}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+L\+O\+S\+T\+\_\+\+D\+MB~\char`\"{}L\+CD\char`\"{}} - - - -Definition at line 47 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_ac1034bccb09918cccd3ba142377a6788}\label{monitor_8h_ac1034bccb09918cccd3ba142377a6788}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+M\+ES@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+M\+ES}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+M\+ES@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+M\+ES}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+M\+ES}{HEADER\_STM\_MES}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+M\+ES~\char`\"{}M\+SG\char`\"{}} - - - -Definition at line 46 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_ac2e64478522da4e3b45c139c0c72557f}\label{monitor_8h_ac2e64478522da4e3b45c139c0c72557f}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+N\+O\+\_\+\+A\+CK@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+N\+O\+\_\+\+A\+CK}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+N\+O\+\_\+\+A\+CK@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+N\+O\+\_\+\+A\+CK}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+N\+O\+\_\+\+A\+CK}{HEADER\_STM\_NO\_ACK}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+N\+O\+\_\+\+A\+CK~\char`\"{}N\+AK\char`\"{}} - - - -Definition at line 44 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a6a07aae2539981459edc8070a0f019db}\label{monitor_8h_a6a07aae2539981459edc8070a0f019db}} -\index{monitor.\+h@{monitor.\+h}!H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+P\+OS@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+P\+OS}} -\index{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+P\+OS@{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+P\+OS}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+P\+OS}{HEADER\_STM\_POS}} -{\footnotesize\ttfamily \#define H\+E\+A\+D\+E\+R\+\_\+\+S\+T\+M\+\_\+\+P\+OS~\char`\"{}P\+OS\char`\"{}} - - - -Definition at line 43 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a26769957ec1a2beaf223f33b66ee64ab}\label{monitor_8h_a26769957ec1a2beaf223f33b66ee64ab}} -\index{monitor.\+h@{monitor.\+h}!I\+N\+V\+A\+L\+I\+D\+\_\+\+S\+O\+C\+K\+ET@{I\+N\+V\+A\+L\+I\+D\+\_\+\+S\+O\+C\+K\+ET}} -\index{I\+N\+V\+A\+L\+I\+D\+\_\+\+S\+O\+C\+K\+ET@{I\+N\+V\+A\+L\+I\+D\+\_\+\+S\+O\+C\+K\+ET}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{I\+N\+V\+A\+L\+I\+D\+\_\+\+S\+O\+C\+K\+ET}{INVALID\_SOCKET}} -{\footnotesize\ttfamily \#define I\+N\+V\+A\+L\+I\+D\+\_\+\+S\+O\+C\+K\+ET~-\/1} - - - -Definition at line 55 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a1d58e03abc2a587c7f0a0665c94c0e68}\label{monitor_8h_a1d58e03abc2a587c7f0a0665c94c0e68}} -\index{monitor.\+h@{monitor.\+h}!N\+O\+\_\+\+A\+R\+E\+NA@{N\+O\+\_\+\+A\+R\+E\+NA}} -\index{N\+O\+\_\+\+A\+R\+E\+NA@{N\+O\+\_\+\+A\+R\+E\+NA}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{N\+O\+\_\+\+A\+R\+E\+NA}{NO\_ARENA}} -{\footnotesize\ttfamily \#define N\+O\+\_\+\+A\+R\+E\+NA~(3)} - - - -Definition at line 63 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a633b0396ff93d336a088412a190a5072}\label{monitor_8h_a633b0396ff93d336a088412a190a5072}} -\index{monitor.\+h@{monitor.\+h}!S\+O\+C\+K\+E\+T\+\_\+\+E\+R\+R\+OR@{S\+O\+C\+K\+E\+T\+\_\+\+E\+R\+R\+OR}} -\index{S\+O\+C\+K\+E\+T\+\_\+\+E\+R\+R\+OR@{S\+O\+C\+K\+E\+T\+\_\+\+E\+R\+R\+OR}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{S\+O\+C\+K\+E\+T\+\_\+\+E\+R\+R\+OR}{SOCKET\_ERROR}} -{\footnotesize\ttfamily \#define S\+O\+C\+K\+E\+T\+\_\+\+E\+R\+R\+OR~-\/1} - - - -Definition at line 56 of file monitor.\+h. - - - -\subsection{Typedef Documentation} -\mbox{\Hypertarget{monitor_8h_ae334b73cedf7204187dce3f817576009}\label{monitor_8h_ae334b73cedf7204187dce3f817576009}} -\index{monitor.\+h@{monitor.\+h}!S\+O\+C\+K\+A\+D\+DR@{S\+O\+C\+K\+A\+D\+DR}} -\index{S\+O\+C\+K\+A\+D\+DR@{S\+O\+C\+K\+A\+D\+DR}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{S\+O\+C\+K\+A\+D\+DR}{SOCKADDR}} -{\footnotesize\ttfamily typedef struct sockaddr \hyperlink{monitor_8h_ae334b73cedf7204187dce3f817576009}{S\+O\+C\+K\+A\+D\+DR}} - - - -Definition at line 72 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a29046dc0232f0e5c70adbc25090d77b8}\label{monitor_8h_a29046dc0232f0e5c70adbc25090d77b8}} -\index{monitor.\+h@{monitor.\+h}!S\+O\+C\+K\+A\+D\+D\+R\+\_\+\+IN@{S\+O\+C\+K\+A\+D\+D\+R\+\_\+\+IN}} -\index{S\+O\+C\+K\+A\+D\+D\+R\+\_\+\+IN@{S\+O\+C\+K\+A\+D\+D\+R\+\_\+\+IN}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{S\+O\+C\+K\+A\+D\+D\+R\+\_\+\+IN}{SOCKADDR\_IN}} -{\footnotesize\ttfamily typedef struct sockaddr\+\_\+in \hyperlink{monitor_8h_a29046dc0232f0e5c70adbc25090d77b8}{S\+O\+C\+K\+A\+D\+D\+R\+\_\+\+IN}} - - - -Definition at line 71 of file monitor.\+h. - -\mbox{\Hypertarget{monitor_8h_a8dc8083897335125630f1af5dafd5831}\label{monitor_8h_a8dc8083897335125630f1af5dafd5831}} -\index{monitor.\+h@{monitor.\+h}!S\+O\+C\+K\+ET@{S\+O\+C\+K\+ET}} -\index{S\+O\+C\+K\+ET@{S\+O\+C\+K\+ET}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{S\+O\+C\+K\+ET}{SOCKET}} -{\footnotesize\ttfamily typedef int \hyperlink{monitor_8h_a8dc8083897335125630f1af5dafd5831}{S\+O\+C\+K\+ET}} - - - -Definition at line 70 of file monitor.\+h. - - - -\subsection{Function Documentation} -\mbox{\Hypertarget{monitor_8h_a61eca0d5b49118350db39583e1bd1032}\label{monitor_8h_a61eca0d5b49118350db39583e1bd1032}} -\index{monitor.\+h@{monitor.\+h}!receive\+\_\+message\+\_\+from\+\_\+monitor@{receive\+\_\+message\+\_\+from\+\_\+monitor}} -\index{receive\+\_\+message\+\_\+from\+\_\+monitor@{receive\+\_\+message\+\_\+from\+\_\+monitor}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{receive\+\_\+message\+\_\+from\+\_\+monitor()}{receive\_message\_from\_monitor()}} -{\footnotesize\ttfamily int receive\+\_\+message\+\_\+from\+\_\+monitor (\begin{DoxyParamCaption}\item[{char $\ast$}]{type\+Message, }\item[{char $\ast$}]{data }\end{DoxyParamCaption})} - - - -Réception d\textquotesingle{}un message. La fonction est bloquante et retourne par référence le type de message reçu (D\+MB pour un ordre au robot, A\+RN pour la détection des arènes et P\+OS pour un calcul de position) ainsi que les données associées. - - -\begin{DoxyParams}{Parameters} -{\em type\+Message} & Type du message reçu \+: D\+MB pour un ordre au robot, A\+RN pour la demande de détection de l\textquotesingle{}arène, P\+OS pour un calcul de position et M\+SG pour un message de l\textquotesingle{}interface \\ -\hline -{\em data} & données associées au message reçu. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Retourne 0 la taille du message reçu ou une valeur négative si la connexion est perdue. -\end{DoxyReturn} -\mbox{\Hypertarget{monitor_8h_ac3d876b96642b6ee46f6a96b7ffcb864}\label{monitor_8h_ac3d876b96642b6ee46f6a96b7ffcb864}} -\index{monitor.\+h@{monitor.\+h}!send\+\_\+message\+\_\+to\+\_\+monitor@{send\+\_\+message\+\_\+to\+\_\+monitor}} -\index{send\+\_\+message\+\_\+to\+\_\+monitor@{send\+\_\+message\+\_\+to\+\_\+monitor}!monitor.\+h@{monitor.\+h}} -\subsubsection{\texorpdfstring{send\+\_\+message\+\_\+to\+\_\+monitor()}{send\_message\_to\_monitor()}} -{\footnotesize\ttfamily int send\+\_\+message\+\_\+to\+\_\+monitor (\begin{DoxyParamCaption}\item[{const char $\ast$}]{type\+Message, }\item[{const void $\ast$}]{data = {\ttfamily NULL} }\end{DoxyParamCaption})} - - - -Envoi d\textquotesingle{}un message vers l\textquotesingle{}interface graphique. - - -\begin{DoxyParams}{Parameters} -{\em type\+Message} & Type du message envoyé. Les valeurs possibles sont I\+MG pour une image, M\+ES pour un message à afficher dans la console, P\+OS pour la position du robot, B\+AT pour une valeur de la batterie et A\+CK pour valider un message de l\textquotesingle{}interface. \\ -\hline -{\em data} & données associées au message. Le type de la donnée doit correspondre au message \+: Image pour I\+MG, char $\ast$ M\+ES, \hyperlink{struct_position}{Position} pour P\+OS, char $\ast$ pour B\+AT et rien pour A\+CK. Attention, il n\textquotesingle{}y a aucune vérification a posterio. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Retourne 0 si l\textquotesingle{}envoie a bien été réalisé et -\/1 en cas de problème. -\end{DoxyReturn} diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/monitor_8h__dep__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/monitor_8h__dep__incl.md5 deleted file mode 100644 index 03d3478..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/monitor_8h__dep__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -77c1bdf6c74a578f1a45f5d60ed69fae \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/monitor_8h__dep__incl.pdf b/software/raspberry/superviseur-robot/lib/doc/latex/monitor_8h__dep__incl.pdf deleted file mode 100644 index 32318dca4f7cec74e61cd822153216ff3df5c236..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 11469 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\char`\"{}robot.\+h\char`\"{}}\newline -Include dependency graph for robot.\+cpp\+: -\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{robot_8cpp__incl} -\end{center} -\end{figure} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -int \hyperlink{robot_8cpp_a116eceb372bf4bda7e6a360286e762b1}{get\+Char} (char $\ast$c) -\item -int \hyperlink{robot_8cpp_a2e1339c58b604c970f67096c7d143c2a}{read\+Serial} (char $\ast$msg) -\item -char \hyperlink{robot_8cpp_ab87123df26d91967d4d7507ad10326ac}{check\+Sum\+GO} (char $\ast$msg) -\item -int \hyperlink{robot_8cpp_adf885bd17005f841896acf2e49350db7}{receive\+Msg} (void) -\item -int \hyperlink{robot_8cpp_ac9d64c6d05c20ae9fdb8c158e2ee7098}{send\+Cmd} (char cmd, const char $\ast$arg) -\item -int \hyperlink{robot_8cpp_a9360e75fe324da14faaa87105771140e}{open\+\_\+communication\+\_\+robot} (const char $\ast$path) -\begin{DoxyCompactList}\small\item\em Ouvre la communication avec le robot. \end{DoxyCompactList}\item -int \hyperlink{robot_8cpp_a3fbce7530a62f9287f8a3b85b9c7e4d7}{close\+\_\+communication\+\_\+robot} (void) -\begin{DoxyCompactList}\small\item\em Ferme la communication avec le robot. \end{DoxyCompactList}\item -int \hyperlink{robot_8cpp_a68c01c5d6226d21fc0d141f681806677}{send\+\_\+command\+\_\+to\+\_\+robot} (char cmd, const char $\ast$arg) -\begin{DoxyCompactList}\small\item\em Envoi une commande au robot et attends sa réponse. \end{DoxyCompactList}\end{DoxyCompactItemize} -\subsection*{Variables} -\begin{DoxyCompactItemize} -\item -int \hyperlink{robot_8cpp_a6f8059414f0228f0256115e024eeed4b}{fd} -\end{DoxyCompactItemize} - - -\subsection{Function Documentation} -\mbox{\Hypertarget{robot_8cpp_ab87123df26d91967d4d7507ad10326ac}\label{robot_8cpp_ab87123df26d91967d4d7507ad10326ac}} -\index{robot.\+cpp@{robot.\+cpp}!check\+Sum\+GO@{check\+Sum\+GO}} -\index{check\+Sum\+GO@{check\+Sum\+GO}!robot.\+cpp@{robot.\+cpp}} -\subsubsection{\texorpdfstring{check\+Sum\+G\+O()}{checkSumGO()}} -{\footnotesize\ttfamily char check\+Sum\+GO (\begin{DoxyParamCaption}\item[{char $\ast$}]{msg }\end{DoxyParamCaption})} - - - -Definition at line 237 of file robot.\+cpp. - -\mbox{\Hypertarget{robot_8cpp_a3fbce7530a62f9287f8a3b85b9c7e4d7}\label{robot_8cpp_a3fbce7530a62f9287f8a3b85b9c7e4d7}} -\index{robot.\+cpp@{robot.\+cpp}!close\+\_\+communication\+\_\+robot@{close\+\_\+communication\+\_\+robot}} -\index{close\+\_\+communication\+\_\+robot@{close\+\_\+communication\+\_\+robot}!robot.\+cpp@{robot.\+cpp}} -\subsubsection{\texorpdfstring{close\+\_\+communication\+\_\+robot()}{close\_communication\_robot()}} -{\footnotesize\ttfamily int close\+\_\+communication\+\_\+robot (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})} - - - -Ferme la communication avec le robot. - -Ferme le descripteur de fichier du port serie contrôlant le robot. - - -\begin{DoxyParams}{Parameters} -{\em void} & aucun \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Retourne -\/1 en cas d\textquotesingle{}erreur ou 0 en cas de fermeture effectué -\end{DoxyReturn} - - -Definition at line 64 of file robot.\+cpp. - -\mbox{\Hypertarget{robot_8cpp_a116eceb372bf4bda7e6a360286e762b1}\label{robot_8cpp_a116eceb372bf4bda7e6a360286e762b1}} -\index{robot.\+cpp@{robot.\+cpp}!get\+Char@{get\+Char}} -\index{get\+Char@{get\+Char}!robot.\+cpp@{robot.\+cpp}} -\subsubsection{\texorpdfstring{get\+Char()}{getChar()}} -{\footnotesize\ttfamily int get\+Char (\begin{DoxyParamCaption}\item[{char $\ast$}]{c }\end{DoxyParamCaption})} - - - -Definition at line 199 of file robot.\+cpp. - -\mbox{\Hypertarget{robot_8cpp_a9360e75fe324da14faaa87105771140e}\label{robot_8cpp_a9360e75fe324da14faaa87105771140e}} -\index{robot.\+cpp@{robot.\+cpp}!open\+\_\+communication\+\_\+robot@{open\+\_\+communication\+\_\+robot}} -\index{open\+\_\+communication\+\_\+robot@{open\+\_\+communication\+\_\+robot}!robot.\+cpp@{robot.\+cpp}} -\subsubsection{\texorpdfstring{open\+\_\+communication\+\_\+robot()}{open\_communication\_robot()}} -{\footnotesize\ttfamily int open\+\_\+communication\+\_\+robot (\begin{DoxyParamCaption}\item[{const char $\ast$}]{path = {\ttfamily \hyperlink{robot_8h_a32c8768c18732c59b503f8ee7515a693}{serial\+Port}} }\end{DoxyParamCaption})} - - - -Ouvre la communication avec le robot. - -Ouvre le serial port passé en paramétre. Par defaut cette fonction ouvre le port tty\+SO connecté au module xbee. - - -\begin{DoxyParams}{Parameters} -{\em $\ast$path} & chaine de caractère indiquant le path du port serie à ouvrir. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Return -\/1 si l\textquotesingle{}ouverture c\textquotesingle{}est mal passé et 0 si le port est ouvert. -\end{DoxyReturn} - - -Definition at line 36 of file robot.\+cpp. - -\mbox{\Hypertarget{robot_8cpp_a2e1339c58b604c970f67096c7d143c2a}\label{robot_8cpp_a2e1339c58b604c970f67096c7d143c2a}} -\index{robot.\+cpp@{robot.\+cpp}!read\+Serial@{read\+Serial}} -\index{read\+Serial@{read\+Serial}!robot.\+cpp@{robot.\+cpp}} -\subsubsection{\texorpdfstring{read\+Serial()}{readSerial()}} -{\footnotesize\ttfamily int read\+Serial (\begin{DoxyParamCaption}\item[{char $\ast$}]{msg }\end{DoxyParamCaption})} - - - -Definition at line 216 of file robot.\+cpp. - -\mbox{\Hypertarget{robot_8cpp_adf885bd17005f841896acf2e49350db7}\label{robot_8cpp_adf885bd17005f841896acf2e49350db7}} -\index{robot.\+cpp@{robot.\+cpp}!receive\+Msg@{receive\+Msg}} -\index{receive\+Msg@{receive\+Msg}!robot.\+cpp@{robot.\+cpp}} -\subsubsection{\texorpdfstring{receive\+Msg()}{receiveMsg()}} -{\footnotesize\ttfamily int receive\+Msg (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})} - - - -Definition at line 168 of file robot.\+cpp. - -\mbox{\Hypertarget{robot_8cpp_a68c01c5d6226d21fc0d141f681806677}\label{robot_8cpp_a68c01c5d6226d21fc0d141f681806677}} -\index{robot.\+cpp@{robot.\+cpp}!send\+\_\+command\+\_\+to\+\_\+robot@{send\+\_\+command\+\_\+to\+\_\+robot}} -\index{send\+\_\+command\+\_\+to\+\_\+robot@{send\+\_\+command\+\_\+to\+\_\+robot}!robot.\+cpp@{robot.\+cpp}} -\subsubsection{\texorpdfstring{send\+\_\+command\+\_\+to\+\_\+robot()}{send\_command\_to\_robot()}} -{\footnotesize\ttfamily int send\+\_\+command\+\_\+to\+\_\+robot (\begin{DoxyParamCaption}\item[{char}]{cmd, }\item[{const char $\ast$}]{arg = {\ttfamily NULL} }\end{DoxyParamCaption})} - - - -Envoi une commande au robot et attends sa réponse. - -Envoi une commande au robot en ajoutant le checksum et lis la réponse du robot en verifiant le checksum. Le premier paramétre {\itshape cmd} correspond au type de commande ex \+: P\+I\+NG, S\+E\+T\+M\+O\+VE ... Le second paramétre {\itshape $\ast$arg} correspond aux arguments à la commande ex \+: S\+E\+T\+M\+O\+VE, \char`\"{}100\char`\"{} La fonction retourne un code confirmation transmise par le robot (R\+O\+B\+O\+T\+\_\+\+C\+H\+E\+K\+S\+UM, R\+O\+B\+O\+T\+\_\+\+E\+R\+R\+OR, R\+O\+B\+O\+T\+\_\+\+T\+I\+M\+E\+D\+\_\+\+O\+UT, R\+O\+B\+O\+T\+\_\+\+OK, R\+O\+B\+O\+T\+\_\+\+U\+K\+N\+O\+W\+\_\+\+C\+MD) - - -\begin{DoxyParams}{Parameters} -{\em cmd} & Entête de la commande \\ -\hline -{\em $\ast$arg} & Argument de la commande \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -retourne un code confirmation. -\end{DoxyReturn} - - -Definition at line 74 of file robot.\+cpp. - -\mbox{\Hypertarget{robot_8cpp_ac9d64c6d05c20ae9fdb8c158e2ee7098}\label{robot_8cpp_ac9d64c6d05c20ae9fdb8c158e2ee7098}} -\index{robot.\+cpp@{robot.\+cpp}!send\+Cmd@{send\+Cmd}} -\index{send\+Cmd@{send\+Cmd}!robot.\+cpp@{robot.\+cpp}} -\subsubsection{\texorpdfstring{send\+Cmd()}{sendCmd()}} -{\footnotesize\ttfamily int send\+Cmd (\begin{DoxyParamCaption}\item[{char}]{cmd, }\item[{const char $\ast$}]{arg }\end{DoxyParamCaption})} - - - -Definition at line 138 of file robot.\+cpp. - - - -\subsection{Variable Documentation} -\mbox{\Hypertarget{robot_8cpp_a6f8059414f0228f0256115e024eeed4b}\label{robot_8cpp_a6f8059414f0228f0256115e024eeed4b}} -\index{robot.\+cpp@{robot.\+cpp}!fd@{fd}} -\index{fd@{fd}!robot.\+cpp@{robot.\+cpp}} -\subsubsection{\texorpdfstring{fd}{fd}} -{\footnotesize\ttfamily int fd} - - - -Definition at line 28 of file robot.\+cpp. - diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/robot_8cpp__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/robot_8cpp__incl.md5 deleted file mode 100644 index 88b33a0..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/robot_8cpp__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -9b311009597edbb2eaa19d2f19cdbeff \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/robot_8cpp__incl.pdf 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zxhcw;_1SAbPKpLc3ZqnPYkkVXzw*W4HZv~%avwhub;z#&%|lVGJ5gocag0Y?xGnQ>H=)aE^6U^Z_#(>6IVLeBm7Dlm`EJX_ z=8$666S2Lm@B$^oFnB4kwdM_H_p(!^l&F8Th_kBYQCNP+CKlTZgt%hit-!YGFNOiyiUZA0s<01Z=Kz$=3|0YmDKsMmN7*y{6h9^O9yyyQn_FOMs z-Yy7;CUGOs^KMEUDkof;GFYvE5a&tR5*6&4t6nY2G#$FJst>b31$S+C%w7V>G`j4( zYZJV|KU~@e*ULlf@U=>qEXt!=;fQ`*qi2z+V}{K`Ie)`Xk6a;xwbp`wR$y`+qYEL8 zhClWe0G926ND$>88q4UKK@?fBG_ABPY8N(IoSZJ0($* z+F3_s^c`z0^FYrqZ`PR$k7@9v;Q->0$u_r&~(_TMwZ z3gr9;*9EA4c^}QZTfAg?VK}<>h7685AsSja;2o z4ejI@RZPuY|1z>MG=C*^|5ZWcFRGUj#K{I=WZ_~5fPgHo+$%fl-*B(Ai=mCBv9O)F zjVS>5rx7u(JGV zNY3!@G6?h+`bpoL2KdS;=sfF3cbIo=1ztV7M8}&O!iLZ zbaa0_iM}3xaj~?w6MF;ZX~lS0fFLdq2*e6vVdrM!W&na{fIzx`cltlH{XYP_sNw5M zw>SUO+@B%*jlcg7H1FYLYK8y=fY=a#|GEGi?Ch-U05iZ}8i<9P>or1e7r^ds4fxuR z|JH!4uaoefc0eHL^=QC$}\newline -{\ttfamily \#include $<$unistd.\+h$>$}\newline -{\ttfamily \#include $<$fcntl.\+h$>$}\newline -{\ttfamily \#include $<$termios.\+h$>$}\newline -{\ttfamily \#include $<$string.\+h$>$}\newline -{\ttfamily \#include $<$stdlib.\+h$>$}\newline -{\ttfamily \#include \char`\"{}definitions.\+h\char`\"{}}\newline -Include dependency graph for robot.\+h\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{robot_8h__incl} -\end{center} -\end{figure} -\subsection*{Classes} -\begin{DoxyCompactItemize} -\item -struct \hyperlink{struct_message_to_robot}{Message\+To\+Robot} -\end{DoxyCompactItemize} -\subsection*{Macros} -\begin{DoxyCompactItemize} -\item -\#define \hyperlink{robot_8h_a32c8768c18732c59b503f8ee7515a693}{serial\+Port}~\char`\"{}/dev/tty\+S0\char`\"{} -\end{DoxyCompactItemize} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -int \hyperlink{robot_8h_a0e70fa821a04d349552b8bd54f6935db}{open\+\_\+communication\+\_\+robot} (const char $\ast$path=\hyperlink{robot_8h_a32c8768c18732c59b503f8ee7515a693}{serial\+Port}) -\begin{DoxyCompactList}\small\item\em Ouvre la communication avec le robot. \end{DoxyCompactList}\item -int \hyperlink{robot_8h_a3fbce7530a62f9287f8a3b85b9c7e4d7}{close\+\_\+communication\+\_\+robot} (void) -\begin{DoxyCompactList}\small\item\em Ferme la communication avec le robot. \end{DoxyCompactList}\item -int \hyperlink{robot_8h_abe88fd581be321a9d86ae7063abd2f65}{send\+\_\+command\+\_\+to\+\_\+robot} (char cmd, const char $\ast$arg=N\+U\+LL) -\begin{DoxyCompactList}\small\item\em Envoi une commande au robot et attends sa réponse. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Fonctions for communicating with robot. - -\begin{DoxyAuthor}{Author} -L.\+Senaneuch -\end{DoxyAuthor} -\begin{DoxyVersion}{Version} -1.\+0 -\end{DoxyVersion} -\begin{DoxyDate}{Date} -06/06/2017 -\end{DoxyDate} - - -\subsection{Macro Definition Documentation} -\mbox{\Hypertarget{robot_8h_a32c8768c18732c59b503f8ee7515a693}\label{robot_8h_a32c8768c18732c59b503f8ee7515a693}} -\index{robot.\+h@{robot.\+h}!serial\+Port@{serial\+Port}} -\index{serial\+Port@{serial\+Port}!robot.\+h@{robot.\+h}} -\subsubsection{\texorpdfstring{serial\+Port}{serialPort}} -{\footnotesize\ttfamily \#define serial\+Port~\char`\"{}/dev/tty\+S0\char`\"{}} - - - -Definition at line 40 of file robot.\+h. - - - -\subsection{Function Documentation} -\mbox{\Hypertarget{robot_8h_a3fbce7530a62f9287f8a3b85b9c7e4d7}\label{robot_8h_a3fbce7530a62f9287f8a3b85b9c7e4d7}} -\index{robot.\+h@{robot.\+h}!close\+\_\+communication\+\_\+robot@{close\+\_\+communication\+\_\+robot}} -\index{close\+\_\+communication\+\_\+robot@{close\+\_\+communication\+\_\+robot}!robot.\+h@{robot.\+h}} -\subsubsection{\texorpdfstring{close\+\_\+communication\+\_\+robot()}{close\_communication\_robot()}} -{\footnotesize\ttfamily int close\+\_\+communication\+\_\+robot (\begin{DoxyParamCaption}\item[{void}]{ }\end{DoxyParamCaption})} - - - -Ferme la communication avec le robot. - -Ferme le descripteur de fichier du port serie contrôlant le robot. - -\begin{DoxyReturn}{Returns} -Retourne -\/1 en cas d\textquotesingle{}erreur ou 0 en cas de fermeture effectué -\end{DoxyReturn} -\mbox{\Hypertarget{robot_8h_a0e70fa821a04d349552b8bd54f6935db}\label{robot_8h_a0e70fa821a04d349552b8bd54f6935db}} -\index{robot.\+h@{robot.\+h}!open\+\_\+communication\+\_\+robot@{open\+\_\+communication\+\_\+robot}} -\index{open\+\_\+communication\+\_\+robot@{open\+\_\+communication\+\_\+robot}!robot.\+h@{robot.\+h}} -\subsubsection{\texorpdfstring{open\+\_\+communication\+\_\+robot()}{open\_communication\_robot()}} -{\footnotesize\ttfamily int open\+\_\+communication\+\_\+robot (\begin{DoxyParamCaption}\item[{const char $\ast$}]{path = {\ttfamily \hyperlink{robot_8h_a32c8768c18732c59b503f8ee7515a693}{serial\+Port}} }\end{DoxyParamCaption})} - - - -Ouvre la communication avec le robot. - -Ouvre le serial port passé en paramétre. Par defaut cette fonction ouvre le port tty\+SO connecté au module xbee. - - -\begin{DoxyParams}{Parameters} -{\em path} & Chaine de caractère contenant le path du port serie à ouvrir. \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Return -\/1 si l\textquotesingle{}ouverture c\textquotesingle{}est mal passé et 0 si le port est ouvert. -\end{DoxyReturn} -\mbox{\Hypertarget{robot_8h_abe88fd581be321a9d86ae7063abd2f65}\label{robot_8h_abe88fd581be321a9d86ae7063abd2f65}} -\index{robot.\+h@{robot.\+h}!send\+\_\+command\+\_\+to\+\_\+robot@{send\+\_\+command\+\_\+to\+\_\+robot}} -\index{send\+\_\+command\+\_\+to\+\_\+robot@{send\+\_\+command\+\_\+to\+\_\+robot}!robot.\+h@{robot.\+h}} -\subsubsection{\texorpdfstring{send\+\_\+command\+\_\+to\+\_\+robot()}{send\_command\_to\_robot()}} -{\footnotesize\ttfamily int send\+\_\+command\+\_\+to\+\_\+robot (\begin{DoxyParamCaption}\item[{char}]{cmd, }\item[{const char $\ast$}]{arg = {\ttfamily NULL} }\end{DoxyParamCaption})} - - - -Envoi une commande au robot et attends sa réponse. - -Envoi une commande au robot en ajoutant le checksum et lis la réponse du robot en verifiant le checksum. Le premier paramétre {\itshape cmd} correspond au type de commande ex \+: P\+I\+NG, S\+E\+T\+M\+O\+VE ... Le second paramétre {\itshape $\ast$arg} correspond aux arguments à la commande ex \+: S\+E\+T\+M\+O\+VE, \char`\"{}100\char`\"{} La fonction retourne un code confirmation transmise par le robot (R\+O\+B\+O\+T\+\_\+\+C\+H\+E\+K\+S\+UM, R\+O\+B\+O\+T\+\_\+\+E\+R\+R\+OR, R\+O\+B\+O\+T\+\_\+\+T\+I\+M\+E\+D\+\_\+\+O\+UT, R\+O\+B\+O\+T\+\_\+\+OK, R\+O\+B\+O\+T\+\_\+\+U\+K\+N\+O\+W\+\_\+\+C\+MD) - - -\begin{DoxyParams}{Parameters} -{\em cmd} & Entête de la commande \\ -\hline -{\em arg} & Argument de la commande \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Retourne un code confirmation. -\end{DoxyReturn} diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/robot_8h__dep__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/robot_8h__dep__incl.md5 deleted file mode 100644 index 46d9aca..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/robot_8h__dep__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -3fb87047c63a0afa79355ad26788d063 \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/robot_8h__dep__incl.pdf b/software/raspberry/superviseur-robot/lib/doc/latex/robot_8h__dep__incl.pdf deleted file mode 100644 index eb141f07344915b64cc7bed203e5122de53e6af9..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 11179 zcmb`NWl&s87p{Q>hX8>PEHJpk3_7^Gd+;EG1$QU72AAOO!QCymLvVLba0q%KN51n( z-MT;ShM8f#d-Y!3Z?CSJDjsrqVNrSz11l1F%~9zs5(@wbu+ld};^qc0N<%D-?M(oz zPm&@M003YVH8r<~*gk!l>)AtuAqG~45F}n+Bs+Ush@J(Kb4py4jGP}3J>cgV?J_CB zCu$2*H*yd~va@`H#bw6V!yY;th|JxsY$(Gx4!hBZ8^!I7J!S81By!m~xO?%k9CVBM zOxF*GvN`yD8y}s0_Yhy$>`AZU@u^9y89L1x*bSWggX3z+4v@@G7ZynQl%=FINFLysH7~4lZlVzIB4Au?6EN{)y(qghH(fC7$X(E^&WRVafz^_oZp}s2l}#- zf_@Mr$-5c=MUUJkvfQcEOQm87WHdtwue{VkF&nm;AsT~?*1UO=ZM@WCJMxfx2; zokQoDd#oWrEDirO>FKX$d!Idh{(N$k3C#3-|2bm*+x*{li#XehDcL_+4dCW}7M?Cf zJ>XLSU=$JnfB=jJdQb098}M}Fk9S545;Yzc%nG>FM{+VoZM*128JP zSVI7e@_NP)0675kySTibE#&E0pufg4%0LWF^#rY)0h&(|5CCFjd3vz{w0~y{J=J|m zw*x%)&mYYqW^3hO{g1i)QRBDz*J6~OD%GI04zmH^n>Izax4gr2g5A&#a7 z5JfS;XYtRaDnjh69Bd6Bc7SKw6#ua@_NVwidKmoowEkBQKO6f;vx5L27BKj^%AW!g zfSrwl{T~7|fR%;y-@5+D6{4K1IYY05VA*YI?L_@UesM_%0iDbn{VTXTvtB3@i&iz` zy$uo;V|R`CiQu?m23Es)%1@pho|W4rzN?3(4PIQ*(W-4Nw;wI4+XHQW7MFA4aGiEHd93zMeFTw4!3SU1avUM_GuK-Q5!18*nGasTloT1g!t3Ls{{hrk6zNT|8UI$?F&PtNsF!?pH~413)*C`h}m9 z&M;7IZ)pWE(2qS%Jl!8#78ro_XhV;DAKO23rj%$Dlq43=LJghxY?FOoYETw~syvKeVTS zKt_EKI`EiCu>Ell=6KI1-_Cu0nfGCv$1wC=K5sf3 z0V1r>5BjqN5dANa>z_O>UYOTJsJCbjj0+Fx92a%*>sGmK^fyG5$|trC_t^=DUapAF zRupm>6vuU`S^`0jL+}j(+V>BEZyuveVSd@MJvvF6iH~`po&v>Yyjb!2;4hTDZv+n= zGR4a$y%I0vIuVS}1nLF#(6#F+&#$iFBE|THSKDF&WaZ0|QP%fde(vyr5r!Vp7fz|W z+O6HFhA^n8NRVC+z_j0r03K2P3|!YYoYWRUpbMz+I;c&2JsmA#jgk1H}&Z#yw`31 zK36x7*vpip5A;|KEBh;*w_SioghvI^S!D0}t9~NY7OVC)efV9EY+`g>1f1iuISk3| zI*a+A5L^kn=r$Jl+2uV?%7~8U!mK@`Gy`8~@uY-a)gdTL@Ri3Y;_xDNi*mX{C}_&W)2Ooq zsS^b6dp>QZjqTet(2^07nuTj;TP`u){%G7+JESgHWIUi4$l3CF!CAOo4)ZH#VsjLy zcJ7?Cu*0J;G_H3-N6}jg@uUF%fEW~naVb=2?U z(pKGfOd`pDXD-K(Xu9Gv3oUC^Z;VJ-ZNJko0j##W|mTV(M?NZB>Xt- zW`T1zoYQSm_4S5zaQ+rjvMs!-Gb&mNb5E0M`GLi%b{dB+NlR0={13zS`!78Y3$R6htNuOWF?6}5|mX`G%gn!4L?w{8B$T45IwXAO& zlv)?DkRiDvM}V?cij{m(I1nbsO}xtY^4k3tQuI@~lyGJRx3AUTuN)l~$`ItGj$GD4 zA{Oazn)9|x&6O?1imD>3jOSQ!8BTCzxtj;CJ~C;%&Thqwx#m<9dyn2e*4;ASq+JbU zKoXrRw4h)sB_-&4{RzGSbB54vIS<1$O5}#s+##zpC8kX#{h-3gv3-k7qr}48+sUqk z!IPp$Jnek!jq5Xt_1v6R>s}>d5^y_L?j=3nfIk7)W)(L1)$@bg9Tb7e0^-QB zWAZHWt%vo@zic_<_6#U_Bhs-F3i;HSqq~;|JhrjEe(Mx)t|UIpw@@u)1@ya4sOOq) z<>lgo*@{5xx7l=Zn{G8NGy!BDcR6m(RjbK~*Nm~4p{*J6wT!Mt?+p_>2ald{ll-Jx9y%4K#KtMjY}ZQ> zl3cA3rh#1_%UP$}$rlfr%-X{vWc^))Y<=sbQ7w*)2|t_Xhyy2`ufOxVMl<07VVAnC zDOybGq<1%1;pQyLZesVr0s@R_h2q2I=}s64hN+~-&^%BcY$CUa#)>P%y-B;##F`|` zg_KLwxntkR)r%BgNGsLu&}{UFhklna>9VM92@{kr*JRiqMX93qR^jdrU_O!<#|&YM zHNO4{jU9_i8u*@F7vIv>MxqO(Tg#Ii$_TRGj#eXO`4C%0Oa-wUB&LrWx`|{zS0pA_ zi}O3H@T;_P2vfJ7=UEW-2&J-c+9Mk`62(j24sI23YHZa& zf8o%?#ae1Qrj3YavhOLnp}<0mE-;TvZ~QpV@PYh91IMU=(Lu*_ux|?OaE9a{)G9z4 z+gvA$Z(wdS@0vyFp7#5~ukUv+Vi+NcyiGSo71vF52tkg85k-i5tCfGkibz>7o9Sd zj)SE=b_MbR?}mFohxGFY=50tGFxt_(WtHNs0&nZrMKvo(eo!#T>Xdk6^vDIuHL^Es zv6BS*uZjH1X4gQBpKrmIw3%|@sg@yB83u1eYZ1gg68Pqn2H2<8PH@|xaWHXaC zaUctyp6Z*M(#mY?>ZO=%{y8T@a^RTE0rMF#qc|Orm(70n-O@Q(`}Kf)C2XiRw)h*2 zHwlM5aRq8DR^!9Kt98lv<^}`zma6>~%C;#A;>d|#jbjNLMScc@4SXvpx!*^V-9_g# zgfK#njL}r0Jl>{72`zJdqqu=S+Go91LQ=}5mKoFvuo~D`=pzw~Kb5-FFaY*r;6-Je z;dkto`vYy#4oqRHQwoVDh`Ow&1U?fVRkD~3!STVJ&(JN=Gc15q=uxW}L6T_TxrO#4 z0b(7A-E4tge`IF+xCr->zDrUrTYD^=i9N~JPVXUKYV{NQd5Ks)D^RD|31&zTYxkTi z-4k}61>uy3EYt>~<4aV|lDTf3&BMcfSWD^P$xnffRLPMlr)RLLj3hIWrI88`s8x+( z-y87aE$27B(Bv8&nqHgMpVJa^ZFM(6_iz1$Ibs>Lyoo)4TeDn0S%(y^K4Z=*y^T;j zMU;MTh8I&65IYyDwf@2=#n8YjgV&^7w27K9$P7Hrunbo>9POlWJZhAOo31pzyPulq zsDP?~wzVnzp*42*Ziwy|O^7DK**gh)b?=L2CPqr9&*q4Tj!Cpx6k=ZfO(PJROV2 z%a5OUKC#EssbpPD9Cp~ao+IRuq{9=OnN(qMuHnh3EqPpIqioonqG5d@q}&CCuB@ef zF1Zp9+9zOb;q)@%O3pH56wf22bBQS-{i%oqZ#HBA<+v)8=9z4BwVV9f85VR9y@p1% znmH^%(H4=-EAytI+whtYumejgon270iNF9Vf(uq~A! 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b/software/raspberry/superviseur-robot/lib/doc/latex/server_8cpp.tex deleted file mode 100644 index ebbecb5..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/server_8cpp.tex +++ /dev/null @@ -1,173 +0,0 @@ -\hypertarget{server_8cpp}{}\section{src/server.cpp File Reference} -\label{server_8cpp}\index{src/server.\+cpp@{src/server.\+cpp}} - - -Library for opening a T\+CP server, receiving data and sending message to monitor. - - -{\ttfamily \#include \char`\"{}server.\+h\char`\"{}}\newline -{\ttfamily \#include $<$sys/socket.\+h$>$}\newline -{\ttfamily \#include $<$arpa/inet.\+h$>$}\newline -{\ttfamily \#include $<$netinet/in.\+h$>$}\newline -{\ttfamily \#include $<$stdio.\+h$>$}\newline -{\ttfamily \#include $<$stdlib.\+h$>$}\newline -{\ttfamily \#include $<$unistd.\+h$>$}\newline -Include dependency graph for server.\+cpp\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{server_8cpp__incl} -\end{center} -\end{figure} -\subsection*{Macros} -\begin{DoxyCompactItemize} -\item -\#define \hyperlink{server_8cpp_ad1106125b13c36a78d012177dc2aa67c}{N\+B\+\_\+\+C\+O\+N\+N\+E\+C\+T\+I\+O\+N\+\_\+\+M\+AX}~1 -\end{DoxyCompactItemize} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -int \hyperlink{server_8cpp_a99b54d5b3404766f906f49605a4aa0e3}{open\+Server} (int port) -\item -int \hyperlink{server_8cpp_ab65b2df50051036defe0f35366f5a3d6}{close\+Server} () -\item -int \hyperlink{server_8cpp_abff9f8e931ecce919588b371dc511857}{accept\+Client} () -\item -int \hyperlink{server_8cpp_a8d865d29914b980fd71ed8d347e4ec50}{send\+Data\+To\+Server} (char $\ast$data, int length) -\item -int \hyperlink{server_8cpp_a4c2df7961aa7379ac79d80980a1c537b}{send\+Data\+To\+Server\+For\+Client} (int client, char $\ast$data, int length) -\item -int \hyperlink{server_8cpp_a8b66a2007f3f9ed8538428a309c9d368}{receive\+Data\+From\+Server} (char $\ast$data, int size) -\item -int \hyperlink{server_8cpp_a247e0124af257d0cc7abc25a7c448d1b}{receive\+Data\+From\+Server\+From\+Client} (int client, char $\ast$data, int size) -\end{DoxyCompactItemize} -\subsection*{Variables} -\begin{DoxyCompactItemize} -\item -int \hyperlink{server_8cpp_a67917b0d31c20024dba33363eb8db5a2}{socket\+FD} = -\/1 -\item -int \hyperlink{server_8cpp_a2e938cd63a2404d0902c57205706872a}{client\+ID} = -\/1 -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Library for opening a T\+CP server, receiving data and sending message to monitor. - -\begin{DoxyAuthor}{Author} -P\+E.\+Hladik -\end{DoxyAuthor} -\begin{DoxyVersion}{Version} -1.\+0 -\end{DoxyVersion} -\begin{DoxyDate}{Date} -06/06/2017 -\end{DoxyDate} - - -\subsection{Macro Definition Documentation} -\mbox{\Hypertarget{server_8cpp_ad1106125b13c36a78d012177dc2aa67c}\label{server_8cpp_ad1106125b13c36a78d012177dc2aa67c}} -\index{server.\+cpp@{server.\+cpp}!N\+B\+\_\+\+C\+O\+N\+N\+E\+C\+T\+I\+O\+N\+\_\+\+M\+AX@{N\+B\+\_\+\+C\+O\+N\+N\+E\+C\+T\+I\+O\+N\+\_\+\+M\+AX}} -\index{N\+B\+\_\+\+C\+O\+N\+N\+E\+C\+T\+I\+O\+N\+\_\+\+M\+AX@{N\+B\+\_\+\+C\+O\+N\+N\+E\+C\+T\+I\+O\+N\+\_\+\+M\+AX}!server.\+cpp@{server.\+cpp}} -\subsubsection{\texorpdfstring{N\+B\+\_\+\+C\+O\+N\+N\+E\+C\+T\+I\+O\+N\+\_\+\+M\+AX}{NB\_CONNECTION\_MAX}} -{\footnotesize\ttfamily \#define N\+B\+\_\+\+C\+O\+N\+N\+E\+C\+T\+I\+O\+N\+\_\+\+M\+AX~1} - - - -Definition at line 35 of file server.\+cpp. - - - -\subsection{Function Documentation} -\mbox{\Hypertarget{server_8cpp_abff9f8e931ecce919588b371dc511857}\label{server_8cpp_abff9f8e931ecce919588b371dc511857}} -\index{server.\+cpp@{server.\+cpp}!accept\+Client@{accept\+Client}} -\index{accept\+Client@{accept\+Client}!server.\+cpp@{server.\+cpp}} -\subsubsection{\texorpdfstring{accept\+Client()}{acceptClient()}} -{\footnotesize\ttfamily int accept\+Client (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Definition at line 71 of file server.\+cpp. - -\mbox{\Hypertarget{server_8cpp_ab65b2df50051036defe0f35366f5a3d6}\label{server_8cpp_ab65b2df50051036defe0f35366f5a3d6}} -\index{server.\+cpp@{server.\+cpp}!close\+Server@{close\+Server}} -\index{close\+Server@{close\+Server}!server.\+cpp@{server.\+cpp}} -\subsubsection{\texorpdfstring{close\+Server()}{closeServer()}} -{\footnotesize\ttfamily int close\+Server (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Definition at line 63 of file server.\+cpp. - -\mbox{\Hypertarget{server_8cpp_a99b54d5b3404766f906f49605a4aa0e3}\label{server_8cpp_a99b54d5b3404766f906f49605a4aa0e3}} -\index{server.\+cpp@{server.\+cpp}!open\+Server@{open\+Server}} -\index{open\+Server@{open\+Server}!server.\+cpp@{server.\+cpp}} -\subsubsection{\texorpdfstring{open\+Server()}{openServer()}} -{\footnotesize\ttfamily int open\+Server (\begin{DoxyParamCaption}\item[{int}]{port }\end{DoxyParamCaption})} - - - -Definition at line 40 of file server.\+cpp. - -\mbox{\Hypertarget{server_8cpp_a8b66a2007f3f9ed8538428a309c9d368}\label{server_8cpp_a8b66a2007f3f9ed8538428a309c9d368}} -\index{server.\+cpp@{server.\+cpp}!receive\+Data\+From\+Server@{receive\+Data\+From\+Server}} -\index{receive\+Data\+From\+Server@{receive\+Data\+From\+Server}!server.\+cpp@{server.\+cpp}} -\subsubsection{\texorpdfstring{receive\+Data\+From\+Server()}{receiveDataFromServer()}} -{\footnotesize\ttfamily int receive\+Data\+From\+Server (\begin{DoxyParamCaption}\item[{char $\ast$}]{data, }\item[{int}]{size }\end{DoxyParamCaption})} - - - -Definition at line 95 of file server.\+cpp. - -\mbox{\Hypertarget{server_8cpp_a247e0124af257d0cc7abc25a7c448d1b}\label{server_8cpp_a247e0124af257d0cc7abc25a7c448d1b}} -\index{server.\+cpp@{server.\+cpp}!receive\+Data\+From\+Server\+From\+Client@{receive\+Data\+From\+Server\+From\+Client}} -\index{receive\+Data\+From\+Server\+From\+Client@{receive\+Data\+From\+Server\+From\+Client}!server.\+cpp@{server.\+cpp}} -\subsubsection{\texorpdfstring{receive\+Data\+From\+Server\+From\+Client()}{receiveDataFromServerFromClient()}} -{\footnotesize\ttfamily int receive\+Data\+From\+Server\+From\+Client (\begin{DoxyParamCaption}\item[{int}]{client, }\item[{char $\ast$}]{data, }\item[{int}]{size }\end{DoxyParamCaption})} - - - -Definition at line 99 of file server.\+cpp. - -\mbox{\Hypertarget{server_8cpp_a8d865d29914b980fd71ed8d347e4ec50}\label{server_8cpp_a8d865d29914b980fd71ed8d347e4ec50}} -\index{server.\+cpp@{server.\+cpp}!send\+Data\+To\+Server@{send\+Data\+To\+Server}} -\index{send\+Data\+To\+Server@{send\+Data\+To\+Server}!server.\+cpp@{server.\+cpp}} -\subsubsection{\texorpdfstring{send\+Data\+To\+Server()}{sendDataToServer()}} -{\footnotesize\ttfamily int send\+Data\+To\+Server (\begin{DoxyParamCaption}\item[{char $\ast$}]{data, }\item[{int}]{length }\end{DoxyParamCaption})} - - - -Definition at line 85 of file server.\+cpp. - -\mbox{\Hypertarget{server_8cpp_a4c2df7961aa7379ac79d80980a1c537b}\label{server_8cpp_a4c2df7961aa7379ac79d80980a1c537b}} -\index{server.\+cpp@{server.\+cpp}!send\+Data\+To\+Server\+For\+Client@{send\+Data\+To\+Server\+For\+Client}} -\index{send\+Data\+To\+Server\+For\+Client@{send\+Data\+To\+Server\+For\+Client}!server.\+cpp@{server.\+cpp}} -\subsubsection{\texorpdfstring{send\+Data\+To\+Server\+For\+Client()}{sendDataToServerForClient()}} -{\footnotesize\ttfamily int send\+Data\+To\+Server\+For\+Client (\begin{DoxyParamCaption}\item[{int}]{client, }\item[{char $\ast$}]{data, }\item[{int}]{length }\end{DoxyParamCaption})} - - - -Definition at line 89 of file server.\+cpp. - - - -\subsection{Variable Documentation} -\mbox{\Hypertarget{server_8cpp_a2e938cd63a2404d0902c57205706872a}\label{server_8cpp_a2e938cd63a2404d0902c57205706872a}} -\index{server.\+cpp@{server.\+cpp}!client\+ID@{client\+ID}} -\index{client\+ID@{client\+ID}!server.\+cpp@{server.\+cpp}} -\subsubsection{\texorpdfstring{client\+ID}{clientID}} -{\footnotesize\ttfamily int client\+ID = -\/1} - - - -Definition at line 38 of file server.\+cpp. - -\mbox{\Hypertarget{server_8cpp_a67917b0d31c20024dba33363eb8db5a2}\label{server_8cpp_a67917b0d31c20024dba33363eb8db5a2}} -\index{server.\+cpp@{server.\+cpp}!socket\+FD@{socket\+FD}} -\index{socket\+FD@{socket\+FD}!server.\+cpp@{server.\+cpp}} -\subsubsection{\texorpdfstring{socket\+FD}{socketFD}} -{\footnotesize\ttfamily int socket\+FD = -\/1} - - - -Definition at line 37 of file server.\+cpp. - diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/server_8cpp__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/server_8cpp__incl.md5 deleted file mode 100644 index c9b189c..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/server_8cpp__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -6bc39aa8f833820b2bd6382ea20f2b1b \ No newline at end of file diff --git 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message to monitor. - - -{\ttfamily \#include \char`\"{}image.\+h\char`\"{}}\newline -Include dependency graph for server.\+h\+:\nopagebreak -\begin{figure}[H] -\begin{center} -\leavevmode -\includegraphics[width=350pt]{server_8h__incl} -\end{center} -\end{figure} -\subsection*{Macros} -\begin{DoxyCompactItemize} -\item -\#define \hyperlink{server_8h_af257e2a3e091629829857a2eb8931a7a}{D\+E\+F\+A\+U\+L\+T\+\_\+\+S\+E\+R\+V\+E\+R\+\_\+\+P\+O\+RT}~2323 -\end{DoxyCompactItemize} -\subsection*{Functions} -\begin{DoxyCompactItemize} -\item -int \hyperlink{server_8h_a99b54d5b3404766f906f49605a4aa0e3}{open\+Server} (int port) -\begin{DoxyCompactList}\small\item\em Open server port, connect and listen to given port. \end{DoxyCompactList}\item -int \hyperlink{server_8h_ab65b2df50051036defe0f35366f5a3d6}{close\+Server} () -\begin{DoxyCompactList}\small\item\em Close server. \end{DoxyCompactList}\item -int \hyperlink{server_8h_abff9f8e931ecce919588b371dc511857}{accept\+Client} () -\begin{DoxyCompactList}\small\item\em Wait for a client to connect. \end{DoxyCompactList}\item -int \hyperlink{server_8h_a8d865d29914b980fd71ed8d347e4ec50}{send\+Data\+To\+Server} (char $\ast$data, int length) -\begin{DoxyCompactList}\small\item\em Send given data to monitor. \end{DoxyCompactList}\item -int \hyperlink{server_8h_a4c2df7961aa7379ac79d80980a1c537b}{send\+Data\+To\+Server\+For\+Client} (int client, char $\ast$data, int length) -\begin{DoxyCompactList}\small\item\em Send given data to monitor, using specific client ID. \end{DoxyCompactList}\item -int \hyperlink{server_8h_a8b66a2007f3f9ed8538428a309c9d368}{receive\+Data\+From\+Server} (char $\ast$data, int size) -\begin{DoxyCompactList}\small\item\em Read data from monitor. \end{DoxyCompactList}\item -int \hyperlink{server_8h_a247e0124af257d0cc7abc25a7c448d1b}{receive\+Data\+From\+Server\+From\+Client} (int client, char $\ast$data, int size) -\begin{DoxyCompactList}\small\item\em Read data from monitor, using specific client ID. \end{DoxyCompactList}\item -int \hyperlink{server_8h_a51b9372f5467705aa81d76ae034c7628}{send\+Image} (\hyperlink{image_8h_a9ac2855e21920c676a108df386ff9415}{Jpg} $\ast$image) -\begin{DoxyCompactList}\small\item\em Send image to monitor using default client ID. \end{DoxyCompactList}\end{DoxyCompactItemize} - - -\subsection{Detailed Description} -Library for opening a T\+CP server, receiving data and sending message to monitor. - -\begin{DoxyAuthor}{Author} -P\+E.\+Hladik -\end{DoxyAuthor} -\begin{DoxyVersion}{Version} -1.\+0 -\end{DoxyVersion} -\begin{DoxyDate}{Date} -06/06/2017 -\end{DoxyDate} - - -\subsection{Macro Definition Documentation} -\mbox{\Hypertarget{server_8h_af257e2a3e091629829857a2eb8931a7a}\label{server_8h_af257e2a3e091629829857a2eb8931a7a}} -\index{server.\+h@{server.\+h}!D\+E\+F\+A\+U\+L\+T\+\_\+\+S\+E\+R\+V\+E\+R\+\_\+\+P\+O\+RT@{D\+E\+F\+A\+U\+L\+T\+\_\+\+S\+E\+R\+V\+E\+R\+\_\+\+P\+O\+RT}} -\index{D\+E\+F\+A\+U\+L\+T\+\_\+\+S\+E\+R\+V\+E\+R\+\_\+\+P\+O\+RT@{D\+E\+F\+A\+U\+L\+T\+\_\+\+S\+E\+R\+V\+E\+R\+\_\+\+P\+O\+RT}!server.\+h@{server.\+h}} -\subsubsection{\texorpdfstring{D\+E\+F\+A\+U\+L\+T\+\_\+\+S\+E\+R\+V\+E\+R\+\_\+\+P\+O\+RT}{DEFAULT\_SERVER\_PORT}} -{\footnotesize\ttfamily \#define D\+E\+F\+A\+U\+L\+T\+\_\+\+S\+E\+R\+V\+E\+R\+\_\+\+P\+O\+RT~2323} - - - -Definition at line 30 of file server.\+h. - - - -\subsection{Function Documentation} -\mbox{\Hypertarget{server_8h_abff9f8e931ecce919588b371dc511857}\label{server_8h_abff9f8e931ecce919588b371dc511857}} -\index{server.\+h@{server.\+h}!accept\+Client@{accept\+Client}} -\index{accept\+Client@{accept\+Client}!server.\+h@{server.\+h}} -\subsubsection{\texorpdfstring{accept\+Client()}{acceptClient()}} -{\footnotesize\ttfamily int accept\+Client (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Wait for a client to connect. - -\begin{DoxyReturn}{Returns} -Return client Id or -\/1 if it failed -\end{DoxyReturn} -\mbox{\Hypertarget{server_8h_ab65b2df50051036defe0f35366f5a3d6}\label{server_8h_ab65b2df50051036defe0f35366f5a3d6}} -\index{server.\+h@{server.\+h}!close\+Server@{close\+Server}} -\index{close\+Server@{close\+Server}!server.\+h@{server.\+h}} -\subsubsection{\texorpdfstring{close\+Server()}{closeServer()}} -{\footnotesize\ttfamily int close\+Server (\begin{DoxyParamCaption}{ }\end{DoxyParamCaption})} - - - -Close server. - -\begin{DoxyReturn}{Returns} --\/1 if closing failed , 0 otherwise -\end{DoxyReturn} -\mbox{\Hypertarget{server_8h_a99b54d5b3404766f906f49605a4aa0e3}\label{server_8h_a99b54d5b3404766f906f49605a4aa0e3}} -\index{server.\+h@{server.\+h}!open\+Server@{open\+Server}} -\index{open\+Server@{open\+Server}!server.\+h@{server.\+h}} -\subsubsection{\texorpdfstring{open\+Server()}{openServer()}} -{\footnotesize\ttfamily int open\+Server (\begin{DoxyParamCaption}\item[{int}]{port }\end{DoxyParamCaption})} - - - -Open server port, connect and listen to given port. - - -\begin{DoxyParams}{Parameters} -{\em port} & A valid port number (1024 -\/ 65535) \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} --\/1 if opening failed or the socket number -\end{DoxyReturn} -\mbox{\Hypertarget{server_8h_a8b66a2007f3f9ed8538428a309c9d368}\label{server_8h_a8b66a2007f3f9ed8538428a309c9d368}} -\index{server.\+h@{server.\+h}!receive\+Data\+From\+Server@{receive\+Data\+From\+Server}} -\index{receive\+Data\+From\+Server@{receive\+Data\+From\+Server}!server.\+h@{server.\+h}} -\subsubsection{\texorpdfstring{receive\+Data\+From\+Server()}{receiveDataFromServer()}} -{\footnotesize\ttfamily int receive\+Data\+From\+Server (\begin{DoxyParamCaption}\item[{char $\ast$}]{data, }\item[{int}]{size }\end{DoxyParamCaption})} - - - -Read data from monitor. - -Read, at most, size data from monitor. Data must be a valid pointer to a buffer large enough. - - -\begin{DoxyParams}{Parameters} -{\em data} & A valid pointer to a buffer \\ -\hline -{\em size} & Amount of data to read \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Return amount of data really received. 0 if communication is broken -\end{DoxyReturn} -\mbox{\Hypertarget{server_8h_a247e0124af257d0cc7abc25a7c448d1b}\label{server_8h_a247e0124af257d0cc7abc25a7c448d1b}} -\index{server.\+h@{server.\+h}!receive\+Data\+From\+Server\+From\+Client@{receive\+Data\+From\+Server\+From\+Client}} -\index{receive\+Data\+From\+Server\+From\+Client@{receive\+Data\+From\+Server\+From\+Client}!server.\+h@{server.\+h}} -\subsubsection{\texorpdfstring{receive\+Data\+From\+Server\+From\+Client()}{receiveDataFromServerFromClient()}} -{\footnotesize\ttfamily int receive\+Data\+From\+Server\+From\+Client (\begin{DoxyParamCaption}\item[{int}]{client, }\item[{char $\ast$}]{data, }\item[{int}]{size }\end{DoxyParamCaption})} - - - -Read data from monitor, using specific client ID. - -Read, at most, size data from monitor. Data must be a valid pointer to a buffer large enough. - - -\begin{DoxyParams}{Parameters} -{\em client} & Client Id to receive from \\ -\hline -{\em data} & A valid pointer to a buffer \\ -\hline -{\em size} & Amount of data to read \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Return amount of data really received. 0 if communication is broken -\end{DoxyReturn} -\mbox{\Hypertarget{server_8h_a8d865d29914b980fd71ed8d347e4ec50}\label{server_8h_a8d865d29914b980fd71ed8d347e4ec50}} -\index{server.\+h@{server.\+h}!send\+Data\+To\+Server@{send\+Data\+To\+Server}} -\index{send\+Data\+To\+Server@{send\+Data\+To\+Server}!server.\+h@{server.\+h}} -\subsubsection{\texorpdfstring{send\+Data\+To\+Server()}{sendDataToServer()}} -{\footnotesize\ttfamily int send\+Data\+To\+Server (\begin{DoxyParamCaption}\item[{char $\ast$}]{data, }\item[{int}]{length }\end{DoxyParamCaption})} - - - -Send given data to monitor. - -Send given data to monitor using default client ID - - -\begin{DoxyParams}{Parameters} -{\em data} & A valid pointer to a buffer \\ -\hline -{\em length} & Amount of data to send \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Return amount of data really written. 0 if communication is broken -\end{DoxyReturn} -\mbox{\Hypertarget{server_8h_a4c2df7961aa7379ac79d80980a1c537b}\label{server_8h_a4c2df7961aa7379ac79d80980a1c537b}} -\index{server.\+h@{server.\+h}!send\+Data\+To\+Server\+For\+Client@{send\+Data\+To\+Server\+For\+Client}} -\index{send\+Data\+To\+Server\+For\+Client@{send\+Data\+To\+Server\+For\+Client}!server.\+h@{server.\+h}} -\subsubsection{\texorpdfstring{send\+Data\+To\+Server\+For\+Client()}{sendDataToServerForClient()}} -{\footnotesize\ttfamily int send\+Data\+To\+Server\+For\+Client (\begin{DoxyParamCaption}\item[{int}]{client, }\item[{char $\ast$}]{data, }\item[{int}]{length }\end{DoxyParamCaption})} - - - -Send given data to monitor, using specific client ID. - -Send given data to monitor using given client ID. - - -\begin{DoxyParams}{Parameters} -{\em client} & Client Id to send data to \\ -\hline -{\em data} & A valid pointer to a buffer \\ -\hline -{\em length} & Amount of data to send \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Return amount of data really written. 0 if communication is broken -\end{DoxyReturn} -\mbox{\Hypertarget{server_8h_a51b9372f5467705aa81d76ae034c7628}\label{server_8h_a51b9372f5467705aa81d76ae034c7628}} -\index{server.\+h@{server.\+h}!send\+Image@{send\+Image}} -\index{send\+Image@{send\+Image}!server.\+h@{server.\+h}} -\subsubsection{\texorpdfstring{send\+Image()}{sendImage()}} -{\footnotesize\ttfamily int send\+Image (\begin{DoxyParamCaption}\item[{\hyperlink{image_8h_a9ac2855e21920c676a108df386ff9415}{Jpg} $\ast$}]{image }\end{DoxyParamCaption})} - - - -Send image to monitor using default client ID. - -Convert image to raw data, and add correct header before sending to monitor - - -\begin{DoxyParams}{Parameters} -{\em image} & An image object after compression \\ -\hline -\end{DoxyParams} -\begin{DoxyReturn}{Returns} -Return amount of data really received. 0 if communication is broken -\end{DoxyReturn} diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/server_8h__dep__incl.md5 b/software/raspberry/superviseur-robot/lib/doc/latex/server_8h__dep__incl.md5 deleted file mode 100644 index c21e02b..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/server_8h__dep__incl.md5 +++ /dev/null @@ -1 +0,0 @@ -26587ecf138210397620cf24665e9ee3 \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/server_8h__dep__incl.pdf b/software/raspberry/superviseur-robot/lib/doc/latex/server_8h__dep__incl.pdf deleted file mode 100644 index 606cf7cd81599e1e335d8900fae4a54a879076e3..0000000000000000000000000000000000000000 GIT binary patch literal 0 HcmV?d00001 literal 11882 zcmb`tWmH^SvxW;H!8Jf|(ggQz+}&Lg+@W!3++C7j!JXg`G=bpm?(XgccjrQ~_jmT$ 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a/software/raspberry/superviseur-robot/lib/doc/latex/struct_message_from_mon.tex +++ /dev/null @@ -1,48 +0,0 @@ -\hypertarget{struct_message_from_mon}{}\section{Message\+From\+Mon Struct Reference} -\label{struct_message_from_mon}\index{Message\+From\+Mon@{Message\+From\+Mon}} - - -{\ttfamily \#include $<$monitor.\+h$>$} - -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -char \hyperlink{struct_message_from_mon_ad46f6e6dd24be5cb2bc5eae5b3cdd095}{header} \mbox{[}4\mbox{]} -\item -char \hyperlink{struct_message_from_mon_a1aea445500b0fa020a1b08eaff791107}{data} \mbox{[}100\mbox{]} -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} - - -Definition at line 74 of file monitor.\+h. - - - -\subsection{Member Data Documentation} -\mbox{\Hypertarget{struct_message_from_mon_a1aea445500b0fa020a1b08eaff791107}\label{struct_message_from_mon_a1aea445500b0fa020a1b08eaff791107}} -\index{Message\+From\+Mon@{Message\+From\+Mon}!data@{data}} -\index{data@{data}!Message\+From\+Mon@{Message\+From\+Mon}} -\subsubsection{\texorpdfstring{data}{data}} -{\footnotesize\ttfamily char Message\+From\+Mon\+::data\mbox{[}100\mbox{]}} - - - -Definition at line 76 of file monitor.\+h. - -\mbox{\Hypertarget{struct_message_from_mon_ad46f6e6dd24be5cb2bc5eae5b3cdd095}\label{struct_message_from_mon_ad46f6e6dd24be5cb2bc5eae5b3cdd095}} -\index{Message\+From\+Mon@{Message\+From\+Mon}!header@{header}} -\index{header@{header}!Message\+From\+Mon@{Message\+From\+Mon}} -\subsubsection{\texorpdfstring{header}{header}} -{\footnotesize\ttfamily char Message\+From\+Mon\+::header\mbox{[}4\mbox{]}} - - - -Definition at line 75 of file monitor.\+h. - - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -\hyperlink{monitor_8h}{monitor.\+h}\end{DoxyCompactItemize} diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/struct_message_to_mon.tex b/software/raspberry/superviseur-robot/lib/doc/latex/struct_message_to_mon.tex deleted file mode 100644 index ad056e6..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/struct_message_to_mon.tex +++ /dev/null @@ -1,48 +0,0 @@ -\hypertarget{struct_message_to_mon}{}\section{Message\+To\+Mon Struct Reference} -\label{struct_message_to_mon}\index{Message\+To\+Mon@{Message\+To\+Mon}} - - -{\ttfamily \#include $<$message.\+h$>$} - -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -char \hyperlink{struct_message_to_mon_acb1096bef5e5c300f3d795556fda852a}{header} \mbox{[}4\mbox{]} -\item -void $\ast$ \hyperlink{struct_message_to_mon_a4e5977ba9fb3fa07d435155731944d15}{data} = N\+U\+LL -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} - - -Definition at line 34 of file message.\+h. - - - -\subsection{Member Data Documentation} -\mbox{\Hypertarget{struct_message_to_mon_a4e5977ba9fb3fa07d435155731944d15}\label{struct_message_to_mon_a4e5977ba9fb3fa07d435155731944d15}} -\index{Message\+To\+Mon@{Message\+To\+Mon}!data@{data}} -\index{data@{data}!Message\+To\+Mon@{Message\+To\+Mon}} -\subsubsection{\texorpdfstring{data}{data}} -{\footnotesize\ttfamily void$\ast$ Message\+To\+Mon\+::data = N\+U\+LL} - - - -Definition at line 36 of file message.\+h. - -\mbox{\Hypertarget{struct_message_to_mon_acb1096bef5e5c300f3d795556fda852a}\label{struct_message_to_mon_acb1096bef5e5c300f3d795556fda852a}} -\index{Message\+To\+Mon@{Message\+To\+Mon}!header@{header}} -\index{header@{header}!Message\+To\+Mon@{Message\+To\+Mon}} -\subsubsection{\texorpdfstring{header}{header}} -{\footnotesize\ttfamily char Message\+To\+Mon\+::header\mbox{[}4\mbox{]}} - - - -Definition at line 35 of file message.\+h. - - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -\hyperlink{message_8h}{message.\+h}\end{DoxyCompactItemize} diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/struct_message_to_robot.tex b/software/raspberry/superviseur-robot/lib/doc/latex/struct_message_to_robot.tex deleted file mode 100644 index 21461fc..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/struct_message_to_robot.tex +++ /dev/null @@ -1,48 +0,0 @@ -\hypertarget{struct_message_to_robot}{}\section{Message\+To\+Robot Struct Reference} -\label{struct_message_to_robot}\index{Message\+To\+Robot@{Message\+To\+Robot}} - - -{\ttfamily \#include $<$robot.\+h$>$} - -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -char \hyperlink{struct_message_to_robot_ab00202c6cfdd86ea4cd891c972405db6}{header} \mbox{[}4\mbox{]} -\item -char \hyperlink{struct_message_to_robot_abf7dafbba72784855abd50469ba82705}{data} \mbox{[}20\mbox{]} -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} - - -Definition at line 43 of file robot.\+h. - - - -\subsection{Member Data Documentation} -\mbox{\Hypertarget{struct_message_to_robot_abf7dafbba72784855abd50469ba82705}\label{struct_message_to_robot_abf7dafbba72784855abd50469ba82705}} -\index{Message\+To\+Robot@{Message\+To\+Robot}!data@{data}} -\index{data@{data}!Message\+To\+Robot@{Message\+To\+Robot}} -\subsubsection{\texorpdfstring{data}{data}} -{\footnotesize\ttfamily char Message\+To\+Robot\+::data\mbox{[}20\mbox{]}} - - - -Definition at line 46 of file robot.\+h. - -\mbox{\Hypertarget{struct_message_to_robot_ab00202c6cfdd86ea4cd891c972405db6}\label{struct_message_to_robot_ab00202c6cfdd86ea4cd891c972405db6}} -\index{Message\+To\+Robot@{Message\+To\+Robot}!header@{header}} -\index{header@{header}!Message\+To\+Robot@{Message\+To\+Robot}} -\subsubsection{\texorpdfstring{header}{header}} -{\footnotesize\ttfamily char Message\+To\+Robot\+::header\mbox{[}4\mbox{]}} - - - -Definition at line 45 of file robot.\+h. - - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -\hyperlink{robot_8h}{robot.\+h}\end{DoxyCompactItemize} diff --git a/software/raspberry/superviseur-robot/lib/doc/latex/struct_position.tex b/software/raspberry/superviseur-robot/lib/doc/latex/struct_position.tex deleted file mode 100644 index 6043be1..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/latex/struct_position.tex +++ /dev/null @@ -1,60 +0,0 @@ -\hypertarget{struct_position}{}\section{Position Struct Reference} -\label{struct_position}\index{Position@{Position}} - - -{\ttfamily \#include $<$image.\+h$>$} - -\subsection*{Public Attributes} -\begin{DoxyCompactItemize} -\item -Point \hyperlink{struct_position_aa56444be37071311cfa11aae3e2c2f64}{center} -\item -Point \hyperlink{struct_position_a780d124971951424c0c63f6d81bb4d92}{direction} -\item -float \hyperlink{struct_position_a733540df6c0f832676dc0846b34bb1e2}{angle} -\end{DoxyCompactItemize} - - -\subsection{Detailed Description} - - -Definition at line 69 of file image.\+h. - - - -\subsection{Member Data Documentation} -\mbox{\Hypertarget{struct_position_a733540df6c0f832676dc0846b34bb1e2}\label{struct_position_a733540df6c0f832676dc0846b34bb1e2}} -\index{Position@{Position}!angle@{angle}} -\index{angle@{angle}!Position@{Position}} -\subsubsection{\texorpdfstring{angle}{angle}} -{\footnotesize\ttfamily float Position\+::angle} - - - -Definition at line 72 of file image.\+h. - -\mbox{\Hypertarget{struct_position_aa56444be37071311cfa11aae3e2c2f64}\label{struct_position_aa56444be37071311cfa11aae3e2c2f64}} -\index{Position@{Position}!center@{center}} -\index{center@{center}!Position@{Position}} -\subsubsection{\texorpdfstring{center}{center}} -{\footnotesize\ttfamily Point Position\+::center} - - - -Definition at line 70 of file image.\+h. - -\mbox{\Hypertarget{struct_position_a780d124971951424c0c63f6d81bb4d92}\label{struct_position_a780d124971951424c0c63f6d81bb4d92}} -\index{Position@{Position}!direction@{direction}} -\index{direction@{direction}!Position@{Position}} -\subsubsection{\texorpdfstring{direction}{direction}} -{\footnotesize\ttfamily Point Position\+::direction} - - - -Definition at line 71 of file image.\+h. - - - -The documentation for this struct was generated from the following file\+:\begin{DoxyCompactItemize} -\item -\hyperlink{image_8h}{image.\+h}\end{DoxyCompactItemize} diff --git a/software/raspberry/superviseur-robot/lib/src/image.cpp b/software/raspberry/superviseur-robot/lib/image.cpp similarity index 100% rename from software/raspberry/superviseur-robot/lib/src/image.cpp rename to software/raspberry/superviseur-robot/lib/image.cpp diff --git a/software/raspberry/superviseur-robot/lib/image.h b/software/raspberry/superviseur-robot/lib/image.h index 239d5b5..418f372 100644 --- a/software/raspberry/superviseur-robot/lib/image.h +++ b/software/raspberry/superviseur-robot/lib/image.h @@ -15,16 +15,6 @@ * along with this program. If not, see . */ -/** - * \file image.h - * \author L.Senaneuch - * \version 1.0 - * \date 06/06/2017 - * \brief Functions for image treatment. - * - * \details This file use openCV2 library for picture processing. This allow to detect arena and robot. - */ - #ifndef _IMAGE_H_ #define _IMAGE_H_ diff --git a/software/raspberry/superviseur-robot/lib/img.cpp b/software/raspberry/superviseur-robot/lib/img.cpp new file mode 100644 index 0000000..15d0bbf --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/img.cpp @@ -0,0 +1,211 @@ +/* + * 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 . + */ + +#include "img.h" + +bool Arene::empty() { + + if ((this->arene.height==0) || (this->arene.width==0)) return true; + else return false; +} + +Img::Img(ImageMat imgMatrice) { + this->img = imgMatrice.clone(); +} + +float Img::calculAngle(Position robot) { + float a = robot.direction.x - robot.center.x; + float b = robot.direction.y - robot.center.y ; + float angle = atan2(b,a); + return angle * 180.f/M_PI; +} + +float Img::calculAngle2(cv::Point2f pt1, cv::Point2f pt2) { + float a = pt1.x - pt2.x; + float b = pt1.y - pt2.y ; + float angle = atan2(b,a); + return angle * 180.f/M_PI; +} + +#ifdef __WITH_ARUCO__ +cv::Point2f Img::find_aruco_center(std::vector aruco) { + return ((aruco[0] + aruco[2])/2); +} + +cv::Point2f Img::find_aruco_direction(std::vector aruco) { + return ((aruco[0]+aruco[1])/2);; +} + +std::list Img::search_aruco(Arene monArene) { + ImageMat imgTraitment; + std::list positionList; + cv::Point2f areneCoor; + std::vector ids; + std::vector > corners; + if(monArene.empty()) + imgTraitment=this->img.clone(); + else{ + imgTraitment = cropArena(monArene); + areneCoor.x = monArene.x; + areneCoor.y = monArene.y; + } + cv::detectMarkers(imgTraitment,dictionary, corners, ids); + if(ids.size()>0){ + for(int i = 0 ; i < ids.size() ; i++){ + Position newPos; + newPos.center = find_aruco_center(corners[i]); + newPos.direction = find_aruco_direction(corners[i]); + newPos.robotId = ids[i]; + if(!monArene.empty()){ + newPos.direction += areneCoor; + newPos.center += areneCoor; + } + newPos.angle = calculAngle2(newPos.center, newPos.direction); + positionList.push_back(newPos); + } + } + return positionList; +} +#endif // __WITH_ARUCO__ + +float Img::euclideanDist(cv::Point2f p, cv::Point2f q) { + cv::Point diff = p - q; + return cv::sqrt(diff.x*diff.x + diff.y*diff.y); +} + +Jpg Img::toJpg() { + Jpg imgJpg; + cv::imencode(".jpg",this->img,imgJpg); + return imgJpg; +} + +std::list Img::search_robot(Arene monArene) { + + std::list robotsFind; + std::vector > contours; + std::vector approx; + std::vector hierarchy; + + ImageMat imgTraitment; + + if(monArene.empty()) + imgTraitment=this->img.clone(); + else + imgTraitment = cropArena(monArene); + + cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY); + threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY); + findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point2f(0, 0)); + + for(unsigned int i = 0;i < contours.size();i++) + { + cv::approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.17, true); + if(approx.size() == 3 && fabs(cv::contourArea(contours[i])) > 200 && fabs(cv::contourArea(contours[i])) < 700) + { + + cv::Point2f a,b,c; + cv::Point2f center; + + + a = approx[0]; + b = approx[1]; + c = approx[2]; + + + if(!monArene.empty()) // ajout de l'offset de l'arène + { + a.x += monArene.arene.x; + a.y += monArene.arene.y; + b.x += monArene.arene.x; + b.y += monArene.arene.y; + c.x += monArene.arene.x; + c.y += monArene.arene.y; + } + + center.x = (a.x + b.x + c.x)/3; + center.y = (a.y + b.y + c.y)/3; + Position newPos; + newPos.center=center; + + if(euclideanDist(center,b) > euclideanDist(center,a) && euclideanDist(center,b) > euclideanDist(center,c) ) + { + + newPos.direction=b; + //line(img,center,b,Scalar(0,125,0),2,8,0); + } + else if(euclideanDist(center,a) > euclideanDist(center,c)) + { + newPos.direction=a; + //line(img,center,a,Scalar(0,125,0),2,8,0); + + } + else + { + newPos.direction=c; + //line(img,center,c,Scalar(0,125,0),2,8,0); + } + newPos.angle=calculAngle(newPos); + robotsFind.push_back(newPos); + } + } + return robotsFind; +} + +Arene Img::search_arena() { + std::vector > contours; + std::vector approx; + std::vector hierarchy; + + ImageMat imageTrt; + cv::cvtColor(this->img,imageTrt,CV_RGB2GRAY); // conversion en niveau de gris + cv::threshold(imageTrt,imageTrt,128,255,CV_THRESH_BINARY); // Threshold les éléments les plus clair + cv::Canny(imageTrt, imageTrt, 100,200,3); // detection d'angle + + findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0)); + for(unsigned int i = 0; i < contours.size();i++) + { + approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.1, true); + if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000) + { + Arene rectangle; + rectangle.arene = cv::boundingRect(ImageMat(contours[i])); + return rectangle; + } + } + return Arene(); +} + +int Img::draw_robot(Position robot) { + cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0); + return 0; +} + +int Img::draw_all_robots(std::list robots) { + for(Position robot : robots){ + cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0); + } + return robots.size(); +} + +int Img::draw_arena(Arene areneToDraw) { + cv::rectangle(this->img,areneToDraw.arene.tl(),areneToDraw.arene.br(),cv::Scalar(0,0,125),2,8,0); + return 0; +} + +ImageMat Img::cropArena(Arene arene) { + return this->img(arene.arene); +} diff --git a/software/raspberry/superviseur-robot/lib/img.h b/software/raspberry/superviseur-robot/lib/img.h new file mode 100644 index 0000000..1ddde5a --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/img.h @@ -0,0 +1,84 @@ +/* + * 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 . + */ + +#ifndef __IMG_H__ +#define __IMG_H__ + +#include +#include + +#include +#include +#include + +#ifdef __WITH_ARUCO__ +#include +#include +#include +#endif // __WITH_ARUCO__ + +#define ARENA_NOT_DETECTED -1 + +typedef cv::Mat ImageMat; + +typedef std::vector Jpg; + +struct Position { + cv::Point2f center; + cv::Point2f direction; + float angle; + int robotId; +}; + +class Arene { +public: + Arene(); + + cv::Rect arene; + bool empty(); +}; + +class Img { +public: + Img(ImageMat imgMatrice); + Jpg toJpg(); + Arene search_arena(); + + int draw_robot(Position robot); + int draw_all_robots(std::list robots); + int draw_arena(Arene areneToDraw); + std::list search_robot(Arene monArene); + +#ifdef __WITH_ARUCO__ + std::list search_aruco(Arene monArene = NULL); +#endif // __WITH_ARUCO__ +private: + cv::Mat img; + +#ifdef __WITH_ARUCO__ + Ptr dictionary; + cv::Point2f find_aruco_center(std::vector aruco); + cv::Point2f find_aruco_direction(std::vector aruco); +#endif // __WITH_ARUCO__ + + float calculAngle(Position robots); + float calculAngle2(cv::Point2f pt1, cv::Point2f pt2); + float euclideanDist(cv::Point2f p, cv::Point2f q); + ImageMat cropArena(Arene arene); +}; + +#endif //__IMG_H__ diff --git a/software/raspberry/superviseur-robot/lib/src/message.cpp b/software/raspberry/superviseur-robot/lib/message.cpp similarity index 100% rename from software/raspberry/superviseur-robot/lib/src/message.cpp rename to software/raspberry/superviseur-robot/lib/message.cpp diff --git a/software/raspberry/superviseur-robot/lib/messages.cpp b/software/raspberry/superviseur-robot/lib/messages.cpp new file mode 100644 index 0000000..ede1297 --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/messages.cpp @@ -0,0 +1,327 @@ +/* + * 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 . + */ + +#include "messages.h" +#include +#include +#include + +/* + * Constants used with ToString method, for printing message id + */ + +const string MESSAGE_ID_STRING[] = { + "Empty", + "Log", + "Answer", + "Open serial com", + "Close serial com", + "Open camera", + "Close camera", + "Ask for arena", + "Arena confirmed", + "Arena infirmed", + "Compute position", + "Stop compute position", + "Position, + "Image", + "Robot ping", + "Robot reset", + "Robot start with wtachdog", + "Robot start without wtachdog", + "Robot reload watchdog", + "Robot move", + "Robot turn", + "Robot go forward", + "Robot go backward", + "Robot go left", + "Robot go right", + "Robot stop", + "Robot poweroff", + "Robot get battery", + "Robot battery level", + "Robot get state", + "Robot current state" + +}; + +/** + * Create a new, empty message + */ +Message::Message() { + this->messageID = MESSAGE_EMPTY; +} + +/** + * Destroy message + */ +Message::~Message() { +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string Message::ToString() { + if (CheckID(this->messageID)) + return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new mesage and copy contents of current message + * @return A message, copy of current + */ +Message* Message::Copy() { + Message *msg = new Message(); + + return msg; +} + +/** + * Get message ID + * @return Current message ID + */ +bool Message::CheckID(MessageID id) { + if ((id != MESSAGE_EMPTY) && + (id != MESSAGE_ARENA_CONFIRM) && + (id != MESSAGE_ARENA_INFIRM) && + (id != MESSAGE_ASK_ARENA) && + (id != MESSAGE_CAM_CLOSE) && + (id != MESSAGE_CAM_OPEN) && + (id != MESSAGE_CLOSE_COM) && + (id != MESSAGE_COMPUTE_POSITION) && + (id != MESSAGE_OPEN_COM) && + (id != MESSAGE_ROBOT_GET_BATTERY) && + (id != MESSAGE_ROBOT_GET_STATE) && + (id != MESSAGE_ROBOT_GO_BACK) && + (id != MESSAGE_ROBOT_GO_FORWARD) && + (id != MESSAGE_ROBOT_GO_LEFT) && + (id != MESSAGE_ROBOT_GO_RIGHT) && + (id != MESSAGE_ROBOT_PING) && + (id != MESSAGE_ROBOT_POWEROFF) && + (id != MESSAGE_ROBOT_RELOAD_WD) && + (id != MESSAGE_ROBOT_RESET) && + (id != MESSAGE_ROBOT_START_WITHOUT_WD) && + (id != MESSAGE_ROBOT_START_WITH_WD) && + (id != MESSAGE_ROBOT_STOP) && + (id != MESSAGE_STOP_COMPUTE_POSITION)) { + return false; + } else return true; +} + +/* MessageFloat */ + +/** + * Create a new, empty float message + */ +MessageFloat::MessageFloat() { + value = 0.0; +} + +/** + * Create a new float message, with given ID and value + * @param id Message ID + * @param val Message value + * @throw std::runtime_error if message ID is incompatible with float data + */ +MessageFloat::MessageFloat(MessageID id, float val) { + MessageFloat::SetID(id); + + value = val; +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with float data + */ +void MessageFloat::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessageFloat" + }; +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessageFloat::ToString() { + if (CheckID(this->messageID)) + return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nValue: " + to_string(this->value); + else + return "Invalid message"; +} + +/** + * Allocate a new mesage and copy contents of current message + * @return A message, copy of current + */ +Message* MessageFloat::Copy() { + return new MessageFloat(this->messageID, this->value); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessageFloat::CheckID(MessageID id) { + if ((id != MESSAGE_ANGLE_POSITION) && + (id != MESSAGE_ANGULAR_SPEED) && + (id != MESSAGE_BATTERY) && + (id != MESSAGE_BETA) && + (id != MESSAGE_LINEAR_SPEED) && + (id != MESSAGE_TORQUE)) { + return false; + } else return true; +} + +/* class MessageString */ + +/** + * Create a new, empty string message + */ +MessageString::MessageString() { + s = string(""); +} + +/** + * Create a new string message, with given ID and string + * @param id Message ID + * @param s Message string + * @throw std::runtime_error if message ID is incompatible with string data + */ +MessageString::MessageString(MessageID id, string s) { + MessageString::SetID(id); + + this->s = s; +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with string data + */ +void MessageString::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessageString" + }; +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessageString::ToString() { + if (CheckID(this->messageID)) + return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nString: \"" + this->s + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessageString::Copy() { + return new MessageString(this->messageID, this->s); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessageString::CheckID(MessageID id) { + if ((id != MESSAGE_LOG)) { + return false; + } else return true; +} + +/* class MessageBool */ + +/** + * Create a new, empty boolean message + */ +MessageBool::MessageBool() { + state = false; +} + +/** + * Create a new boolean message, with given ID and boolean value + * @param id Message ID + * @param state Boolean value + * @throw std::runtime_error if message ID is incompatible with boolean data + */ +MessageBool::MessageBool(MessageID id, bool state) { + MessageBool::SetID(id); + + this->state = state; +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with boolean data + */ +void MessageBool::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessageBool" + }; +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessageBool::ToString() { + if (CheckID(this->messageID)) + return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nState: \"" + to_string(this->state) + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessageBool::Copy() { + return new MessageBool(this->messageID, this->state); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessageBool::CheckID(MessageID id) { + if ((id != MESSAGE_EMERGENCY_STOP) && + (id != MESSAGE_USER_PRESENCE)) { + return false; + } else return true; +} diff --git a/software/raspberry/superviseur-robot/lib/messages.h b/software/raspberry/superviseur-robot/lib/messages.h new file mode 100644 index 0000000..1d8b8a8 --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/messages.h @@ -0,0 +1,786 @@ +/* + * 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 . + */ + +#ifndef __MESSAGES_H__ +#define __MESSAGES_H__ + +#include +#include "img.h" + +/** + * Message ID defined for system communication + * + * @brief List of available message ID + * + */ +typedef enum { + //Generic messages + MESSAGE_EMPTY = 0, + MESSAGE_LOG, + + // Message containing answer (after robot command, or for monitor) + MESSAGE_ANSWER, + + // messages for serial communication with robot + MESSAGE_OPEN_COM, + MESSAGE_CLOSE_COM, + + // Messages for camera + MESSAGE_CAM_OPEN, + MESSAGE_CAM_CLOSE, + MESSAGE_ASK_ARENA, + MESSAGE_ARENA_CONFIRM, + MESSAGE_ARENA_INFIRM, + MESSAGE_COMPUTE_POSITION, + MESSAGE_STOP_COMPUTE_POSITION, + MESSAGE_POSITION, + MESSAGE_IMAGE, + + // Messages for robot + MESSAGE_ROBOT_PING, + MESSAGE_ROBOT_RESET, + MESSAGE_ROBOT_START_WITH_WD, + MESSAGE_ROBOT_START_WITHOUT_WD, + MESSAGE_ROBOT_RELOAD_WD, + MESSAGE_ROBOT_MOVE, + MESSAGE_ROBOT_TURN, + MESSAGE_ROBOT_GO_FORWARD, + MESSAGE_ROBOT_GO_BACK, + MESSAGE_ROBOT_GO_LEFT, + MESSAGE_ROBOT_GO_RIGHT, + MESSAGE_ROBOT_STOP, + MESSAGE_ROBOT_POWEROFF, + MESSAGE_ROBOT_GET_BATTERY, + MESSAGE_ROBOT_BATTERY_LEVEL, + MESSAGE_ROBOT_GET_STATE, + MESSAGE_ROBOT_CURRENT_STATE +} MessageID; + +typedef enum { + ANSWER_ACK=0, + ANSWER_NACK, + ANSWER_LOST_ROBOT, + ANSWER_ROBOT_TIMEOUT, + ANSWER_ROBOT_UNKNWON_COMMAND, + ANSWER_ROBOT_ERROR, + ANSWER_ROBOT_CHECKSUM +} AnswerID; + +typedef enum { + BATTERY_EMPTY=0, + BATTERY_LOW, + BATTERY_FULL +} BatteryLevel; + +typedef enum { + ROBOT_NOT_BUSY=0, + ROBOT_BUSY +} RobotState; + +using namespace std; + +/** + * Base class for messaging + * + * @brief Base class for messaging + * + */ +class Message { +public: + /** + * Create a new, empty message + */ + Message(); + + /** + * Destroy message + */ + virtual ~Message(); + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + virtual string ToString(); + + /** + * Allocate a new mesage and copy contents of current message + * @return A message, copy of current + */ + virtual Message* Copy(); + + /** + * Get message ID + * @return Current message ID + */ + MessageID GetID() { + return messageID; + } + + /** + * Set message ID + * @param id Message ID + */ + virtual void SetID(MessageID id) { + } + + /** + * Comparison operator + * @param msg Message to be compared + * @return true if message are equal, false otherwise + */ + virtual bool operator==(const Message& msg) { + return (messageID == msg.messageID); + } + + /** + * Difference operator + * @param msg Message to be compared + * @return true if message are different, false otherwise + */ + virtual bool operator!=(const Message& msg) { + return !(messageID == msg.messageID); + } + +protected: + /** + * Message identifier (@see MessageID) + */ + MessageID messageID; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + virtual bool CheckID(MessageID id); +}; + + +/** + * Message class for holding float value, based on Message class + * + * @brief Float message class + * + */ +class MessageInt : public Message { +public: + /** + * Create a new, empty float message + */ + MessageInt(); + + /** + * Create a new float message, with given ID and value + * @param id Message ID + * @param val Message value + * @throw std::runtime_error if message ID is incompatible with float data + */ + MessageInt(MessageID id, int val); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with float data + */ + void SetID(MessageID id); + + /** + * Get message value (int) + * @return int value + */ + int GetValue() { + return value; + } + + /** + * Set message value (int) + * @param val int value to store in message + */ + void SetValue(int val) { + this->value = val; + } + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new mesage and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + + /** + * Comparison operator + * @param msg Message to be compared + * @return true if message are equal, false otherwise + */ + virtual bool operator==(const MessageInt& msg) { + return ((messageID == msg.messageID) && (value == msg.value)); + } + + /** + * Difference operator + * @param msg Message to be compared + * @return true if message are different, false otherwise + */ + virtual bool operator!=(const MessageInt& msg) { + return !((messageID == msg.messageID) && (value == msg.value)); + } + +protected: + /** + * Message integer value + */ + int value; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding float value, based on Message class + * + * @brief Float message class + * + */ +class MessageFloat : public Message { +public: + /** + * Create a new, empty float message + */ + MessageFloat(); + + /** + * Create a new float message, with given ID and value + * @param id Message ID + * @param val Message value + * @throw std::runtime_error if message ID is incompatible with float data + */ + MessageFloat(MessageID id, float val); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with float data + */ + void SetID(MessageID id); + + /** + * Get message value (float) + * @return Float value + */ + float GetValue() { + return value; + } + + /** + * Set message value (float) + * @param val Float value to store in message + */ + void SetValue(float val) { + this->value = val; + } + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new mesage and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + + /** + * Comparison operator + * @param msg Message to be compared + * @return true if message are equal, false otherwise + */ + virtual bool operator==(const MessageFloat& msg) { + return ((messageID == msg.messageID) && (value == msg.value)); + } + + /** + * Difference operator + * @param msg Message to be compared + * @return true if message are different, false otherwise + */ + virtual bool operator!=(const MessageFloat& msg) { + return !((messageID == msg.messageID) && (value == msg.value)); + } +protected: + /** + * Message float value + */ + float value; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding string value, based on Message class + * + * @brief String message class + * + */ +class MessageString : public Message { +public: + /** + * Create a new, empty string message + */ + MessageString(); + + /** + * Create a new string message, with given ID and string + * @param id Message ID + * @param s Message string + * @throw std::runtime_error if message ID is incompatible with string data + */ + MessageString(MessageID id, string s); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with string data + */ + void SetID(MessageID id); + + /** + * Get message string + * @return String + */ + string GetString() { + return s; + } + + /** + * Set message string + * @param s String to store in message + */ + void SetString(string s) { + this->s = s; + } + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + + /** + * Comparison operator + * @param msg Message to be compared + * @return true if message are equal, false otherwise + */ + virtual bool operator==(const MessageString& msg) { + return ((messageID == msg.messageID) && (s == msg.s)); + } + + /** + * Difference operator + * @param msg Message to be compared + * @return true if message are different, false otherwise + */ + virtual bool operator!=(const MessageString& msg) { + return !((messageID == msg.messageID) && (s == msg.s)); + } +protected: + /** + * Message content + */ + string s; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding image, based on Message class + * + * @brief Image message class + * + */ +class MessageImg : public Message { +public: + /** + * Create a new, empty image message + */ + MessageImg(); + + /** + * Create a new image message, with given ID and boolean value + * @param id Message ID + * @param image Pointer to image + * @throw std::runtime_error if message ID is incompatible with image message + */ + MessageImg(MessageID id, Img* image); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible withimage message + */ + void SetID(MessageID id); + + /** + * Get message image + * @return Pointer to image + */ + Img* GetImage() { + return image; + } + + /** + * Set message image + * @param image Pointer to image object + */ + void SetImage(Img* image) { + this->image = image; + } + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + +protected: + /** + * Message image + */ + Img* image; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding position, based on Message class + * + * @brief Position message class + * + */ +class MessagePosition : public Message { +public: + /** + * Create a new, empty image message + */ + MessagePosition(); + + /** + * Create a new image message, with given ID and boolean value + * @param id Message ID + * @param image Pointer to image + * @throw std::runtime_error if message ID is incompatible with image message + */ + MessagePosition(MessageID id, Position pos); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible withimage message + */ + void SetID(MessageID id); + + /** + * Get message image + * @return Pointer to image + */ + Position GetPosition() { + return pos; + } + + /** + * Set message image + * @param image Pointer to image object + */ + void SetPosition(Position pos) { + this->pos = pos; + } + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + +protected: + /** + * Message position + */ + Position pos; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding battery level, based on Message class + * + * @brief Position message class + * + */ +class MessageBattery : public Message { +public: + /** + * Create a new, empty image message + */ + MessageBattery(); + + /** + * Create a new image message, with given ID and boolean value + * @param id Message ID + * @param image Pointer to image + * @throw std::runtime_error if message ID is incompatible with image message + */ + MessageBattery(MessageID id, BatteryLevel level); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible withimage message + */ + void SetID(MessageID id); + + /** + * Get message image + * @return Pointer to image + */ + BatteryLevel GetLevel() { + return level; + } + + /** + * Set message image + * @param image Pointer to image object + */ + void SetLevel(BatteryLevel level) { + this->level = level; + } + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + +protected: + /** + * Message position + */ + BatteryLevel level; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding answer, based on Message class + * + * @brief Answer message class + * + */ +class MessageAnswer : public Message { +public: + /** + * Create a new, empty image message + */ + MessageAnswer(); + + /** + * Create a new image message, with given ID and boolean value + * @param id Message ID + * @param image Pointer to image + * @throw std::runtime_error if message ID is incompatible with image message + */ + MessageAnswer(MessageID id, AnswerID answer); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible withimage message + */ + void SetID(MessageID id); + + /** + * Get message image + * @return Pointer to image + */ + AnswerID GetAnswer() { + return answer; + } + + /** + * Set message image + * @param image Pointer to image object + */ + void SetAnswer(AnswerID answer) { + this->answer = answer; + } + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + +protected: + /** + * Message answer + */ + AnswerID answer; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; + +/** + * Message class for holding robot state, based on Message class + * + * @brief Answer message class + * + */ +class MessageState: public Message { +public: + /** + * Create a new, empty image message + */ + MessageState(); + + /** + * Create a new image message, with given ID and boolean value + * @param id Message ID + * @param image Pointer to image + * @throw std::runtime_error if message ID is incompatible with image message + */ + MessageState(MessageID id, RobotState state); + + /** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible withimage message + */ + void SetID(MessageID id); + + /** + * Get message image + * @return Pointer to image + */ + RobotState GetState() { + return state; + } + + /** + * Set message image + * @param image Pointer to image object + */ + void SetState(RobotState state) { + this->state = state; + } + + /** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ + string ToString(); + + /** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ + Message* Copy(); + +protected: + /** + * Message answer + */ + RobotState state; + + /** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ + bool CheckID(MessageID id); +}; +#endif /* __MESSAGES_H__ */ + diff --git a/software/raspberry/superviseur-robot/lib/src/monitor.cpp b/software/raspberry/superviseur-robot/lib/monitor.cpp similarity index 100% rename from software/raspberry/superviseur-robot/lib/src/monitor.cpp rename to software/raspberry/superviseur-robot/lib/monitor.cpp diff --git a/software/raspberry/superviseur-robot/lib/src/robot.cpp b/software/raspberry/superviseur-robot/lib/robot.cpp similarity index 100% rename from software/raspberry/superviseur-robot/lib/src/robot.cpp rename to software/raspberry/superviseur-robot/lib/robot.cpp diff --git a/software/raspberry/superviseur-robot/lib/src/server.cpp b/software/raspberry/superviseur-robot/lib/server.cpp similarity index 100% rename from software/raspberry/superviseur-robot/lib/src/server.cpp rename to software/raspberry/superviseur-robot/lib/server.cpp diff --git a/software/raspberry/superviseur-robot/superviseur/src/main.cpp b/software/raspberry/superviseur-robot/main.cpp similarity index 99% rename from software/raspberry/superviseur-robot/superviseur/src/main.cpp rename to software/raspberry/superviseur-robot/main.cpp index 5737e45..7988a7a 100644 --- a/software/raspberry/superviseur-robot/superviseur/src/main.cpp +++ b/software/raspberry/superviseur-robot/main.cpp @@ -34,7 +34,7 @@ #include #include -#include "functions.h" +#include "tasks.h" // Déclaration des taches RT_TASK th_server; diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk new file mode 100644 index 0000000..ce4f453 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk @@ -0,0 +1,119 @@ +# +# Generated Makefile - do not edit! +# +# Edit the Makefile in the project folder instead (../Makefile). Each target +# has a -pre and a -post target defined where you can add customized code. +# +# This makefile implements configuration specific macros and targets. + + +# Environment +MKDIR=mkdir +CP=cp +GREP=grep +NM=nm +CCADMIN=CCadmin +RANLIB=ranlib +CC=gcc +CCC=g++ +CXX=g++ +FC=gfortran +AS=as + +# Macros +CND_PLATFORM=GNU-Linux +CND_DLIB_EXT=so +CND_CONF=Debug +CND_DISTDIR=dist +CND_BUILDDIR=build + +# Include project Makefile +include ./Makefile + +# Object Directory +OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM} + +# Object Files +OBJECTFILES= \ + ${OBJECTDIR}/lib/message.o \ + ${OBJECTDIR}/lib/messages.o \ + ${OBJECTDIR}/lib/monitor.o \ + ${OBJECTDIR}/lib/robot.o \ + ${OBJECTDIR}/lib/server.o \ + ${OBJECTDIR}/main.o \ + ${OBJECTDIR}/tasks.o + + +# C Compiler Flags +CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + +# CC Compiler Flags +CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy +CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + +# Fortran Compiler Flags +FFLAGS= + +# Assembler Flags +ASFLAGS= + +# Link Libraries and Options +LDLIBSOPTIONS=`pkg-config --libs opencv` + +# Build Targets +.build-conf: ${BUILD_SUBPROJECTS} + "${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot + +${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES} + ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} + ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt + +${OBJECTDIR}/lib/message.o: lib/message.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/message.o lib/message.cpp + +${OBJECTDIR}/lib/messages.o: lib/messages.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp + +${OBJECTDIR}/lib/monitor.o: lib/monitor.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/monitor.o lib/monitor.cpp + +${OBJECTDIR}/lib/robot.o: lib/robot.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/robot.o lib/robot.cpp + +${OBJECTDIR}/lib/server.o: lib/server.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/server.o lib/server.cpp + +${OBJECTDIR}/main.o: main.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + +${OBJECTDIR}/tasks.o: tasks.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp + +# Subprojects +.build-subprojects: + +# Clean Targets +.clean-conf: ${CLEAN_SUBPROJECTS} + ${RM} -r ${CND_BUILDDIR}/${CND_CONF} + +# Subprojects +.clean-subprojects: + +# Enable dependency checking +.dep.inc: .depcheck-impl + +include .dep.inc diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk new file mode 100644 index 0000000..702a517 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk @@ -0,0 +1,125 @@ +# +# Generated Makefile - do not edit! +# +# Edit the Makefile in the project folder instead (../Makefile). Each target +# has a -pre and a -post target defined where you can add customized code. +# +# This makefile implements configuration specific macros and targets. + + +# Environment +MKDIR=mkdir +CP=cp +GREP=grep +NM=nm +CCADMIN=CCadmin +RANLIB=ranlib +CC=gcc +CCC=g++ +CXX=g++ +FC=gfortran +AS=as + +# Macros +CND_PLATFORM=GNU-Linux +CND_DLIB_EXT=so +CND_CONF=Debug__RPI_ +CND_DISTDIR=dist +CND_BUILDDIR=build + +# Include project Makefile +include ./Makefile + +# Object Directory +OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM} + +# Object Files +OBJECTFILES= \ + ${OBJECTDIR}/lib/image.o \ + ${OBJECTDIR}/lib/message.o \ + ${OBJECTDIR}/lib/messages.o \ + ${OBJECTDIR}/lib/monitor.o \ + ${OBJECTDIR}/lib/robot.o \ + ${OBJECTDIR}/lib/server.o \ + ${OBJECTDIR}/main.o \ + ${OBJECTDIR}/tasks.o + + +# C Compiler Flags +CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + +# CC Compiler Flags +CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy +CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + +# Fortran Compiler Flags +FFLAGS= + +# Assembler Flags +ASFLAGS= + +# Link Libraries and Options +LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam + +# Build Targets +.build-conf: ${BUILD_SUBPROJECTS} + "${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot + +${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES} + ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} + ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt + +${OBJECTDIR}/lib/image.o: lib/image.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/image.o lib/image.cpp + +${OBJECTDIR}/lib/message.o: lib/message.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/message.o lib/message.cpp + +${OBJECTDIR}/lib/messages.o: lib/messages.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp + +${OBJECTDIR}/lib/monitor.o: lib/monitor.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/monitor.o lib/monitor.cpp + +${OBJECTDIR}/lib/robot.o: lib/robot.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/robot.o lib/robot.cpp + +${OBJECTDIR}/lib/server.o: lib/server.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/server.o lib/server.cpp + +${OBJECTDIR}/main.o: main.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + +${OBJECTDIR}/tasks.o: tasks.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp + +# Subprojects +.build-subprojects: + +# Clean Targets +.clean-conf: ${CLEAN_SUBPROJECTS} + ${RM} -r ${CND_BUILDDIR}/${CND_CONF} + +# Subprojects +.clean-subprojects: + +# Enable dependency checking +.dep.inc: .depcheck-impl + +include .dep.inc diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk new file mode 100644 index 0000000..fa26549 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk @@ -0,0 +1,125 @@ +# +# Generated Makefile - do not edit! +# +# Edit the Makefile in the project folder instead (../Makefile). Each target +# has a -pre and a -post target defined where you can add customized code. +# +# This makefile implements configuration specific macros and targets. + + +# Environment +MKDIR=mkdir +CP=cp +GREP=grep +NM=nm +CCADMIN=CCadmin +RANLIB=ranlib +CC=gcc +CCC=g++ +CXX=g++ +FC=gfortran +AS=as + +# Macros +CND_PLATFORM=GNU-Linux +CND_DLIB_EXT=so +CND_CONF=Release +CND_DISTDIR=dist +CND_BUILDDIR=build + +# Include project Makefile +include ./Makefile + +# Object Directory +OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM} + +# Object Files +OBJECTFILES= \ + ${OBJECTDIR}/lib/image.o \ + ${OBJECTDIR}/lib/message.o \ + ${OBJECTDIR}/lib/messages.o \ + ${OBJECTDIR}/lib/monitor.o \ + ${OBJECTDIR}/lib/robot.o \ + ${OBJECTDIR}/lib/server.o \ + ${OBJECTDIR}/main.o \ + ${OBJECTDIR}/tasks.o + + +# C Compiler Flags +CFLAGS= + +# CC Compiler Flags +CCFLAGS= +CXXFLAGS= + +# Fortran Compiler Flags +FFLAGS= + +# Assembler Flags +ASFLAGS= + +# Link Libraries and Options +LDLIBSOPTIONS= + +# Build Targets +.build-conf: ${BUILD_SUBPROJECTS} + "${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot + +${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES} + ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} + ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} + +${OBJECTDIR}/lib/image.o: lib/image.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/image.o lib/image.cpp + +${OBJECTDIR}/lib/message.o: lib/message.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/message.o lib/message.cpp + +${OBJECTDIR}/lib/messages.o: lib/messages.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp + +${OBJECTDIR}/lib/monitor.o: lib/monitor.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/monitor.o lib/monitor.cpp + +${OBJECTDIR}/lib/robot.o: lib/robot.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/robot.o lib/robot.cpp + +${OBJECTDIR}/lib/server.o: lib/server.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/server.o lib/server.cpp + +${OBJECTDIR}/main.o: main.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + +${OBJECTDIR}/tasks.o: tasks.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp + +# Subprojects +.build-subprojects: + +# Clean Targets +.clean-conf: ${CLEAN_SUBPROJECTS} + ${RM} -r ${CND_BUILDDIR}/${CND_CONF} + +# Subprojects +.clean-subprojects: + +# Enable dependency checking +.dep.inc: .depcheck-impl + +include .dep.inc diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk similarity index 99% rename from software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk rename to software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk index 6990172..24d259d 100644 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk @@ -24,7 +24,7 @@ CLEAN_SUBPROJECTS=${CLEAN_SUBPROJECTS_${SUBPROJECTS}} # Project Name -PROJECTNAME=superviseur +PROJECTNAME=superviseur-robot # Active Configuration DEFAULTCONF=Debug diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-variables.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk similarity index 69% rename from software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-variables.mk rename to software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk index 50873f1..9dbbe3a 100644 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-variables.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk @@ -9,27 +9,27 @@ CND_DISTDIR=dist # Debug configuration CND_PLATFORM_Debug=GNU-Linux CND_ARTIFACT_DIR_Debug=dist/Debug/GNU-Linux -CND_ARTIFACT_NAME_Debug=superviseur -CND_ARTIFACT_PATH_Debug=dist/Debug/GNU-Linux/superviseur +CND_ARTIFACT_NAME_Debug=superviseur-robot +CND_ARTIFACT_PATH_Debug=dist/Debug/GNU-Linux/superviseur-robot CND_PACKAGE_DIR_Debug=dist/Debug/GNU-Linux/package -CND_PACKAGE_NAME_Debug=superviseur.tar -CND_PACKAGE_PATH_Debug=dist/Debug/GNU-Linux/package/superviseur.tar +CND_PACKAGE_NAME_Debug=superviseur-robot.tar +CND_PACKAGE_PATH_Debug=dist/Debug/GNU-Linux/package/superviseur-robot.tar # Release configuration CND_PLATFORM_Release=GNU-Linux CND_ARTIFACT_DIR_Release=dist/Release/GNU-Linux -CND_ARTIFACT_NAME_Release=superviseur -CND_ARTIFACT_PATH_Release=dist/Release/GNU-Linux/superviseur +CND_ARTIFACT_NAME_Release=superviseur-robot +CND_ARTIFACT_PATH_Release=dist/Release/GNU-Linux/superviseur-robot CND_PACKAGE_DIR_Release=dist/Release/GNU-Linux/package -CND_PACKAGE_NAME_Release=superviseur.tar -CND_PACKAGE_PATH_Release=dist/Release/GNU-Linux/package/superviseur.tar +CND_PACKAGE_NAME_Release=superviseur-robot.tar +CND_PACKAGE_PATH_Release=dist/Release/GNU-Linux/package/superviseur-robot.tar # Debug__RPI_ configuration CND_PLATFORM_Debug__RPI_=GNU-Linux CND_ARTIFACT_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux -CND_ARTIFACT_NAME_Debug__RPI_=superviseur -CND_ARTIFACT_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/superviseur +CND_ARTIFACT_NAME_Debug__RPI_=superviseur-robot +CND_ARTIFACT_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/superviseur-robot CND_PACKAGE_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package -CND_PACKAGE_NAME_Debug__RPI_=superviseur.tar -CND_PACKAGE_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package/superviseur.tar +CND_PACKAGE_NAME_Debug__RPI_=superviseur-robot.tar +CND_PACKAGE_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package/superviseur-robot.tar # # include compiler specific variables # diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug.bash b/software/raspberry/superviseur-robot/nbproject/Package-Debug.bash similarity index 88% rename from software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug.bash rename to software/raspberry/superviseur-robot/nbproject/Package-Debug.bash index 7491245..10fd194 100644 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug.bash +++ b/software/raspberry/superviseur-robot/nbproject/Package-Debug.bash @@ -13,9 +13,9 @@ CND_BUILDDIR=build CND_DLIB_EXT=so NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging TMPDIRNAME=tmp-packaging -OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur -OUTPUT_BASENAME=superviseur -PACKAGE_TOP_DIR=superviseur/ +OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot +OUTPUT_BASENAME=superviseur-robot +PACKAGE_TOP_DIR=superviseur-robot/ # Functions function checkReturnCode @@ -60,15 +60,15 @@ mkdir -p ${NBTMPDIR} # Copy files and create directories and links cd "${TOP}" -makeDirectory "${NBTMPDIR}/superviseur/bin" +makeDirectory "${NBTMPDIR}/superviseur-robot/bin" copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755 # Generate tar file cd "${TOP}" -rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur.tar +rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar cd ${NBTMPDIR} -tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur.tar * +tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar * checkReturnCode # Cleanup diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug__RPI_.bash b/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash similarity index 88% rename from software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug__RPI_.bash rename to software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash index 497c884..f42ce09 100644 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug__RPI_.bash +++ b/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash @@ -13,9 +13,9 @@ CND_BUILDDIR=build CND_DLIB_EXT=so NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging TMPDIRNAME=tmp-packaging -OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur -OUTPUT_BASENAME=superviseur -PACKAGE_TOP_DIR=superviseur/ +OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot +OUTPUT_BASENAME=superviseur-robot +PACKAGE_TOP_DIR=superviseur-robot/ # Functions function checkReturnCode @@ -60,15 +60,15 @@ mkdir -p ${NBTMPDIR} # Copy files and create directories and links cd "${TOP}" -makeDirectory "${NBTMPDIR}/superviseur/bin" +makeDirectory "${NBTMPDIR}/superviseur-robot/bin" copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755 # Generate tar file cd "${TOP}" -rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur.tar +rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar cd ${NBTMPDIR} -tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur.tar * +tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar * checkReturnCode # Cleanup diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash b/software/raspberry/superviseur-robot/nbproject/Package-Release.bash similarity index 88% rename from software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash rename to software/raspberry/superviseur-robot/nbproject/Package-Release.bash index 76f5a7f..13f4fa7 100644 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash +++ b/software/raspberry/superviseur-robot/nbproject/Package-Release.bash @@ -13,9 +13,9 @@ CND_BUILDDIR=build CND_DLIB_EXT=so NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging TMPDIRNAME=tmp-packaging -OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur -OUTPUT_BASENAME=superviseur -PACKAGE_TOP_DIR=superviseur/ +OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot +OUTPUT_BASENAME=superviseur-robot +PACKAGE_TOP_DIR=superviseur-robot/ # Functions function checkReturnCode @@ -60,15 +60,15 @@ mkdir -p ${NBTMPDIR} # Copy files and create directories and links cd "${TOP}" -makeDirectory "${NBTMPDIR}/superviseur/bin" +makeDirectory "${NBTMPDIR}/superviseur-robot/bin" copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755 # Generate tar file cd "${TOP}" -rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur.tar +rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar cd ${NBTMPDIR} -tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur.tar * +tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar * checkReturnCode # Cleanup diff --git a/software/raspberry/superviseur-robot/nbproject/configurations.xml b/software/raspberry/superviseur-robot/nbproject/configurations.xml new file mode 100644 index 0000000..a8a96fb --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml @@ -0,0 +1,270 @@ + + + + + ./lib/camera.h + ./lib/definitions.h + ./lib/image.h + ./lib/img.h + ./lib/message.h + ./lib/messages.h + ./lib/monitor.h + ./lib/robot.h + ./lib/server.h + ./tasks.h + + + ./gdbsudo.sh + + + ./lib/camera.cpp + ./lib/image.cpp + ./lib/img.cpp + ./main.cpp + ./lib/message.cpp + ./lib/messages.cpp + ./lib/monitor.cpp + ./lib/robot.cpp + ./lib/server.cpp + ./tasks.cpp + + + + + ./Makefile + + + ./Makefile + + + + default + true + false + + + + + ./ + ./lib + + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + + + + ./ + ./lib + /usr/xenomai/include + /usr/xenomai/include/mercury + + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + + _WITH_TRACE_ + __FOR_PC__ + + + + + `pkg-config --libs opencv` + + -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + default + true + false + + + + 5 + + + 5 + + + 5 + + + 5 + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + GNU|GNU + true + false + + + + + ./ + ./lib + /usr/xenomai/include + /usr/xenomai/include/mercury + + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + + + + ./ + ./lib + /usr/xenomai/include + /usr/xenomai/include/mercury + + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + + _WITH_TRACE_ + + + + + `pkg-config --libs opencv` + raspicam_cv + raspicam + + -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/Makefile-variables.mk b/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk similarity index 100% rename from software/raspberry/superviseur-robot/superviseur/nbproject/private/Makefile-variables.mk rename to software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/c_standard_headers_indexer.c b/software/raspberry/superviseur-robot/nbproject/private/c_standard_headers_indexer.c similarity index 100% rename from software/raspberry/superviseur-robot/superviseur/nbproject/private/c_standard_headers_indexer.c rename to software/raspberry/superviseur-robot/nbproject/private/c_standard_headers_indexer.c diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml similarity index 98% rename from software/raspberry/superviseur-robot/superviseur/nbproject/private/configurations.xml rename to software/raspberry/superviseur-robot/nbproject/private/configurations.xml index 9835210..393661c 100644 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/private/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml @@ -1,6 +1,6 @@ - Makefile + ./Makefile diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/cpp_standard_headers_indexer.cpp b/software/raspberry/superviseur-robot/nbproject/private/cpp_standard_headers_indexer.cpp similarity index 100% rename from software/raspberry/superviseur-robot/superviseur/nbproject/private/cpp_standard_headers_indexer.cpp rename to software/raspberry/superviseur-robot/nbproject/private/cpp_standard_headers_indexer.cpp diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/downloads-10.105.1.13-pi-22 b/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.13-pi-22 similarity index 100% rename from software/raspberry/superviseur-robot/superviseur/nbproject/private/downloads-10.105.1.13-pi-22 rename to software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.13-pi-22 diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/launcher.properties b/software/raspberry/superviseur-robot/nbproject/private/launcher.properties similarity index 100% rename from software/raspberry/superviseur-robot/superviseur/nbproject/private/launcher.properties rename to software/raspberry/superviseur-robot/nbproject/private/launcher.properties diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml similarity index 72% rename from software/raspberry/superviseur-robot/superviseur/nbproject/private/private.xml rename to software/raspberry/superviseur-robot/nbproject/private/private.xml index b361df8..7a2adea 100644 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/private/private.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml @@ -2,24 +2,24 @@ 1 - 2 + 0 file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/server.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/message.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/private/timestamps-10.105.1.13-pi-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22 similarity index 100% rename from software/raspberry/superviseur-robot/superviseur/nbproject/private/timestamps-10.105.1.13-pi-22 rename to software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22 diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/project.properties b/software/raspberry/superviseur-robot/nbproject/project.properties similarity index 100% rename from software/raspberry/superviseur-robot/superviseur/nbproject/project.properties rename to software/raspberry/superviseur-robot/nbproject/project.properties diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/project.xml b/software/raspberry/superviseur-robot/nbproject/project.xml similarity index 100% rename from software/raspberry/superviseur-robot/superviseur/nbproject/project.xml rename to software/raspberry/superviseur-robot/nbproject/project.xml diff --git a/software/raspberry/superviseur-robot/superviseur/.gitignore b/software/raspberry/superviseur-robot/superviseur/.gitignore deleted file mode 100644 index 5ceb27c..0000000 --- a/software/raspberry/superviseur-robot/superviseur/.gitignore +++ /dev/null @@ -1,10 +0,0 @@ -bin/ -build/ -CMakeFiles/ -dist/ - -.dep.inc -Makefile -*.cmake -*.o - diff --git a/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt b/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt deleted file mode 100644 index fd22eaa..0000000 --- a/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt +++ /dev/null @@ -1,15 +0,0 @@ -set(superviseur_FILES ./src/main.cpp src/functions.cpp) - -include_directories(./src ../lib /usr/xenomai/include /usr/xenomai/include/mercury) -link_directories(/usr/xenomai/lib) - -add_executable(superviseur ${superviseur_FILES}) -target_link_libraries(superviseur destijl) - -#add_custom_command(TARGET superviseur POST_BUILD -# COMMAND sudo chown root ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/superviseur -# COMMAND sudo chgrp root ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/superviseur -# COMMAND sudo chmod +s ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/superviseur -# WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY} -# COMMENT "Add sticky bit" -#) \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk deleted file mode 100644 index 490bfe1..0000000 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk +++ /dev/null @@ -1,119 +0,0 @@ -# -# Generated Makefile - do not edit! -# -# Edit the Makefile in the project folder instead (../Makefile). Each target -# has a -pre and a -post target defined where you can add customized code. -# -# This makefile implements configuration specific macros and targets. - - -# Environment -MKDIR=mkdir -CP=cp -GREP=grep -NM=nm -CCADMIN=CCadmin -RANLIB=ranlib -CC=gcc -CCC=g++ -CXX=g++ -FC=gfortran -AS=as - -# Macros -CND_PLATFORM=GNU-Linux -CND_DLIB_EXT=so -CND_CONF=Debug -CND_DISTDIR=dist -CND_BUILDDIR=build - -# Include project Makefile -include Makefile - -# Object Directory -OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM} - -# Object Files -OBJECTFILES= \ - ${OBJECTDIR}/_ext/a59f760b/image.o \ - ${OBJECTDIR}/_ext/a59f760b/message.o \ - ${OBJECTDIR}/_ext/a59f760b/monitor.o \ - ${OBJECTDIR}/_ext/a59f760b/robot.o \ - ${OBJECTDIR}/_ext/a59f760b/server.o \ - ${OBJECTDIR}/src/functions.o \ - ${OBJECTDIR}/src/main.o - - -# C Compiler Flags -CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy - -# CC Compiler Flags -CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy - -# Fortran Compiler Flags -FFLAGS= - -# Assembler Flags -ASFLAGS= - -# Link Libraries and Options -LDLIBSOPTIONS=`pkg-config --libs opencv` - -# Build Targets -.build-conf: ${BUILD_SUBPROJECTS} - "${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur - -${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur: ${OBJECTFILES} - ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} - ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt - 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-${OBJECTDIR}/_ext/a59f760b/robot.o: ../lib/src/robot.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/robot.o ../lib/src/robot.cpp - -${OBJECTDIR}/_ext/a59f760b/server.o: ../lib/src/server.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/server.o ../lib/src/server.cpp - -${OBJECTDIR}/src/functions.o: src/functions.cpp - ${MKDIR} -p ${OBJECTDIR}/src - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/src/functions.o src/functions.cpp - -${OBJECTDIR}/src/main.o: src/main.cpp - ${MKDIR} -p ${OBJECTDIR}/src - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/src/main.o src/main.cpp - -# Subprojects -.build-subprojects: - -# Clean Targets -.clean-conf: ${CLEAN_SUBPROJECTS} - ${RM} -r ${CND_BUILDDIR}/${CND_CONF} - -# Subprojects -.clean-subprojects: - -# Enable dependency checking -.dep.inc: .depcheck-impl - -include .dep.inc diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug__RPI_.mk b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug__RPI_.mk deleted file mode 100644 index ff76d0c..0000000 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug__RPI_.mk +++ /dev/null @@ -1,119 +0,0 @@ -# -# Generated Makefile - do not edit! -# -# Edit the Makefile in the project folder instead (../Makefile). Each target -# has a -pre and a -post target defined where you can add customized code. -# -# This makefile implements configuration specific macros and targets. - - -# Environment -MKDIR=mkdir -CP=cp -GREP=grep -NM=nm -CCADMIN=CCadmin -RANLIB=ranlib -CC=gcc -CCC=g++ -CXX=g++ -FC=gfortran -AS=as - -# Macros -CND_PLATFORM=GNU-Linux -CND_DLIB_EXT=so -CND_CONF=Debug__RPI_ -CND_DISTDIR=dist -CND_BUILDDIR=build - -# Include project Makefile -include Makefile - -# Object Directory -OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM} - -# Object Files -OBJECTFILES= \ - ${OBJECTDIR}/_ext/a59f760b/image.o \ - ${OBJECTDIR}/_ext/a59f760b/message.o \ - ${OBJECTDIR}/_ext/a59f760b/monitor.o \ - ${OBJECTDIR}/_ext/a59f760b/robot.o \ - ${OBJECTDIR}/_ext/a59f760b/server.o \ - ${OBJECTDIR}/src/functions.o \ - ${OBJECTDIR}/src/main.o - - -# C Compiler Flags -CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy - -# CC Compiler Flags -CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy - -# Fortran Compiler Flags -FFLAGS= - -# Assembler Flags -ASFLAGS= - -# Link Libraries and Options -LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam - -# Build Targets -.build-conf: ${BUILD_SUBPROJECTS} - "${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur - -${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur: ${OBJECTFILES} - ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} - ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt - -${OBJECTDIR}/_ext/a59f760b/image.o: ../lib/src/image.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/image.o ../lib/src/image.cpp - -${OBJECTDIR}/_ext/a59f760b/message.o: ../lib/src/message.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/message.o ../lib/src/message.cpp - -${OBJECTDIR}/_ext/a59f760b/monitor.o: ../lib/src/monitor.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/monitor.o ../lib/src/monitor.cpp - -${OBJECTDIR}/_ext/a59f760b/robot.o: ../lib/src/robot.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/robot.o ../lib/src/robot.cpp - -${OBJECTDIR}/_ext/a59f760b/server.o: ../lib/src/server.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/server.o ../lib/src/server.cpp - -${OBJECTDIR}/src/functions.o: src/functions.cpp - ${MKDIR} -p ${OBJECTDIR}/src - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/src/functions.o src/functions.cpp - -${OBJECTDIR}/src/main.o: src/main.cpp - ${MKDIR} -p ${OBJECTDIR}/src - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -Isrc -I../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/src/main.o src/main.cpp - -# Subprojects -.build-subprojects: - -# Clean Targets -.clean-conf: ${CLEAN_SUBPROJECTS} - ${RM} -r ${CND_BUILDDIR}/${CND_CONF} - -# Subprojects -.clean-subprojects: - -# Enable dependency checking -.dep.inc: .depcheck-impl - -include .dep.inc diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk b/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk deleted file mode 100644 index e888d88..0000000 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk +++ /dev/null @@ -1,119 +0,0 @@ -# -# Generated Makefile - do not edit! -# -# Edit the Makefile in the project folder instead (../Makefile). Each target -# has a -pre and a -post target defined where you can add customized code. -# -# This makefile implements configuration specific macros and targets. - - -# Environment -MKDIR=mkdir -CP=cp -GREP=grep -NM=nm -CCADMIN=CCadmin -RANLIB=ranlib -CC=gcc -CCC=g++ -CXX=g++ -FC=gfortran -AS=as - -# Macros -CND_PLATFORM=GNU-Linux -CND_DLIB_EXT=so -CND_CONF=Release -CND_DISTDIR=dist -CND_BUILDDIR=build - -# Include project Makefile -include Makefile - -# Object Directory -OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM} - -# Object Files -OBJECTFILES= \ - ${OBJECTDIR}/_ext/a59f760b/image.o \ - ${OBJECTDIR}/_ext/a59f760b/message.o \ - ${OBJECTDIR}/_ext/a59f760b/monitor.o \ - ${OBJECTDIR}/_ext/a59f760b/robot.o \ - ${OBJECTDIR}/_ext/a59f760b/server.o \ - ${OBJECTDIR}/src/functions.o \ - ${OBJECTDIR}/src/main.o - - -# C Compiler Flags -CFLAGS= - -# CC Compiler Flags -CCFLAGS= -CXXFLAGS= - -# Fortran Compiler Flags -FFLAGS= - -# Assembler Flags -ASFLAGS= - -# Link Libraries and Options -LDLIBSOPTIONS= - -# Build Targets -.build-conf: ${BUILD_SUBPROJECTS} - "${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur - -${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur: ${OBJECTFILES} - ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} - ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur ${OBJECTFILES} ${LDLIBSOPTIONS} - -${OBJECTDIR}/_ext/a59f760b/image.o: ../lib/src/image.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/image.o ../lib/src/image.cpp - -${OBJECTDIR}/_ext/a59f760b/message.o: ../lib/src/message.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/message.o ../lib/src/message.cpp - -${OBJECTDIR}/_ext/a59f760b/monitor.o: ../lib/src/monitor.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/monitor.o ../lib/src/monitor.cpp - -${OBJECTDIR}/_ext/a59f760b/robot.o: ../lib/src/robot.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/robot.o ../lib/src/robot.cpp - -${OBJECTDIR}/_ext/a59f760b/server.o: ../lib/src/server.cpp - ${MKDIR} -p ${OBJECTDIR}/_ext/a59f760b - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a59f760b/server.o ../lib/src/server.cpp - -${OBJECTDIR}/src/functions.o: src/functions.cpp - ${MKDIR} -p ${OBJECTDIR}/src - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/src/functions.o src/functions.cpp - -${OBJECTDIR}/src/main.o: src/main.cpp - ${MKDIR} -p ${OBJECTDIR}/src - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/src/main.o src/main.cpp - -# Subprojects -.build-subprojects: - -# Clean Targets -.clean-conf: ${CLEAN_SUBPROJECTS} - ${RM} -r ${CND_BUILDDIR}/${CND_CONF} - -# Subprojects -.clean-subprojects: - -# Enable dependency checking -.dep.inc: .depcheck-impl - -include .dep.inc diff --git a/software/raspberry/superviseur-robot/superviseur/nbproject/configurations.xml b/software/raspberry/superviseur-robot/superviseur/nbproject/configurations.xml deleted file mode 100644 index e5c1aec..0000000 --- a/software/raspberry/superviseur-robot/superviseur/nbproject/configurations.xml +++ /dev/null @@ -1,230 +0,0 @@ - - - - - ../lib/definitions.h - ./src/functions.h - ../lib/image.h - ../lib/message.h - ../lib/monitor.h - ../lib/robot.h - ../lib/server.h - - - gdbsudo.sh - - - ./src/functions.cpp - ../lib/src/image.cpp - ./src/main.cpp - ../lib/src/message.cpp - ../lib/src/monitor.cpp - ../lib/src/robot.cpp - ../lib/src/server.cpp - - - - - Makefile - - - Makefile - - - - default - true - false - - - - - src - ../lib - - -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy - - - - src - ../lib - /usr/xenomai/include - /usr/xenomai/include/mercury - - -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy - - _WITH_TRACE_ - __FOR_PC__ - - - - - `pkg-config --libs opencv` - - -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - default - true - false - - - - 5 - - - 5 - - - 5 - - - 5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - GNU|GNU - true - false - - - - - src - ../lib - /usr/xenomai/include - /usr/xenomai/include/mercury - - -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy - - - - src - ../lib - /usr/xenomai/include - /usr/xenomai/include/mercury - - -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy - - _WITH_TRACE_ - - - - - `pkg-config --libs opencv` - raspicam_cv - raspicam - - -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/software/raspberry/superviseur-robot/superviseur/src/functions.cpp b/software/raspberry/superviseur-robot/tasks.cpp similarity index 99% rename from software/raspberry/superviseur-robot/superviseur/src/functions.cpp rename to software/raspberry/superviseur-robot/tasks.cpp index 89b6e89..da732f2 100644 --- a/software/raspberry/superviseur-robot/superviseur/src/functions.cpp +++ b/software/raspberry/superviseur-robot/tasks.cpp @@ -23,7 +23,7 @@ * \brief Miscellaneous functions used for destijl project. */ -#include "functions.h" +#include "tasks.h" char mode_start; diff --git a/software/raspberry/superviseur-robot/superviseur/src/functions.h b/software/raspberry/superviseur-robot/tasks.h similarity index 100% rename from software/raspberry/superviseur-robot/superviseur/src/functions.h rename to software/raspberry/superviseur-robot/tasks.h From 34d1cb6bd810d4dab8017c2d5826c3a2cd161f9e Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20DI=20MERCURIO?= Date: Wed, 19 Dec 2018 09:15:42 +0100 Subject: [PATCH 02/10] passage au tout objet en cours --- .../superviseur-robot/lib/comgui.cpp | 189 ------- .../superviseur-robot/lib/commonitor.cpp | 336 +++++++++++++ .../lib/{comgui.h => commonitor.h} | 52 +- .../superviseur-robot/lib/comrobot.cpp | 334 +++++++++++++ .../superviseur-robot/lib/comrobot.h | 143 ++++++ .../raspberry/superviseur-robot/lib/img.cpp | 17 +- .../raspberry/superviseur-robot/lib/img.h | 19 +- .../superviseur-robot/lib/messages.cpp | 469 ++++++++++++++++-- .../superviseur-robot/lib/messages.h | 142 ++---- .../nbproject/Makefile-Debug.mk | 20 +- .../nbproject/Makefile-Debug__Pthread_.mk | 131 +++++ .../nbproject/Makefile-Debug__RPI_.mk | 20 +- .../nbproject/Makefile-Release.mk | 20 +- .../nbproject/Makefile-impl.mk | 2 +- .../nbproject/Makefile-variables.mk | 8 + .../nbproject/Package-Debug__Pthread_.bash | 76 +++ .../nbproject/configurations.xml | 179 +++++++ .../nbproject/private/Makefile-variables.mk | 1 + .../nbproject/private/configurations.xml | 37 ++ .../nbproject/private/private.xml | 8 +- .../superviseur-robot/nbproject/project.xml | 8 +- software/raspberry/superviseur-robot/tasks.h | 4 +- .../superviseur-robot/tasks_pthread.cpp | 263 ++++++++++ .../superviseur-robot/tasks_pthread.h | 104 ++++ 24 files changed, 2212 insertions(+), 370 deletions(-) delete mode 100644 software/raspberry/superviseur-robot/lib/comgui.cpp create mode 100644 software/raspberry/superviseur-robot/lib/commonitor.cpp rename software/raspberry/superviseur-robot/lib/{comgui.h => commonitor.h} (64%) create mode 100644 software/raspberry/superviseur-robot/lib/comrobot.cpp create mode 100644 software/raspberry/superviseur-robot/lib/comrobot.h create mode 100644 software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk create mode 100644 software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread_.bash create mode 100644 software/raspberry/superviseur-robot/tasks_pthread.cpp create mode 100644 software/raspberry/superviseur-robot/tasks_pthread.h diff --git a/software/raspberry/superviseur-robot/lib/comgui.cpp b/software/raspberry/superviseur-robot/lib/comgui.cpp deleted file mode 100644 index 0ad3141..0000000 --- a/software/raspberry/superviseur-robot/lib/comgui.cpp +++ /dev/null @@ -1,189 +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 . - */ - -#include "comgui.h" -#include -#include - -#include -#include -#include -#include - -#include -#include -#include - -/* - * Constants used for sending commands to gui - */ -const string LABEL_GUI_ANGULAR_POSITION = "AngularPosition"; -const string LABEL_GUI_ANGULAR_SPEED = "AngularSpeed"; -const string LABEL_GUI_BATTERY_LEVEL = "Battery"; -const string LABEL_GUI_LINEAR_SPEED = "LinearSpeed"; -const string LABEL_GUI_USER_PRESENCE = "User"; -const string LABEL_GUI_BETA_ANGLE = "Beta"; -const string LABEL_GUI_TORQUE = "Torque"; -const string LABEL_GUI_EMERGENCY_STOP = "Emergency"; -const string LABEL_GUI_LOG = "Log"; - -/** - * Create a server and open a socket over TCP - * - * @param port Port used for communication - * @return Socket number - * @throw std::runtime_error if it fails - */ -int ComGui::Open(int port) { - struct sockaddr_in server; - - socketFD = socket(AF_INET, SOCK_STREAM, 0); - if (socketFD < 0) { - throw std::runtime_error{"ComGui::Open : Can not create socket"}; - } - - server.sin_addr.s_addr = INADDR_ANY; - server.sin_family = AF_INET; - server.sin_port = htons(port); - - if (bind(socketFD, (struct sockaddr *) &server, sizeof (server)) < 0) { - throw std::runtime_error{"ComGui::Open : Can not bind socket on port " + std::to_string(port)}; - } - - listen(socketFD, 1); - - return socketFD; -} - -/** - * Close socket and server - */ -void ComGui::Close() { - close(socketFD); - - socketFD = -1; -} - -/** - * Wait for a client to connect - * @return Client number - * @throw std::runtime_error if it fails - */ -int ComGui::AcceptClient() { - struct sockaddr_in client; - int c = sizeof (struct sockaddr_in); - - clientID = accept(socketFD, (struct sockaddr *) &client, (socklen_t*) & c); - - if (clientID < 0) - throw std::runtime_error { - "ComGui::AcceptClient : Accept failed" - }; - - return clientID; -} - -/** - * Send a message to GUI - * - * @param msg Message to send to GUI - * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that. - * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously - */ -void ComGui::Write(Message* msg) { - string *str; - - // Call user method before Write - Write_Pre(); - - /* Convert message to string to send to GUI */ - str = MessageToString(msg); - - //cout << "Message sent to GUI: " << str->c_str() << endl; - write(clientID, str->c_str(), str->length()); - - delete(str); - - // Call user method after write - Write_Post(); -} - -/** - * Method used internally to convert a message content to a string that can be sent over TCP - * @param msg Message to be converted - * @return A string, image of the message - */ -string *ComGui::MessageToString(Message *msg) { - int id; - string *str; - - if (msg != NULL) { - id = msg->GetID(); - - switch (id) { - case MESSAGE_ANGLE_POSITION: - str = new string(LABEL_GUI_ANGULAR_POSITION + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); - replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . - break; - case MESSAGE_ANGULAR_SPEED: - str = new string(LABEL_GUI_ANGULAR_SPEED + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); - replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . - break; - case MESSAGE_BATTERY: - str = new string(LABEL_GUI_BATTERY_LEVEL + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); - replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . - break; - case MESSAGE_BETA: - str = new string(LABEL_GUI_BETA_ANGLE + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); - replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . - break; - case MESSAGE_LINEAR_SPEED: - str = new string(LABEL_GUI_LINEAR_SPEED + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); - replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . - break; - case MESSAGE_TORQUE: - str = new string(LABEL_GUI_TORQUE + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); - replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . - break; - case MESSAGE_EMERGENCY_STOP: - str = new string(LABEL_GUI_EMERGENCY_STOP + "="); - if (((MessageBool*) msg)->GetState()) - str->append("True\n"); - else - str->append("False\n"); - break; - case MESSAGE_USER_PRESENCE: - str = new string(LABEL_GUI_USER_PRESENCE + "="); - if (((MessageBool*) msg)->GetState()) - str->append("True\n"); - else - str->append("False\n"); - break; - case MESSAGE_EMPTY: - str = new string(""); //empty string - break; - case MESSAGE_LOG: - str = new string(LABEL_GUI_LOG + "=" + ((MessageString*) msg)->GetString() + "\n"); - break; - default: - str = new string(""); //empty string - break; - } - } - - return str; -} diff --git a/software/raspberry/superviseur-robot/lib/commonitor.cpp b/software/raspberry/superviseur-robot/lib/commonitor.cpp new file mode 100644 index 0000000..9bb0d96 --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/commonitor.cpp @@ -0,0 +1,336 @@ +/* + * 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 . + */ + +#include "commonitor.h" +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +/* + * @brief Constants used for sending commands to monitor + */ +const string LABEL_MONITOR_ANSWER_ACK = "AACK"; +const string LABEL_MONITOR_ANSWER_NACK = "ANAK"; +const string LABEL_MONITOR_ANSWER_LOST_DMB= "ATIM"; +const string LABEL_MONITOR_ANSWER_TIMEOUT= "ATIM"; +const string LABEL_MONITOR_ANSWER_CMD_REJECTED= "ACRJ"; +const string LABEL_MONITOR_MESSAGE = "MSSG"; +const string LABEL_MONITOR_CAMERA_OPEN= "COPN"; +const string LABEL_MONITOR_CAMERA_CLOSE= "CCLS"; +const string LABEL_MONITOR_CAMERA_IMAGE = "CIMG"; +const string LABEL_MONITOR_CAMERA_ARENA_ASK = "CASA"; +const string LABEL_MONITOR_CAMERA_ARENA_INFIRME = "CAIN"; +const string LABEL_MONITOR_CAMERA_ARENA_CONFIRM = "CACO"; +const string LABEL_MONITOR_CAMERA_POSITION_COMPUTE= "CPCO"; +const string LABEL_MONITOR_CAMERA_POSITION_STOP= "CPST"; +const string LABEL_MONITOR_CAMERA_POSITION = "CPOS"; +const string LABEL_MONITOR_ROBOT_COM_OPEN = "ROPN"; +const string LABEL_MONITOR_ROBOT_COM_CLOSE = "RCLS"; +const string LABEL_MONITOR_ROBOT_PING = "RPIN"; +const string LABEL_MONITOR_ROBOT_RESET = "RRST"; +const string LABEL_MONITOR_ROBOT_START_WITHOUT_WD= "RSOW"; +const string LABEL_MONITOR_ROBOT_START_WITH_WD= "RSWW"; +const string LABEL_MONITOR_ROBOT_RELOAD_WD = "RLDW"; +const string LABEL_MONITOR_ROBOT_MOVE = "RMOV"; +const string LABEL_MONITOR_ROBOT_TURN = "RTRN"; +const string LABEL_MONITOR_ROBOT_GO_FORWARD = "RGFW"; +const string LABEL_MONITOR_ROBOT_GO_BACKWARD = "RGBW"; +const string LABEL_MONITOR_ROBOT_GO_LEFT = "RGLF"; +const string LABEL_MONITOR_ROBOT_GO_RIGHT = "RGRI"; +const string LABEL_MONITOR_ROBOT_STOP = "RSTP"; +const string LABEL_MONITOR_ROBOT_POWEROFF = "RPOF"; +const string LABEL_MONITOR_ROBOT_BATTERY_LEVEL = "RBLV"; +const string LABEL_MONITOR_ROBOT_GET_BATTERY = "RGBT"; +const string LABEL_MONITOR_ROBOT_GET_STATE = "RGST"; +const string LABEL_MONITOR_ROBOT_CURRENT_STATE = "RCST"; + +const string LABEL_SEPARATOR_CHAR = ":"; + +/** + * Create a server and open a socket over TCP + * + * @param port Port used for communication + * @return Socket number + * @throw std::runtime_error if it fails + */ +int ComMonitor::Open(int port) { + struct sockaddr_in server; + + socketFD = socket(AF_INET, SOCK_STREAM, 0); + if (socketFD < 0) { + throw std::runtime_error{"ComMonitor::Open : Can not create socket"}; + } + + server.sin_addr.s_addr = INADDR_ANY; + server.sin_family = AF_INET; + server.sin_port = htons(port); + + if (bind(socketFD, (struct sockaddr *) &server, sizeof (server)) < 0) { + throw std::runtime_error{"ComMonitor::Open : Can not bind socket on port " + std::to_string(port)}; + } + + listen(socketFD, 1); + + return socketFD; +} + +/** + * Close socket and server + */ +void ComMonitor::Close() { + close(socketFD); + + socketFD = -1; +} + +/** + * Wait for a client to connect + * @return Client number + * @throw std::runtime_error if it fails + */ +int ComMonitor::AcceptClient() { + struct sockaddr_in client; + int c = sizeof (struct sockaddr_in); + + clientID = accept(socketFD, (struct sockaddr *) &client, (socklen_t*) & c); + + if (clientID < 0) + throw std::runtime_error { + "ComMonitor::AcceptClient : Accept failed" + }; + + return clientID; +} + +/** + * Send a message to monitor + * + * @param msg Message to send to monitor + * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that. + * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously + */ +void ComMonitor::Write(Message &msg) { + string str; + + // Call user method before Write + Write_Pre(); + + /* Convert message to string to send to monitor */ + str = MessageToString(msg); + + //cout << "Message sent to monitor: " << str->c_str() << endl; + write(clientID, str.c_str(), str.length()); + + delete(&msg); + + // Call user method after write + Write_Post(); +} + +/** + * Receive a message from monitor + * + * @return Message received from monitor + * @attention Message provided is produced by the method. You must delete it when you are done using it + * @warning Read is not thread safe : check that multiple tasks can't access this method simultaneously + */ +Message *ComMonitor::Read() { + char length = 0; + string s; + char data; + bool endReception=false; + Message *msg; + + // Call user method before read + Read_Pre(); + + if (clientID > 0) { + while (!endReception) { + if ((length = recv(clientID, (void*) &data, 1, MSG_WAITALL)) > 0) { + if (data != '\n') { + s+=data; + } else endReception = true; + } + } + + if (length<=0) msg = new Message(MESSAGE_MONITOR_LOST); + else { + msg=StringToMessage(s); + } + } + + // Call user method after read + Read_Post(); + + return msg; +} + +/** + * Method used internally to convert a message content to a string that can be sent over TCP + * @param msg Message to be converted + * @return A string, image of the message + */ +string ComMonitor::MessageToString(Message &msg) { + int id; + string str; + Message *localMsg = &msg; + Position pos; + + id = msg.GetID(); + + switch (id) { + case MESSAGE_ANSWER: + switch (((MessageAnswer*)localMsg)->GetAnswer()) { + case ANSWER_ACK: + str.append(LABEL_MONITOR_ANSWER_ACK); + break; + case ANSWER_NACK: + str.append(LABEL_MONITOR_ANSWER_NACK); + break; + case ANSWER_LOST_ROBOT: + str.append(LABEL_MONITOR_ANSWER_LOST_DMB); + break; + case ANSWER_ROBOT_TIMEOUT: + str.append(LABEL_MONITOR_ANSWER_TIMEOUT); + break; + case ANSWER_ROBOT_UNKNOWN_COMMAND: + str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED); + break; + case ANSWER_ROBOT_ERROR: + str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED); + break; + default: + str.append(LABEL_MONITOR_ANSWER_NACK); + }; + + break; + case MESSAGE_POSITION: + pos = ((MessagePosition*)&msg)->GetPosition(); + + str.append(LABEL_MONITOR_CAMERA_POSITION + LABEL_SEPARATOR_CHAR + to_string(pos.robotId) + ";" + + to_string(pos.angle) + ";" + to_string(pos.center.x) + ";" + to_string(pos.center.y) + ";" + + to_string(pos.direction.x) + ";" + to_string(pos.direction.y)); + break; + case MESSAGE_IMAGE: + str.append(LABEL_MONITOR_CAMERA_IMAGE + LABEL_SEPARATOR_CHAR + ((MessageImg*) &msg)->GetImage()->ToBase64()); + break; + case MESSAGE_ROBOT_BATTERY_LEVEL: + str.append(LABEL_MONITOR_ROBOT_BATTERY_LEVEL + LABEL_SEPARATOR_CHAR + to_string(((MessageBattery*) &msg)->GetLevel())); + break; + case MESSAGE_ROBOT_CURRENT_STATE: + str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + to_string(((MessageState*) &msg)->GetState())); + break; + case MESSAGE_LOG: + str.append(LABEL_MONITOR_MESSAGE + LABEL_SEPARATOR_CHAR + ((MessageString*) &msg)->GetString()); + break; + case MESSAGE_EMPTY: + str.append(""); //empty string + break; + default: + throw std::runtime_error + { + "ComMonitor::MessageToString (from ComMonitor::Write): Invalid message to send (" + msg.ToString() + }; + } + + str.append("\n"); + + return str; +} + +/** + * Method used internally to convert a string received over TCP to a message + * @param s String containing message + * @return A message, image of the string + */ +Message *ComMonitor::StringToMessage(string &s) { + Message *msg; + size_t pos; + string org =s; + string tokenCmd; + string tokenData; + + /* Separate command from data if string contains a ':' */ + if ((pos=org.find(LABEL_SEPARATOR_CHAR)) != string::npos) { + tokenCmd = org.substr(0,pos); + org.erase(0,pos+1); + tokenData=org; + } else tokenCmd=org; + + /* Convert command to message */ + if (tokenCmd.find(LABEL_MONITOR_ROBOT_MOVE)!= string::npos) { + msg = new MessageInt(MESSAGE_ROBOT_MOVE,stoi(tokenData)); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_TURN)!= string::npos) { + msg = new MessageInt(MESSAGE_ROBOT_TURN,stoi(tokenData)); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_START_WITHOUT_WD)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_START_WITHOUT_WD); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_START_WITH_WD)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_START_WITH_WD); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_RELOAD_WD)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_RELOAD_WD); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_PING)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_PING); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_RESET)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_RESET); + } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_ASK)!= string::npos) { + msg = new Message(MESSAGE_ASK_ARENA); + } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_CONFIRM)!= string::npos) { + msg = new Message(MESSAGE_ARENA_CONFIRM); + } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_INFIRME)!= string::npos) { + msg = new Message(MESSAGE_ARENA_INFIRM); + } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_CLOSE)!= string::npos) { + msg = new Message(MESSAGE_CAM_CLOSE); + } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_OPEN)!= string::npos) { + msg = new Message(MESSAGE_CAM_OPEN); + } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_POSITION_COMPUTE)!= string::npos) { + msg = new Message(MESSAGE_COMPUTE_POSITION); + } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_POSITION_STOP)!= string::npos) { + msg = new Message(MESSAGE_STOP_COMPUTE_POSITION); + } else if (tokenCmd.find(LABEL_MONITOR_MESSAGE)!= string::npos) { + msg = new MessageString(MESSAGE_LOG,tokenData); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_COM_CLOSE)!= string::npos) { + msg = new Message(MESSAGE_CLOSE_COM); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_COM_OPEN)!= string::npos) { + msg = new Message(MESSAGE_OPEN_COM); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GET_BATTERY)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_GET_BATTERY); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GET_STATE)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_GET_STATE); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_FORWARD)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_GO_FORWARD); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_BACKWARD)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_GO_BACK); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_LEFT)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_GO_LEFT); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_RIGHT)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_GO_RIGHT); + } else if (tokenCmd.find(LABEL_MONITOR_ROBOT_POWEROFF)!= string::npos) { + msg = new Message(MESSAGE_ROBOT_POWEROFF); + } else { + msg = new Message(MESSAGE_EMPTY); + } + + return msg; +} diff --git a/software/raspberry/superviseur-robot/lib/comgui.h b/software/raspberry/superviseur-robot/lib/commonitor.h similarity index 64% rename from software/raspberry/superviseur-robot/lib/comgui.h rename to software/raspberry/superviseur-robot/lib/commonitor.h index 351a0d7..9af1a5d 100644 --- a/software/raspberry/superviseur-robot/lib/comgui.h +++ b/software/raspberry/superviseur-robot/lib/commonitor.h @@ -15,8 +15,8 @@ * along with this program. If not, see . */ -#ifndef __COMGUI_H__ -#define __COMGUI_H__ +#ifndef __COMMONITOR_H__ +#define __COMMONITOR_H__ #include "messages.h" #include @@ -24,22 +24,22 @@ using namespace std; /** - * Class used for generating a server and communicating through it with GUI + * Class used for generating a server and communicating through it with monitor * - * @brief Communication class with GUI (server) + * @brief Communication class with monitor (server) * */ -class ComGui { +class ComMonitor { public: /** * Constructor */ - ComGui() {} + ComMonitor() {} /** * Destructor */ - virtual ~ComGui() {} + virtual ~ComMonitor() {} /** * Create a server and open a socket over TCP @@ -63,13 +63,13 @@ public: int AcceptClient(); /** - * Send a message to GUI + * Send a message to monitor * - * @param msg Message to send to GUI + * @param msg Message to send to monitor * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that. * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously */ - void Write(Message* msg); + void Write(Message &msg); /** * Function called at beginning of Write method @@ -82,6 +82,27 @@ public: * Use it to do some synchronization (release of mutex, for example) */ virtual void Write_Post() {} + + /** + * Receive a message from monitor + * + * @return Message received from monitor + * @attention Message provided is produced by the method. You must delete it when you are done using it + * @warning Read is not thread safe : check that multiple tasks can't access this method simultaneously + */ + Message *Read(); + + /** + * Function called at beginning of Read method + * Use it to do some synchronization (call of mutex, for example) + */ + virtual void Read_Pre() {} + + /** + * Function called at end of Read method + * Use it to do some synchronization (release of mutex, for example) + */ + virtual void Read_Post() {} protected: /** * Socket descriptor @@ -98,7 +119,14 @@ protected: * @param msg Message to be converted * @return A string, image of the message */ - string *MessageToString(Message *msg); + string MessageToString(Message &msg); + + /** + * Method used internally to convert a string received over TCP to a message + * @param s String containing message + * @return A message, image of the string + */ + Message *StringToMessage(string &s); }; -#endif /* __COMGUI_H__ */ +#endif /* __COMMONITOR_H__ */ diff --git a/software/raspberry/superviseur-robot/lib/comrobot.cpp b/software/raspberry/superviseur-robot/lib/comrobot.cpp new file mode 100644 index 0000000..347a248 --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/comrobot.cpp @@ -0,0 +1,334 @@ +/* + * 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 . + */ + +#include "comrobot.h" + +#include +#include +#include +#include +#include + +#include +#include + +#ifdef __FOR_PC__ +#define USART_FILENAME "/dev/ttyUSB0" +#else +#define USART_FILENAME "/dev/ttyS0" +#endif /* __FOR_PC__ */ + +/* + * Constants to be used for communicating with robot. Contains command tag + */ +typedef enum { + LABEL_ANGLE_POSITION = 'p', + LABEL_ANGULAR_SPEED = 's', + LABEL_BATTERY_LEVEL = 'b', + LABEL_BETA_ANGLE = 'v', + LABEL_USER_PRESENCE = 'u', + + LABEL_TORQUE = 'c', + LABEL_EMERGENCY_STOP = 'a' +} LabelRobot; + +/** + * Open serial link with robot + * @return File descriptor + * @throw std::runtime_error if it fails + */ +int ComRobot::Open() { + fd = open(USART_FILENAME, O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode + if (fd == -1) { + //ERROR - CAN'T OPEN SERIAL PORT + throw std::runtime_error{"Error - Unable to open UART " + string(USART_FILENAME) + ". Ensure it is not in use by another application"}; + exit(EXIT_FAILURE); + } + + //Configuration of the serial port 115 520 Bauds + struct termios options; + tcgetattr(fd, &options); + options.c_cflag = B115200 | CS8 | CLOCAL | CREAD; //fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max) + //printf ("W=%02X ", receivedChar); + + if (rxLength <= -1) { + this->lostCom = true; + printf("Warning: communication lost in ComStm32::Read\n"); + msg = new Message(); + + return msg; + } else if (rxLength == 0) { + // nothing to do + } else if (receivedChar == '<') { // start of frame received + i = 0; + + do { + rxLength = read(this->fd, (void*) &rxBuffer[i], 6 - i); //Filestream, buffer to store in, number of bytes to read (max) + + if (rxLength >= 0) + i = i + rxLength; + else { + printf("Error while reading (%i)", rxLength); + + return NULL; + } + } while (i < 6); + + if (rxBuffer[5] == '\n') { + messageComplete = true; + } + } + } + + /* Treatment of received message */ + msg = CharToMessage(rxBuffer); + + /* Call Post method for read */ + Read_Post(); + + return msg; +} + +/** + * Convert an array of char to its message representation (when receiving data from stm32) + * @param bytes Array of char + * @return Message corresponding to received array of char + */ +Message* ComRobot::CharToMessage(unsigned char *bytes) { + Message *msg = __null; + MessageFloat *msgf; + MessageBool *msgb; + + switch (bytes[0]) { + case LABEL_ANGLE_POSITION: + msgf = new MessageFloat(); + msgf->SetID(MESSAGE_ANGLE_POSITION); + msgf->SetValue(CharToFloat(&bytes[1])); + msg = (Message*) msgf; + + break; + case LABEL_ANGULAR_SPEED: + msgf = new MessageFloat(); + msgf->SetID(MESSAGE_ANGULAR_SPEED); + msgf->SetValue(CharToFloat(&bytes[1])); + msg = (Message*) msgf; + + break; + case LABEL_BATTERY_LEVEL: + msgf = new MessageFloat(); + msgf->SetID(MESSAGE_BATTERY); + msgf->SetValue(CharToFloat(&bytes[1])); + msg = (Message*) msgf; + + break; + case LABEL_BETA_ANGLE: + msgf = new MessageFloat(); + msgf->SetID(MESSAGE_BETA); + msgf->SetValue(CharToFloat(&bytes[1])); + msg = (Message*) msgf; + + break; + case LABEL_USER_PRESENCE: + msgb = new MessageBool(); + msgb->SetID(MESSAGE_USER_PRESENCE); + msgb->SetState(CharToBool(&bytes[1])); + msg = (Message*) msgb; + + break; + default: + printf("Unknown message received from robot (%i)\n", bytes[0]); + fflush(stdout); + msg = new Message(); + } + + if (msg == NULL) { + printf("Message is null (%02X)\n", bytes[0]); + fflush(stdout); + msg = new Message(); + } + + return msg; +} + +/** + * Convert an array of char to float + * @param bytes Array of char, containing a binary image of a float + * @return Float value + */ +float ComRobot::CharToFloat(unsigned char *bytes) { + unsigned long value; + + union { + unsigned char buffer[4]; + float f; + } convert; + + convert.buffer[0] = bytes[0]; + convert.buffer[1] = bytes[1]; + convert.buffer[2] = bytes[2]; + convert.buffer[3] = bytes[3]; + + //value = (bytes[3] << 24) | (bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]); + + return convert.f; +} + +/** + * Convert an array of char to integer + * @param bytes Array of char, containing a binary image of an integer + * @return Integer value + */ +unsigned int ComRobot::CharToInt(unsigned char *bytes) { + unsigned long value; + + value = (bytes[3] << 24) | (bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]); + + return (unsigned int) value; +} + +/** + * Convert an array of char to boolean + * @param bytes Array of char, containing a binary image of a boolean + * @return Boolean value + */ +bool ComRobot::CharToBool(unsigned char *bytes) { + unsigned long value; + + value = (bytes[3] << 24) | (bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]); + + if (value == 0) return false; + + else return true; +} + +/** + * Send a message to robot + * @param msg Message to send to robot + * @return 1 if success, 0 otherwise + * @attention Message is destroyed (delete) after being sent. You do not need to delete it yourself + * @attention Write is blocking until message is written into buffer (linux side) + * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously + */ +int ComRobot::Write(Message* msg) { + unsigned char buffer[7]; + int ret_val = 0; + + MessageToChar(msg, buffer); + + Write_Pre(); + + if (this->fd != -1) { + int count = write(this->fd, &buffer[0], 7); //Filestream, bytes to write, number of bytes to write + if (count < 0) { + printf("Warning: UART TX error in ComStm32::Write\n"); + } else { + ret_val = 1; + } + } + + // deallocation of msg + delete(msg); + + Write_Post(); + + return ret_val; +} + +/** + * Convert a message to its array of char representation (for sending command to stm32) + * @param msg Message to be sent to robot + * @param buffer Array of char, image of message to send + */ +void ComRobot::MessageToChar(Message *msg, unsigned char *buffer) { + float val_f; + int val_i; + unsigned char *b; + + buffer[0] = '<'; + buffer[6] = '\n'; + + switch (msg->GetID()) { + case MESSAGE_TORQUE: + buffer[1] = LABEL_TORQUE; + val_f = ((MessageFloat*) msg)->GetValue(); + b = (unsigned char *) &val_f; + + break; + case MESSAGE_EMERGENCY_STOP: + buffer[1] = LABEL_EMERGENCY_STOP; + if (((MessageBool*) msg)->GetState()) + val_i = 1; + else + val_i = 0; + b = (unsigned char *) &val_i; + + break; + default: + printf("Invalid message to send"); + val_i = 0; + b = (unsigned char *) &val_i; + } + + buffer[2] = b[0]; + buffer[3] = b[1]; + buffer[4] = b[2]; + buffer[5] = b[3]; +} + diff --git a/software/raspberry/superviseur-robot/lib/comrobot.h b/software/raspberry/superviseur-robot/lib/comrobot.h new file mode 100644 index 0000000..96cae04 --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/comrobot.h @@ -0,0 +1,143 @@ +/* + * 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 . + */ + +#ifndef __COMROBOT_H__ +#define __COMROBOT_H__ + +#include "messages.h" + +using namespace std; + +/** + * Class used for communicating with robot over serial + * + * @brief Communication class with robot + * + */ +class ComRobot { +public: + /** + * Constructor + */ + ComRobot() {} + + /** + * Destructor + */ + virtual ~ComRobot() {} + + /** + * Open serial link with robot + * @return File descriptor + * @throw std::runtime_error if it fails + */ + int Open(); + + /** + * Close serial link + * @return Success if above 0, failure if below 0 + */ + int Close(); + + /** + * Get a message from robot + * @return Message currently received + * @attention A message object is created (new) when receiving data from robot. You MUST remember to destroy is (delete) after use + * @attention Read method is blocking until a message is received + * @warning Read is not thread safe : Do not call it in multiple tasks simultaneously + */ + Message* Read(); + + /** + * Send a message to robot + * @param msg Message to send to robot + * @return 1 if success, 0 otherwise + * @attention Message is destroyed (delete) after being sent. You do not need to delete it yourself + * @attention Write is blocking until message is written into buffer (linux side) + * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously + */ + int Write(Message* msg); + + /** + * Function called at beginning of Read method + * Use it to do some synchronization (call of mutex, for example) + */ + virtual void Read_Pre() {} + + /** + * Function called at end of Read method + * Use it to do some synchronization (call of mutex, for example) + */ + virtual void Read_Post() {} + + /** + * Function called at beginning of Write method + * Use it to do some synchronization (call of mutex, for example) + */ + virtual void Write_Pre() {} + + /** + * Function called at end of Write method + * Use it to do some synchronization (call of mutex, for example) + */ + virtual void Write_Post() {} + + static Message *Ping(); + +protected: + /** + * Serial link file descriptor + */ + int fd; + + /** + * Convert an array of char to float + * @param bytes Array of char, containing a binary image of a float + * @return Float value + */ + float CharToFloat(unsigned char *bytes); + + /** + * Convert an array of char to boolean + * @param bytes Array of char, containing a binary image of a boolean + * @return Boolean value + */ + bool CharToBool(unsigned char *bytes); + + /** + * Convert an array of char to integer + * @param bytes Array of char, containing a binary image of an integer + * @return Integer value + */ + unsigned int CharToInt(unsigned char *bytes); + + /** + * Convert an array of char to its message representation (when receiving data from stm32) + * @param bytes Array of char + * @return Message corresponding to received array of char + */ + Message* CharToMessage(unsigned char *bytes); + + /** + * Convert a message to its array of char representation (for sending command to stm32) + * @param msg Message to be sent to robot + * @param buffer Array of char, image of message to send + */ + void MessageToChar(Message *msg, unsigned char *buffer); +}; + +#endif /* __COMROBOT_H__ */ diff --git a/software/raspberry/superviseur-robot/lib/img.cpp b/software/raspberry/superviseur-robot/lib/img.cpp index 15d0bbf..4b7ae3a 100644 --- a/software/raspberry/superviseur-robot/lib/img.cpp +++ b/software/raspberry/superviseur-robot/lib/img.cpp @@ -18,7 +18,6 @@ #include "img.h" bool Arene::empty() { - if ((this->arene.height==0) || (this->arene.width==0)) return true; else return false; } @@ -27,6 +26,14 @@ Img::Img(ImageMat imgMatrice) { this->img = imgMatrice.clone(); } +string Img::ToString() { + return "Image size: "+this->img.cols+"x"this->img.rows+" (dim="+this->img.dims+")"; +} + +Img* Img::Copy() { + return new Img(this->img); +} + float Img::calculAngle(Position robot) { float a = robot.direction.x - robot.center.x; float b = robot.direction.y - robot.center.y ; @@ -93,6 +100,14 @@ Jpg Img::toJpg() { return imgJpg; } +string Img::ToBase64() { + string imgBase64; + Jpg imgJpg = toJpg(); + + /* faire la convertion Jpg vers base 64 */ + return imgBase64; +} + std::list Img::search_robot(Arene monArene) { std::list robotsFind; diff --git a/software/raspberry/superviseur-robot/lib/img.h b/software/raspberry/superviseur-robot/lib/img.h index 1ddde5a..4e98ea0 100644 --- a/software/raspberry/superviseur-robot/lib/img.h +++ b/software/raspberry/superviseur-robot/lib/img.h @@ -20,6 +20,7 @@ #include #include +#include #include #include @@ -33,16 +34,18 @@ #define ARENA_NOT_DETECTED -1 +using namespace std; + typedef cv::Mat ImageMat; -typedef std::vector Jpg; +typedef vector Jpg; -struct Position { +typedef struct { cv::Point2f center; cv::Point2f direction; float angle; int robotId; -}; +} Position; class Arene { public: @@ -55,7 +58,12 @@ public: class Img { public: Img(ImageMat imgMatrice); + + string ToString(); + Img* Copy(); + Jpg toJpg(); + string ToBase64(); Arene search_arena(); int draw_robot(Position robot); @@ -63,11 +71,12 @@ public: int draw_arena(Arene areneToDraw); std::list search_robot(Arene monArene); + #ifdef __WITH_ARUCO__ - std::list search_aruco(Arene monArene = NULL); + list search_aruco(Arene monArene = NULL); #endif // __WITH_ARUCO__ private: - cv::Mat img; + ImageMat img; #ifdef __WITH_ARUCO__ Ptr dictionary; diff --git a/software/raspberry/superviseur-robot/lib/messages.cpp b/software/raspberry/superviseur-robot/lib/messages.cpp index ede1297..8957c62 100644 --- a/software/raspberry/superviseur-robot/lib/messages.cpp +++ b/software/raspberry/superviseur-robot/lib/messages.cpp @@ -21,13 +21,14 @@ #include /* - * Constants used with ToString method, for printing message id + * @brief Constants used with ToString method, for printing message id */ const string MESSAGE_ID_STRING[] = { "Empty", "Log", "Answer", + "Monitor connection lost", "Open serial com", "Close serial com", "Open camera", @@ -37,7 +38,7 @@ const string MESSAGE_ID_STRING[] = { "Arena infirmed", "Compute position", "Stop compute position", - "Position, + "Position", "Image", "Robot ping", "Robot reset", @@ -56,7 +57,19 @@ const string MESSAGE_ID_STRING[] = { "Robot battery level", "Robot get state", "Robot current state" +}; +/* + * @brief Constants used with ToString method, for printing answer id + */ +const string ANSWER_ID_STRING[] = { + "Acknowledge", + "Not Acknowledge", + "Robot lost", + "Timeout error", + "Unknown command", + "Invalid or refused command", + "Checksum error" }; /** @@ -66,12 +79,29 @@ Message::Message() { this->messageID = MESSAGE_EMPTY; } +/** + * Create a new, empty message + */ +Message::Message(MessageID id) { + SetID(id); +} + /** * Destroy message */ Message::~Message() { } +/** + * Set message ID + * @param id Message ID + */ +void Message::SetID(MessageID id) { + if (CheckID(id)) { + this->messageID = id; + } else throw std::runtime_error {"Invalid message id for Message"}; +} + /** * Translate content of message into a string that can be displayed * @return A string describing message contents @@ -99,6 +129,7 @@ Message* Message::Copy() { */ bool Message::CheckID(MessageID id) { if ((id != MESSAGE_EMPTY) && + (id != MESSAGE_MONITOR_LOST) && (id != MESSAGE_ARENA_CONFIRM) && (id != MESSAGE_ARENA_INFIRM) && (id != MESSAGE_ASK_ARENA) && @@ -125,23 +156,23 @@ bool Message::CheckID(MessageID id) { } else return true; } -/* MessageFloat */ +/* MessageInt */ /** - * Create a new, empty float message + * Create a new, empty int message */ -MessageFloat::MessageFloat() { +MessageInt::MessageInt() { value = 0.0; } /** - * Create a new float message, with given ID and value + * Create a new int message, with given ID and value * @param id Message ID * @param val Message value - * @throw std::runtime_error if message ID is incompatible with float data + * @throw std::runtime_error if message ID is incompatible with int data */ -MessageFloat::MessageFloat(MessageID id, float val) { - MessageFloat::SetID(id); +MessageInt::MessageInt(MessageID id, int val) { + MessageInt::SetID(id); value = val; } @@ -151,12 +182,12 @@ MessageFloat::MessageFloat(MessageID id, float val) { * @param id Message ID * @throw std::runtime_error if message ID is incompatible with float data */ -void MessageFloat::SetID(MessageID id) { +void MessageInt::SetID(MessageID id) { if (CheckID(id)) messageID = id; else throw std::runtime_error { - "Invalid message id for MessageFloat" + "Invalid message id for MessageInt" }; } @@ -164,7 +195,7 @@ void MessageFloat::SetID(MessageID id) { * Translate content of message into a string that can be displayed * @return A string describing message contents */ -string MessageFloat::ToString() { +string MessageInt::ToString() { if (CheckID(this->messageID)) return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nValue: " + to_string(this->value); else @@ -172,11 +203,11 @@ string MessageFloat::ToString() { } /** - * Allocate a new mesage and copy contents of current message + * Allocate a new message and copy contents of current message * @return A message, copy of current */ -Message* MessageFloat::Copy() { - return new MessageFloat(this->messageID, this->value); +Message* MessageInt::Copy() { + return new MessageInt(this->messageID, this->value); } /** @@ -184,13 +215,9 @@ Message* MessageFloat::Copy() { * @param id Message ID * @return true, if message ID is acceptable, false otherwise */ -bool MessageFloat::CheckID(MessageID id) { - if ((id != MESSAGE_ANGLE_POSITION) && - (id != MESSAGE_ANGULAR_SPEED) && - (id != MESSAGE_BATTERY) && - (id != MESSAGE_BETA) && - (id != MESSAGE_LINEAR_SPEED) && - (id != MESSAGE_TORQUE)) { +bool MessageInt::CheckID(MessageID id) { + if ((id != MESSAGE_ROBOT_TURN) && + (id != MESSAGE_ROBOT_MOVE)) { return false; } else return true; } @@ -260,48 +287,62 @@ bool MessageString::CheckID(MessageID id) { } else return true; } -/* class MessageBool */ +/* class MessageImg */ /** - * Create a new, empty boolean message + * Create a new, empty image message */ -MessageBool::MessageBool() { - state = false; +MessageImg::MessageImg() { + image = NULL; } /** - * Create a new boolean message, with given ID and boolean value + * Create a new image message, with given ID and image * @param id Message ID - * @param state Boolean value - * @throw std::runtime_error if message ID is incompatible with boolean data + * @param image Image + * @throw std::runtime_error if message ID is incompatible with image */ -MessageBool::MessageBool(MessageID id, bool state) { - MessageBool::SetID(id); +MessageImg::MessageImg(MessageID id, Img* image) { + MessageImg::SetID(id); + MessageImg::SetImage(image); +} - this->state = state; +/** + * Destroy Image message + */ +MessageImg::~MessageImg() { + delete (this->image); } /** * Set message ID * @param id Message ID - * @throw std::runtime_error if message ID is incompatible with boolean data + * @throw std::runtime_error if message ID is incompatible with image */ -void MessageBool::SetID(MessageID id) { +void MessageImg::SetID(MessageID id) { if (CheckID(id)) messageID = id; else throw std::runtime_error { - "Invalid message id for MessageBool" + "Invalid message id for MessageImg" }; } +/** + * Set message image + * @param image Reference to image object + */ +void MessageImg::SetImage(Img* image) { + this->image = image->Copy(); +} + /** * Translate content of message into a string that can be displayed * @return A string describing message contents */ -string MessageBool::ToString() { +string MessageImg::ToString() { if (CheckID(this->messageID)) - return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nState: \"" + to_string(this->state) + "\""; + return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\n" + this->image->ToString(); else return "Invalid message"; } @@ -310,8 +351,9 @@ string MessageBool::ToString() { * Allocate a new message and copy contents of current message * @return A message, copy of current */ -Message* MessageBool::Copy() { - return new MessageBool(this->messageID, this->state); +Message* MessageImg::Copy() { + + return new MessageImg(this->messageID, this->image->Copy()); } /** @@ -319,9 +361,352 @@ Message* MessageBool::Copy() { * @param id Message ID * @return true, if message ID is acceptable, false otherwise */ -bool MessageBool::CheckID(MessageID id) { - if ((id != MESSAGE_EMERGENCY_STOP) && - (id != MESSAGE_USER_PRESENCE)) { +bool MessageImg::CheckID(MessageID id) { + if (id != MESSAGE_IMAGE) { return false; } else return true; } + +/* class MessageAnswer*/ + +/** + * Create a new, empty answer message + */ +MessageAnswer::MessageAnswer() { + answer=ANSWER_ACK; +} + +/** + * Create a new answer message, with given ID and answer + * @param id Message ID + * @param ans Answer ID + * @throw std::runtime_error if message ID is incompatible with string data + */ +MessageAnswer::MessageAnswer(MessageID id, AnswerID ans) { + MessageAnswer::SetID(id); + MessageAnswer::SetAnswer(ans); +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with answer message + */ +void MessageAnswer::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessageAnswer" + }; +} + +/** + * Set message answer + * @param ans Answer ID + * @throw std::runtime_error if answer ID is incompatible with answer data + */ +void MessageAnswer::SetAnswer(AnswerID ans) { + if ((ans != ANSWER_ACK) && + (ans != ANSWER_NACK) && + (ans != ANSWER_LOST_ROBOT) && + (ans != ANSWER_ROBOT_CHECKSUM) && + (ans != ANSWER_ROBOT_ERROR) && + (ans != ANSWER_ROBOT_TIMEOUT) && + (ans != ANSWER_ROBOT_UNKNOWN_COMMAND)) { + this->answer = answer; + } else { + throw std::runtime_error{ + "Invalid answer for MessageAnswer"}; + } +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessageAnswer::ToString() { + if (CheckID(this->messageID)) + return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nAnswer: \"" + ANSWER_ID_STRING[this->answer] + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessageAnswer::Copy() { + return new MessageAnswer(this->messageID, this->answer); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessageAnswer::CheckID(MessageID id) { + if ((id != MESSAGE_ANSWER)) { + return false; + } else return true; +} + +/* class MessageBattery */ + +/** + * Create a new, empty battery message + */ +MessageBattery::MessageBattery() { + this->level = BATTERY_UNKNOWN; +} + +/** + * Create a new battery message, with given ID and battery level + * @param id Message ID + * @param level Battery level + * @throw std::runtime_error if message ID is incompatible with battery + */ +MessageBattery::MessageBattery(MessageID id, BatteryLevel level) { + MessageBattery::SetID(id); + MessageBattery::SetLevel(level); +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with battery + */ +void MessageBattery::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessageBattery" + }; +} + +/** + * Set battery level + * @param level Battery level + */ +void MessageBattery::SetLevel(BatteryLevel level) { + if ((level < BATTERY_UNKNOWN) || (level > BATTERY_FULL)) { + throw std::runtime_error{ + "Invalid battery level for MessageBattery"}; + } else { + this->level = level; + } +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessageBattery::ToString() { + string levelString; + + switch (this->level) { + case BATTERY_UNKNOWN: + levelString="Unknown"; + break; + case BATTERY_EMPTY: + levelString="Empty"; + break; + case BATTERY_LOW: + levelString="Low"; + break; + case BATTERY_FULL: + levelString="Full"; + break; + default: + levelString="Invalid"; + } + + if (CheckID(this->messageID)) + return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nBattery level: \"" + levelString + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessageBattery::Copy() { + return new MessageBattery(this->messageID, this->level); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessageBattery::CheckID(MessageID id) { + if ((id != MESSAGE_ROBOT_BATTERY_LEVEL)) { + return false; + } else return true; +} + +/* class MessagePosition */ + +/** + * Create a new, empty string message + */ +MessagePosition::MessagePosition() { + this->pos.angle = 0.0; + this->pos.robotId = 0; + this->pos.center.x=0.0; + this->pos.center.y=0.0; + this->pos.direction.x=0.0; + this->pos.direction.y=0.0; +} + +/** + * Create a new string message, with given ID and string + * @param id Message ID + * @param s Message string + * @throw std::runtime_error if message ID is incompatible with string data + */ +MessagePosition::MessagePosition(MessageID id, Position& pos) { + MessagePosition::SetID(id); + MessagePosition::SetPosition(pos); +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with string data + */ +void MessagePosition::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessagePosition" + }; +} + +/** + * Set position + * @param pos Reference to position + */ +void MessagePosition::SetPosition(Position& pos) { + this->pos.angle = pos.angle; + this->pos.robotId = pos.robotId; + this->pos.center = pos.center; + this->pos.direction = pos.direction; +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessagePosition::ToString() { + if (CheckID(this->messageID)) + return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nPosition: \"" + to_string(this->pos.center.x) + ";" + to_string(this->pos.center.y) + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessagePosition::Copy() { + return new MessagePosition(this->messageID, this->pos); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessagePosition::CheckID(MessageID id) { + if ((id != MESSAGE_POSITION)) { + return false; + } else return true; +} + + +/* class MessageState */ + +/** + * Create a new, empty state message + */ +MessageState::MessageState() { + state = ROBOT_NOT_BUSY; +} + +/** + * Create a new string message, with given ID and string + * @param id Message ID + * @param s Message string + * @throw std::runtime_error if message ID is incompatible with string data + */ +MessageState::MessageState(MessageID id, RobotState state) { + MessageState::SetID(id); + MessageState::SetState(state); +} + +/** + * Set message ID + * @param id Message ID + * @throw std::runtime_error if message ID is incompatible with robot state + */ +void MessageState::SetID(MessageID id) { + if (CheckID(id)) + messageID = id; + else + throw std::runtime_error { + "Invalid message id for MessageState" + }; +} + +/** + * Set robot state + * @param state Robot state + */ +void MessageState::SetState(RobotState state) { + if ((state != ROBOT_NOT_BUSY) && (state != ROBOT_BUSY)) { + throw std::runtime_error{ + "Invalid state for MessageState"}; + } else { + this->state = state; + } +} + +/** + * Translate content of message into a string that can be displayed + * @return A string describing message contents + */ +string MessageState::ToString() { + string stateString; + + if (this->state == ROBOT_NOT_BUSY) stateString="Not busy"; + else if (this->state == ROBOT_BUSY) stateString="Busy"; + else stateString="Invalid state"; + + if (CheckID(this->messageID)) + return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nState: \"" + stateString + "\""; + else + return "Invalid message"; +} + +/** + * Allocate a new message and copy contents of current message + * @return A message, copy of current + */ +Message* MessageState::Copy() { + return new MessageState(this->messageID, this->state); +} + +/** + * Verify if message ID is compatible with current message type + * @param id Message ID + * @return true, if message ID is acceptable, false otherwise + */ +bool MessageState::CheckID(MessageID id) { + if ((id != MESSAGE_ROBOT_CURRENT_STATE)) { + return false; + } else return true; +} \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/messages.h b/software/raspberry/superviseur-robot/lib/messages.h index 1d8b8a8..d545220 100644 --- a/software/raspberry/superviseur-robot/lib/messages.h +++ b/software/raspberry/superviseur-robot/lib/messages.h @@ -38,7 +38,10 @@ typedef enum { // messages for serial communication with robot MESSAGE_OPEN_COM, MESSAGE_CLOSE_COM, - + + // Messages specific to server + MESSAGE_MONITOR_LOST, + // Messages for camera MESSAGE_CAM_OPEN, MESSAGE_CAM_CLOSE, @@ -75,12 +78,13 @@ typedef enum { ANSWER_NACK, ANSWER_LOST_ROBOT, ANSWER_ROBOT_TIMEOUT, - ANSWER_ROBOT_UNKNWON_COMMAND, + ANSWER_ROBOT_UNKNOWN_COMMAND, ANSWER_ROBOT_ERROR, ANSWER_ROBOT_CHECKSUM } AnswerID; typedef enum { + BATTERY_UNKNOWN=-1, BATTERY_EMPTY=0, BATTERY_LOW, BATTERY_FULL @@ -106,6 +110,11 @@ public: */ Message(); + /** + * Create a new, empty message + */ + Message(MessageID id); + /** * Destroy message */ @@ -135,8 +144,7 @@ public: * Set message ID * @param id Message ID */ - virtual void SetID(MessageID id) { - } + virtual void SetID(MessageID id); /** * Comparison operator @@ -259,93 +267,6 @@ protected: bool CheckID(MessageID id); }; -/** - * Message class for holding float value, based on Message class - * - * @brief Float message class - * - */ -class MessageFloat : public Message { -public: - /** - * Create a new, empty float message - */ - MessageFloat(); - - /** - * Create a new float message, with given ID and value - * @param id Message ID - * @param val Message value - * @throw std::runtime_error if message ID is incompatible with float data - */ - MessageFloat(MessageID id, float val); - - /** - * Set message ID - * @param id Message ID - * @throw std::runtime_error if message ID is incompatible with float data - */ - void SetID(MessageID id); - - /** - * Get message value (float) - * @return Float value - */ - float GetValue() { - return value; - } - - /** - * Set message value (float) - * @param val Float value to store in message - */ - void SetValue(float val) { - this->value = val; - } - - /** - * Translate content of message into a string that can be displayed - * @return A string describing message contents - */ - string ToString(); - - /** - * Allocate a new mesage and copy contents of current message - * @return A message, copy of current - */ - Message* Copy(); - - /** - * Comparison operator - * @param msg Message to be compared - * @return true if message are equal, false otherwise - */ - virtual bool operator==(const MessageFloat& msg) { - return ((messageID == msg.messageID) && (value == msg.value)); - } - - /** - * Difference operator - * @param msg Message to be compared - * @return true if message are different, false otherwise - */ - virtual bool operator!=(const MessageFloat& msg) { - return !((messageID == msg.messageID) && (value == msg.value)); - } -protected: - /** - * Message float value - */ - float value; - - /** - * Verify if message ID is compatible with current message type - * @param id Message ID - * @return true, if message ID is acceptable, false otherwise - */ - bool CheckID(MessageID id); -}; - /** * Message class for holding string value, based on Message class * @@ -454,6 +375,11 @@ public: */ MessageImg(MessageID id, Img* image); + /** + * Destroy Image message + */ + virtual ~MessageImg(); + /** * Set message ID * @param id Message ID @@ -473,9 +399,7 @@ public: * Set message image * @param image Pointer to image object */ - void SetImage(Img* image) { - this->image = image; - } + void SetImage(Img* image); /** * Translate content of message into a string that can be displayed @@ -519,10 +443,10 @@ public: /** * Create a new image message, with given ID and boolean value * @param id Message ID - * @param image Pointer to image + * @param pos Position * @throw std::runtime_error if message ID is incompatible with image message */ - MessagePosition(MessageID id, Position pos); + MessagePosition(MessageID id, Position& pos); /** * Set message ID @@ -543,9 +467,7 @@ public: * Set message image * @param image Pointer to image object */ - void SetPosition(Position pos) { - this->pos = pos; - } + void SetPosition(Position& pos); /** * Translate content of message into a string that can be displayed @@ -613,9 +535,7 @@ public: * Set message image * @param image Pointer to image object */ - void SetLevel(BatteryLevel level) { - this->level = level; - } + void SetLevel(BatteryLevel level); /** * Translate content of message into a string that can be displayed @@ -659,10 +579,10 @@ public: /** * Create a new image message, with given ID and boolean value * @param id Message ID - * @param image Pointer to image + * @param ans Answer ID * @throw std::runtime_error if message ID is incompatible with image message */ - MessageAnswer(MessageID id, AnswerID answer); + MessageAnswer(MessageID id, AnswerID ans); /** * Set message ID @@ -680,12 +600,10 @@ public: } /** - * Set message image - * @param image Pointer to image object + * Set message answer + * @param ans Answer ID */ - void SetAnswer(AnswerID answer) { - this->answer = answer; - } + void SetAnswer(AnswerID ans); /** * Translate content of message into a string that can be displayed @@ -753,9 +671,7 @@ public: * Set message image * @param image Pointer to image object */ - void SetState(RobotState state) { - this->state = state; - } + void SetState(RobotState state); /** * Translate content of message into a string that can be displayed @@ -771,7 +687,7 @@ public: protected: /** - * Message answer + * Robot state */ RobotState state; diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk index ce4f453..03affc7 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk @@ -41,7 +41,10 @@ OBJECTFILES= \ ${OBJECTDIR}/lib/robot.o \ ${OBJECTDIR}/lib/server.o \ ${OBJECTDIR}/main.o \ - ${OBJECTDIR}/tasks.o + ${OBJECTDIR}/tasks.o \ + ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \ + ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \ + ${OBJECTDIR}/tasks_pthread.o # C Compiler Flags @@ -103,6 +106,21 @@ ${OBJECTDIR}/tasks.o: tasks.cpp ${RM} "$@.d" $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp +${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp + +${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp + +${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp + # Subprojects .build-subprojects: diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk new file mode 100644 index 0000000..2b12c40 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk @@ -0,0 +1,131 @@ +# +# Generated Makefile - do not edit! +# +# Edit the Makefile in the project folder instead (../Makefile). Each target +# has a -pre and a -post target defined where you can add customized code. +# +# This makefile implements configuration specific macros and targets. + + +# Environment +MKDIR=mkdir +CP=cp +GREP=grep +NM=nm +CCADMIN=CCadmin +RANLIB=ranlib +CC=gcc +CCC=g++ +CXX=g++ +FC=gfortran +AS=as + +# Macros +CND_PLATFORM=GNU-Linux +CND_DLIB_EXT=so +CND_CONF=Debug__Pthread_ +CND_DISTDIR=dist +CND_BUILDDIR=build + +# Include project Makefile +include ./Makefile + +# Object Directory +OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM} + +# Object Files +OBJECTFILES= \ + ${OBJECTDIR}/lib/message.o \ + ${OBJECTDIR}/lib/messages.o \ + ${OBJECTDIR}/lib/monitor.o \ + ${OBJECTDIR}/lib/robot.o \ + ${OBJECTDIR}/lib/server.o \ + ${OBJECTDIR}/main.o \ + ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \ + ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \ + ${OBJECTDIR}/tasks_pthread.o + + +# C Compiler Flags +CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + +# CC Compiler Flags +CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables +CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables + +# Fortran Compiler Flags +FFLAGS= + +# Assembler Flags +ASFLAGS= + +# Link Libraries and Options +LDLIBSOPTIONS=`pkg-config --libs opencv` + +# Build Targets +.build-conf: ${BUILD_SUBPROJECTS} + "${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot + +${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES} + ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} + ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -lpthread -lrt + +${OBJECTDIR}/lib/message.o: lib/message.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/message.o lib/message.cpp + +${OBJECTDIR}/lib/messages.o: lib/messages.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp + +${OBJECTDIR}/lib/monitor.o: lib/monitor.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/monitor.o lib/monitor.cpp + +${OBJECTDIR}/lib/robot.o: lib/robot.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/robot.o lib/robot.cpp + +${OBJECTDIR}/lib/server.o: lib/server.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/server.o lib/server.cpp + +${OBJECTDIR}/main.o: main.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + +${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp + +${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp + +${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp + +# Subprojects +.build-subprojects: + +# Clean Targets +.clean-conf: ${CLEAN_SUBPROJECTS} + ${RM} -r ${CND_BUILDDIR}/${CND_CONF} + +# Subprojects +.clean-subprojects: + +# Enable dependency checking +.dep.inc: .depcheck-impl + +include .dep.inc diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk index 702a517..c106fb3 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk @@ -42,7 +42,10 @@ OBJECTFILES= \ ${OBJECTDIR}/lib/robot.o \ ${OBJECTDIR}/lib/server.o \ ${OBJECTDIR}/main.o \ - ${OBJECTDIR}/tasks.o + ${OBJECTDIR}/tasks.o \ + ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \ + ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \ + ${OBJECTDIR}/tasks_pthread.o # C Compiler Flags @@ -109,6 +112,21 @@ ${OBJECTDIR}/tasks.o: tasks.cpp ${RM} "$@.d" $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp +${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp + +${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp + +${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp + # Subprojects .build-subprojects: diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk index fa26549..dd197c1 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk @@ -42,7 +42,10 @@ OBJECTFILES= \ ${OBJECTDIR}/lib/robot.o \ ${OBJECTDIR}/lib/server.o \ ${OBJECTDIR}/main.o \ - ${OBJECTDIR}/tasks.o + ${OBJECTDIR}/tasks.o \ + ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \ + ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \ + ${OBJECTDIR}/tasks_pthread.o # C Compiler Flags @@ -109,6 +112,21 @@ ${OBJECTDIR}/tasks.o: tasks.cpp ${RM} "$@.d" $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp +${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp + +${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp + ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp + +${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp + # Subprojects .build-subprojects: diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk index 24d259d..13ab52c 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk @@ -31,7 +31,7 @@ DEFAULTCONF=Debug CONF=${DEFAULTCONF} # All Configurations -ALLCONFS=Debug Release Debug__RPI_ +ALLCONFS=Debug Release Debug__RPI_ Debug__Pthread_ # build diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk index 9dbbe3a..e97628a 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk @@ -30,6 +30,14 @@ CND_ARTIFACT_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/superviseur-robot CND_PACKAGE_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package CND_PACKAGE_NAME_Debug__RPI_=superviseur-robot.tar CND_PACKAGE_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package/superviseur-robot.tar +# Debug__Pthread_ configuration +CND_PLATFORM_Debug__Pthread_=GNU-Linux +CND_ARTIFACT_DIR_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux +CND_ARTIFACT_NAME_Debug__Pthread_=superviseur-robot +CND_ARTIFACT_PATH_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux/superviseur-robot +CND_PACKAGE_DIR_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux/package +CND_PACKAGE_NAME_Debug__Pthread_=superviseur-robot.tar +CND_PACKAGE_PATH_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux/package/superviseur-robot.tar # # include compiler specific variables # diff --git a/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread_.bash b/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread_.bash new file mode 100644 index 0000000..bbc2489 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread_.bash @@ -0,0 +1,76 @@ +#!/bin/bash -x + +# +# Generated - do not edit! +# + +# Macros +TOP=`pwd` +CND_PLATFORM=GNU-Linux +CND_CONF=Debug__Pthread_ +CND_DISTDIR=dist +CND_BUILDDIR=build +CND_DLIB_EXT=so +NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging +TMPDIRNAME=tmp-packaging +OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot +OUTPUT_BASENAME=superviseur-robot +PACKAGE_TOP_DIR=superviseur-robot/ + +# Functions +function checkReturnCode +{ + rc=$? + if [ $rc != 0 ] + then + exit $rc + fi +} +function makeDirectory +# $1 directory path +# $2 permission (optional) +{ + mkdir -p "$1" + checkReturnCode + if [ "$2" != "" ] + then + chmod $2 "$1" + checkReturnCode + fi +} +function copyFileToTmpDir +# $1 from-file path +# $2 to-file path +# $3 permission +{ + cp "$1" "$2" + checkReturnCode + if [ "$3" != "" ] + then + chmod $3 "$2" + checkReturnCode + fi +} + +# Setup +cd "${TOP}" +mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package +rm -rf ${NBTMPDIR} +mkdir -p ${NBTMPDIR} + +# Copy files and create directories and links +cd "${TOP}" +makeDirectory "${NBTMPDIR}/superviseur-robot/bin" +copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755 + + +# Generate tar file +cd "${TOP}" +rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar +cd ${NBTMPDIR} +tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar * +checkReturnCode + +# Cleanup +cd "${TOP}" +rm -rf ${NBTMPDIR} diff --git a/software/raspberry/superviseur-robot/nbproject/configurations.xml b/software/raspberry/superviseur-robot/nbproject/configurations.xml index a8a96fb..5c2bc32 100644 --- a/software/raspberry/superviseur-robot/nbproject/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml @@ -5,6 +5,8 @@ displayName="Header Files" projectFiles="true"> ./lib/camera.h + /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h + /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.h ./lib/definitions.h ./lib/image.h ./lib/img.h @@ -14,6 +16,7 @@ ./lib/robot.h ./lib/server.h ./tasks.h + tasks_pthread.h ./lib/camera.cpp + /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp + /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp ./lib/image.cpp ./lib/img.cpp ./main.cpp @@ -33,6 +38,7 @@ ./lib/robot.cpp ./lib/server.cpp ./tasks.cpp + tasks_pthread.cpp ./Makefile + + /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib + ./Makefile @@ -122,6 +131,30 @@ + + + + + + + + + + + + @@ -185,6 +218,30 @@ + + + + + + + + + + + + @@ -265,6 +322,128 @@ + + + + + + + + + + + + + + + + default + true + false + + + + + ./ + ./lib + + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + + + + ./ + ./lib + + -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables + + _WITH_TRACE_ + __FOR_PC__ + __WITH_PTHREAD__ + + + + + `pkg-config --libs opencv` + + -lpthread -lrt + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk b/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk index 949e112..bde17d1 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk +++ b/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk @@ -6,3 +6,4 @@ # Debug configuration # Release configuration # Debug__RPI_ configuration +# Debug__Pthread_ configuration diff --git a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml index 393661c..b55dcb1 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml @@ -105,5 +105,42 @@ + + + localhost + 2 + + + + + + + + + + + + + + + gdb + + + + sudo "${OUTPUT_PATH}" + sudo -E "${OUTPUT_PATH}" + pkexec "${OUTPUT_PATH}" + "${OUTPUT_PATH}" + + "${OUTPUT_PATH}" + + true + 1 + 0 + 0 + + + + diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml index 7a2adea..e64b33b 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/private.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml @@ -2,21 +2,27 @@ 1 - 0 + 3 file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/message.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp diff --git a/software/raspberry/superviseur-robot/nbproject/project.xml b/software/raspberry/superviseur-robot/nbproject/project.xml index 3d6436b..5a95dd1 100644 --- a/software/raspberry/superviseur-robot/nbproject/project.xml +++ b/software/raspberry/superviseur-robot/nbproject/project.xml @@ -9,7 +9,9 @@ h UTF-8 - + + /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib + Debug @@ -23,6 +25,10 @@ Debug__RPI_ 1 + + Debug__Pthread_ + 1 + false diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h index 489a0e6..b4127b8 100644 --- a/software/raspberry/superviseur-robot/tasks.h +++ b/software/raspberry/superviseur-robot/tasks.h @@ -23,8 +23,8 @@ * \brief Miscellaneous functions used for destijl project. */ -#ifndef FUNCTIONS_H -#define FUNCTIONS_H +#ifndef __TASKS_H__ +#define __TASKS_H__ #include #include diff --git a/software/raspberry/superviseur-robot/tasks_pthread.cpp b/software/raspberry/superviseur-robot/tasks_pthread.cpp new file mode 100644 index 0000000..6e00725 --- /dev/null +++ b/software/raspberry/superviseur-robot/tasks_pthread.cpp @@ -0,0 +1,263 @@ +/* + * 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 . + */ + +/** + * \file functions.h + * \author PE.Hladik + * \version 1.0 + * \date 06/06/2017 + * \brief Miscellaneous functions used for destijl project. + */ + +#include "tasks_pthread.h" + +#ifdef __WITH_PTHREAD__ +char mode_start; + +void write_in_queue(RT_QUEUE *, MessageToMon); + +void f_server(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); + + err=openServer(DEFAULT_SERVER_PORT); + + if (err < 0) { + printf("Failed to start server: %s\n", strerror(-err)); + exit(EXIT_FAILURE); + } else { +#ifdef _WITH_TRACE_ + printf("%s: server started\n", info.name); +#endif + //Waiting for a client to connect + err=acceptClient(); + + if (err<0) { + printf("Client accept failed: %s\n", strerror(-err)); + exit(EXIT_FAILURE); + } + +#ifdef _WITH_TRACE_ + printf ("client connected: %d\n", err); + printf ("Rock'n'roll baby !\n"); +#endif + rt_sem_broadcast(&sem_serverOk); + } +} + +void 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 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 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 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 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__ \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/tasks_pthread.h b/software/raspberry/superviseur-robot/tasks_pthread.h new file mode 100644 index 0000000..71dd7b4 --- /dev/null +++ b/software/raspberry/superviseur-robot/tasks_pthread.h @@ -0,0 +1,104 @@ +/* + * 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 . + */ + +/** + * \file functions.h + * \author PE.Hladik + * \version 1.0 + * \date 06/06/2017 + * \brief Miscellaneous functions used for destijl project. + */ + +#ifndef __TASKS_H__ +#define __TASKS_H__ + +#ifdef __WITH_PTHREAD__ +#include +#include +#include + +#include + +#include "monitor.h" +#include "robot.h" +#include "image.h" +#include "message.h" +#include "server.h" + +extern RT_TASK th_server; +extern RT_TASK th_sendToMon; +extern RT_TASK th_receiveFromMon; +extern RT_TASK th_openComRobot; +extern RT_TASK th_startRobot; +extern RT_TASK th_move; + +extern RT_MUTEX mutex_robotStarted; +extern RT_MUTEX mutex_move; + +extern RT_SEM sem_barrier; +extern RT_SEM sem_openComRobot; +extern RT_SEM sem_serverOk; +extern RT_SEM sem_startRobot; + +extern RT_QUEUE q_messageToMon; + +extern int etatCommMoniteur; +extern int robotStarted; +extern char robotMove; + +extern int MSG_QUEUE_SIZE; + +extern int PRIORITY_TSERVER; +extern int PRIORITY_TOPENCOMROBOT; +extern int PRIORITY_TMOVE; +extern int PRIORITY_TSENDTOMON; +extern int PRIORITY_TRECEIVEFROMMON; +extern int PRIORITY_TSTARTROBOT; + +/** + * \brief Thread handling server communication. + */ +void f_server(void *arg); + +/** + * \brief Thread handling communication to monitor. + */ +void f_sendToMon(void *arg); + +/** + * \brief Thread handling communication from monitor. + */ +void f_receiveFromMon(void *arg); + +/** + * \brief Thread handling opening of robot communication. + */ +void f_openComRobot(void * arg); + +/** + * \brief Thread handling robot mouvements. + */ +void f_move(void *arg); + +/** + * \brief Thread handling robot activation. + */ +void f_startRobot(void *arg); + +#endif // __WITH_PTHREAD__ +#endif /* __TASKS_H__ */ + From 7f0be2d5fd08ff8db06b283cdaad135de5ee7725 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20DI=20MERCURIO?= Date: Fri, 21 Dec 2018 16:36:52 +0100 Subject: [PATCH 03/10] =?UTF-8?q?Classe=20comRobot=20partiellement=20debug?= =?UTF-8?q?g=C3=A9e?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- .../GNU-Linux/superviseur-robot | Bin 0 -> 956776 bytes .../superviseur-robot/lib/camera.cpp | 2 +- .../superviseur-robot/lib/commonitor.cpp | 203 ++++--- .../superviseur-robot/lib/commonitor.h | 2 + .../superviseur-robot/lib/comrobot.cpp | 498 ++++++++-------- .../superviseur-robot/lib/comrobot.h | 179 ++++-- .../raspberry/superviseur-robot/lib/img.cpp | 20 +- .../raspberry/superviseur-robot/lib/img.h | 2 +- .../superviseur-robot/lib/messages.cpp | 231 +------- .../superviseur-robot/lib/messages.h | 193 +------ software/raspberry/superviseur-robot/main.cpp | 199 +------ .../nbproject/Makefile-Debug.mk | 12 + .../nbproject/Makefile-Debug__Pthread_.mk | 40 +- .../nbproject/Makefile-Debug__RPI_.mk | 12 + .../nbproject/Makefile-Release.mk | 12 + .../nbproject/configurations.xml | 70 ++- .../nbproject/private/configurations.xml | 2 + .../nbproject/private/private.xml | 18 +- .../raspberry/superviseur-robot/tasks.cpp | 22 +- software/raspberry/superviseur-robot/tasks.h | 151 +++-- .../superviseur-robot/tasks_pthread.cpp | 538 ++++++++++-------- .../superviseur-robot/tasks_pthread.h | 163 +++--- software/robot/src/cmdManager.c | 2 +- 23 files changed, 1184 insertions(+), 1387 deletions(-) create mode 100755 software/raspberry/superviseur-robot/dist/Debug__Pthread_/GNU-Linux/superviseur-robot diff --git a/software/raspberry/superviseur-robot/dist/Debug__Pthread_/GNU-Linux/superviseur-robot b/software/raspberry/superviseur-robot/dist/Debug__Pthread_/GNU-Linux/superviseur-robot new file mode 100755 index 0000000000000000000000000000000000000000..ac66d60b410644327468c8d5b7f5e6120e0b608e GIT binary patch literal 956776 zcmd4433yaR_CDMJq7lJFB#Iy!P!wDP5)3LDz?McqBa7mKA%p-?NMh(9IHJK2rES~6 zC5nz{9GAfz9dY6UghdP;ML4h^P@6^MBt{b#K?b>7L)n%=bKBE9raQI(6#Q zsZ*zxTle<0{xN5ENJ;V8pN_uMe59JrQb?Xo=)Yt?edY7z`Eq^x;BP^+#zar~U2oWeFQm>e^bX(pzi$ 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zZ*fCX>hr7k{3<@bLT@kwzyIZ7;eAcE`8NCh&9~Y2&$456eCT^MpIg26KXHeB{)s#6 z^9Onzrq3(g8_6W4zCYMzpAWX#=i6}4{poXx9e`wl>GN%TzKzd+c|T2QX`_c;+r9Sr9T!>jB#?XXzw(dj4{4=%32pjd4=cDn{W@Ng`0qa` R<@ry)$v(fyd%(L4{x3clzIgxu literal 0 HcmV?d00001 diff --git a/software/raspberry/superviseur-robot/lib/camera.cpp b/software/raspberry/superviseur-robot/lib/camera.cpp index f14155a..4203b61 100644 --- a/software/raspberry/superviseur-robot/lib/camera.cpp +++ b/software/raspberry/superviseur-robot/lib/camera.cpp @@ -1,4 +1,4 @@ -/* + /* * Copyright (C) 2018 dimercur * * This program is free software: you can redistribute it and/or modify diff --git a/software/raspberry/superviseur-robot/lib/commonitor.cpp b/software/raspberry/superviseur-robot/lib/commonitor.cpp index 9bb0d96..fa3aa36 100644 --- a/software/raspberry/superviseur-robot/lib/commonitor.cpp +++ b/software/raspberry/superviseur-robot/lib/commonitor.cpp @@ -33,25 +33,25 @@ */ const string LABEL_MONITOR_ANSWER_ACK = "AACK"; const string LABEL_MONITOR_ANSWER_NACK = "ANAK"; -const string LABEL_MONITOR_ANSWER_LOST_DMB= "ATIM"; -const string LABEL_MONITOR_ANSWER_TIMEOUT= "ATIM"; -const string LABEL_MONITOR_ANSWER_CMD_REJECTED= "ACRJ"; +const string LABEL_MONITOR_ANSWER_COM_ERROR = "ACER"; +const string LABEL_MONITOR_ANSWER_TIMEOUT = "ATIM"; +const string LABEL_MONITOR_ANSWER_CMD_REJECTED = "ACRJ"; const string LABEL_MONITOR_MESSAGE = "MSSG"; -const string LABEL_MONITOR_CAMERA_OPEN= "COPN"; -const string LABEL_MONITOR_CAMERA_CLOSE= "CCLS"; +const string LABEL_MONITOR_CAMERA_OPEN = "COPN"; +const string LABEL_MONITOR_CAMERA_CLOSE = "CCLS"; const string LABEL_MONITOR_CAMERA_IMAGE = "CIMG"; const string LABEL_MONITOR_CAMERA_ARENA_ASK = "CASA"; const string LABEL_MONITOR_CAMERA_ARENA_INFIRME = "CAIN"; const string LABEL_MONITOR_CAMERA_ARENA_CONFIRM = "CACO"; -const string LABEL_MONITOR_CAMERA_POSITION_COMPUTE= "CPCO"; -const string LABEL_MONITOR_CAMERA_POSITION_STOP= "CPST"; +const string LABEL_MONITOR_CAMERA_POSITION_COMPUTE = "CPCO"; +const string LABEL_MONITOR_CAMERA_POSITION_STOP = "CPST"; const string LABEL_MONITOR_CAMERA_POSITION = "CPOS"; const string LABEL_MONITOR_ROBOT_COM_OPEN = "ROPN"; const string LABEL_MONITOR_ROBOT_COM_CLOSE = "RCLS"; const string LABEL_MONITOR_ROBOT_PING = "RPIN"; const string LABEL_MONITOR_ROBOT_RESET = "RRST"; -const string LABEL_MONITOR_ROBOT_START_WITHOUT_WD= "RSOW"; -const string LABEL_MONITOR_ROBOT_START_WITH_WD= "RSWW"; +const string LABEL_MONITOR_ROBOT_START_WITHOUT_WD = "RSOW"; +const string LABEL_MONITOR_ROBOT_START_WITH_WD = "RSWW"; const string LABEL_MONITOR_ROBOT_RELOAD_WD = "RLDW"; const string LABEL_MONITOR_ROBOT_MOVE = "RMOV"; const string LABEL_MONITOR_ROBOT_TURN = "RTRN"; @@ -80,7 +80,7 @@ int ComMonitor::Open(int port) { socketFD = socket(AF_INET, SOCK_STREAM, 0); if (socketFD < 0) { - throw std::runtime_error{"ComMonitor::Open : Can not create socket"}; + throw std::runtime_error{"Can not create socket"}; } server.sin_addr.s_addr = INADDR_ANY; @@ -88,7 +88,8 @@ int ComMonitor::Open(int port) { server.sin_port = htons(port); if (bind(socketFD, (struct sockaddr *) &server, sizeof (server)) < 0) { - throw std::runtime_error{"ComMonitor::Open : Can not bind socket on port " + std::to_string(port)}; + cerr<<"["<<__PRETTY_FUNCTION__<<"] Can not bind socket ("< 0) { if (data != '\n') { - s+=data; + s += data; } else endReception = true; } } - if (length<=0) msg = new Message(MESSAGE_MONITOR_LOST); + if (length <= 0) msg = new Message(MESSAGE_MONITOR_LOST); else { - msg=StringToMessage(s); + msg = StringToMessage(s); } } // Call user method after read Read_Post(); - + return msg; } @@ -197,62 +196,56 @@ string ComMonitor::MessageToString(Message &msg) { string str; Message *localMsg = &msg; Position pos; - + id = msg.GetID(); switch (id) { - case MESSAGE_ANSWER: - switch (((MessageAnswer*)localMsg)->GetAnswer()) { - case ANSWER_ACK: - str.append(LABEL_MONITOR_ANSWER_ACK); - break; - case ANSWER_NACK: - str.append(LABEL_MONITOR_ANSWER_NACK); - break; - case ANSWER_LOST_ROBOT: - str.append(LABEL_MONITOR_ANSWER_LOST_DMB); - break; - case ANSWER_ROBOT_TIMEOUT: - str.append(LABEL_MONITOR_ANSWER_TIMEOUT); - break; - case ANSWER_ROBOT_UNKNOWN_COMMAND: - str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED); - break; - case ANSWER_ROBOT_ERROR: - str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED); - break; - default: - str.append(LABEL_MONITOR_ANSWER_NACK); - }; - + case MESSAGE_ANSWER_ACK : + str.append(LABEL_MONITOR_ANSWER_ACK); break; - case MESSAGE_POSITION: - pos = ((MessagePosition*)&msg)->GetPosition(); - + case MESSAGE_ANSWER_NACK: + str.append(LABEL_MONITOR_ANSWER_NACK); + break; + case MESSAGE_ANSWER_ROBOT_TIMEOUT: + str.append(LABEL_MONITOR_ANSWER_TIMEOUT); + break; + case MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND: + str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED); + break; + case MESSAGE_ANSWER_ROBOT_ERROR: + str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED); + break; + case MESSAGE_ANSWER_COM_ERROR: + str.append(LABEL_MONITOR_ANSWER_COM_ERROR); + break; + case MESSAGE_CAM_POSITION: + pos = ((MessagePosition*) & msg)->GetPosition(); + str.append(LABEL_MONITOR_CAMERA_POSITION + LABEL_SEPARATOR_CHAR + to_string(pos.robotId) + ";" + to_string(pos.angle) + ";" + to_string(pos.center.x) + ";" + to_string(pos.center.y) + ";" + to_string(pos.direction.x) + ";" + to_string(pos.direction.y)); break; - case MESSAGE_IMAGE: - str.append(LABEL_MONITOR_CAMERA_IMAGE + LABEL_SEPARATOR_CHAR + ((MessageImg*) &msg)->GetImage()->ToBase64()); + case MESSAGE_CAM_IMAGE: + str.append(LABEL_MONITOR_CAMERA_IMAGE + LABEL_SEPARATOR_CHAR + ((MessageImg*) & msg)->GetImage()->ToBase64()); break; case MESSAGE_ROBOT_BATTERY_LEVEL: - str.append(LABEL_MONITOR_ROBOT_BATTERY_LEVEL + LABEL_SEPARATOR_CHAR + to_string(((MessageBattery*) &msg)->GetLevel())); + str.append(LABEL_MONITOR_ROBOT_BATTERY_LEVEL + LABEL_SEPARATOR_CHAR + to_string(((MessageBattery*) & msg)->GetLevel())); break; - case MESSAGE_ROBOT_CURRENT_STATE: - str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + to_string(((MessageState*) &msg)->GetState())); + case MESSAGE_ROBOT_STATE_BUSY: + str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "1"); + break; + case MESSAGE_ROBOT_STATE_NOT_BUSY: + str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "0"); break; case MESSAGE_LOG: - str.append(LABEL_MONITOR_MESSAGE + LABEL_SEPARATOR_CHAR + ((MessageString*) &msg)->GetString()); + str.append(LABEL_MONITOR_MESSAGE + LABEL_SEPARATOR_CHAR + ((MessageString*) & msg)->GetString()); break; case MESSAGE_EMPTY: str.append(""); //empty string break; default: - throw std::runtime_error - { - "ComMonitor::MessageToString (from ComMonitor::Write): Invalid message to send (" + msg.ToString() - }; + cerr<<"["<<__PRETTY_FUNCTION__<<"] (from ComMonitor::Write): Invalid message to send ("<Open(USART_FILENAME); +} + +/** + * Open serial link with robot + * @param usart Filename of usart to open + * @return File descriptor + * @throw std::runtime_error if it fails + */ +int ComRobot::Open(string usart) { + struct termios options; + + fd = open(usart.c_str(), O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode if (fd == -1) { - //ERROR - CAN'T OPEN SERIAL PORT - throw std::runtime_error{"Error - Unable to open UART " + string(USART_FILENAME) + ". Ensure it is not in use by another application"}; + cerr<<"["<<__PRETTY_FUNCTION__<<"] Unable to open UART ("<fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max) - //printf ("W=%02X ", receivedChar); - - if (rxLength <= -1) { - this->lostCom = true; - printf("Warning: communication lost in ComStm32::Read\n"); - msg = new Message(); - - return msg; - } else if (rxLength == 0) { - // nothing to do - } else if (receivedChar == '<') { // start of frame received - i = 0; - - do { - rxLength = read(this->fd, (void*) &rxBuffer[i], 6 - i); //Filestream, buffer to store in, number of bytes to read (max) - - if (rxLength >= 0) - i = i + rxLength; - else { - printf("Error while reading (%i)", rxLength); - - return NULL; - } - } while (i < 6); - - if (rxBuffer[5] == '\n') { - messageComplete = true; - } - } - } - - /* Treatment of received message */ - msg = CharToMessage(rxBuffer); - - /* Call Post method for read */ - Read_Post(); - - return msg; -} - -/** - * Convert an array of char to its message representation (when receiving data from stm32) - * @param bytes Array of char - * @return Message corresponding to received array of char - */ -Message* ComRobot::CharToMessage(unsigned char *bytes) { - Message *msg = __null; - MessageFloat *msgf; - MessageBool *msgb; - - switch (bytes[0]) { - case LABEL_ANGLE_POSITION: - msgf = new MessageFloat(); - msgf->SetID(MESSAGE_ANGLE_POSITION); - msgf->SetValue(CharToFloat(&bytes[1])); - msg = (Message*) msgf; - - break; - case LABEL_ANGULAR_SPEED: - msgf = new MessageFloat(); - msgf->SetID(MESSAGE_ANGULAR_SPEED); - msgf->SetValue(CharToFloat(&bytes[1])); - msg = (Message*) msgf; - - break; - case LABEL_BATTERY_LEVEL: - msgf = new MessageFloat(); - msgf->SetID(MESSAGE_BATTERY); - msgf->SetValue(CharToFloat(&bytes[1])); - msg = (Message*) msgf; - - break; - case LABEL_BETA_ANGLE: - msgf = new MessageFloat(); - msgf->SetID(MESSAGE_BETA); - msgf->SetValue(CharToFloat(&bytes[1])); - msg = (Message*) msgf; - - break; - case LABEL_USER_PRESENCE: - msgb = new MessageBool(); - msgb->SetID(MESSAGE_USER_PRESENCE); - msgb->SetState(CharToBool(&bytes[1])); - msg = (Message*) msgb; - - break; - default: - printf("Unknown message received from robot (%i)\n", bytes[0]); - fflush(stdout); - msg = new Message(); - } - - if (msg == NULL) { - printf("Message is null (%02X)\n", bytes[0]); - fflush(stdout); - msg = new Message(); - } - - return msg; -} - -/** - * Convert an array of char to float - * @param bytes Array of char, containing a binary image of a float - * @return Float value - */ -float ComRobot::CharToFloat(unsigned char *bytes) { - unsigned long value; - - union { - unsigned char buffer[4]; - float f; - } convert; - - convert.buffer[0] = bytes[0]; - convert.buffer[1] = bytes[1]; - convert.buffer[2] = bytes[2]; - convert.buffer[3] = bytes[3]; - - //value = (bytes[3] << 24) | (bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]); - - return convert.f; -} - -/** - * Convert an array of char to integer - * @param bytes Array of char, containing a binary image of an integer - * @return Integer value - */ -unsigned int ComRobot::CharToInt(unsigned char *bytes) { - unsigned long value; - - value = (bytes[3] << 24) | (bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]); - - return (unsigned int) value; -} - -/** - * Convert an array of char to boolean - * @param bytes Array of char, containing a binary image of a boolean - * @return Boolean value - */ -bool ComRobot::CharToBool(unsigned char *bytes) { - unsigned long value; - - value = (bytes[3] << 24) | (bytes[2] << 16) | (bytes[1] << 8) | (bytes[0]); - - if (value == 0) return false; - - else return true; -} - /** * Send a message to robot * @param msg Message to send to robot @@ -266,29 +107,142 @@ bool ComRobot::CharToBool(unsigned char *bytes) { * @attention Write is blocking until message is written into buffer (linux side) * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously */ -int ComRobot::Write(Message* msg) { - unsigned char buffer[7]; - int ret_val = 0; - - MessageToChar(msg, buffer); - - Write_Pre(); +Message *ComRobot::Write(Message* msg) { + Message *msgAnswer; + string s; if (this->fd != -1) { - int count = write(this->fd, &buffer[0], 7); //Filestream, bytes to write, number of bytes to write + + Write_Pre(); + + s=MessageToString(msg); + AddChecksum(s); + + //cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<fd, s.c_str(), s.length()); //Filestream, bytes to write, number of bytes to write + if (count < 0) { - printf("Warning: UART TX error in ComStm32::Write\n"); - } else { - ret_val = 1; + cerr << "[" << __PRETTY_FUNCTION__ << "] UART TX error (" << to_string(count) << ")" << endl << flush; + msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR); + } else { /* write successfull, read answer from robot */ + + try { + s = Read(); + cout << "Answer = "<fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max) + if (rxLength ==0) { // timeout + // try again + rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max) + if (rxLength ==0) { // re-timeout: it sucks ! + throw std::runtime_error {"ComRobot::Read: Timeout when reading from com port"}; + } + } else if (rxLength <0) { // big pb ! + throw std::runtime_error {"ComRobot::Read: Unknown problem when reading from com port"}; + } else { // everything ok + if ((receivedChar != '\r') && (receivedChar != '\n')) s += receivedChar; + } + } while ((receivedChar != '\r') && (receivedChar != '\n')); + + return s; +} + +Message *ComRobot::SendCommand(Message* msg, MessageID answerID, int maxRetries) { + int counter = maxRetries; + Message *msgSend; + Message *msgRcv; + Message *msgTmp; + + do { + msgSend = msg->Copy(); + cout << "S => " << msgSend->ToString() << endl << flush; + msgTmp = Write(msgSend); + cout << "R <= " << msgTmp->ToString() << endl << flush; + + if (msgTmp->CompareID(answerID)) counter = 0; + else counter--; + + if (counter == 0) msgRcv=msgTmp->Copy(); + + delete(msgTmp); + } while (counter); + + delete (msg); + + return msgRcv; +} + +/** + * Convert an array of char to its message representation (when receiving data from stm32) + * @param bytes Array of char + * @return Message corresponding to received array of char + */ +Message* ComRobot::StringToMessage(string s) { + Message *msg; + + switch (s[0]) { + case LABEL_ROBOT_OK: + msg=new Message(MESSAGE_ANSWER_ACK); + break; + case LABEL_ROBOT_ERROR: + msg=new Message(MESSAGE_ANSWER_ROBOT_ERROR); + break; + case LABEL_ROBOT_UNKNOWN_COMMAND: + msg=new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND); + break; + case '0': + msg=new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY); + break; + case '1': + msg=new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW); + break; + case '2': + msg=new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL); + break; + default: + msg=new Message(MESSAGE_ANSWER_ROBOT_ERROR); + cerr<<"["<<__PRETTY_FUNCTION__<<"] Unknown message received from robot (" << s <<")"<GetID()) { - case MESSAGE_TORQUE: - buffer[1] = LABEL_TORQUE; - val_f = ((MessageFloat*) msg)->GetValue(); - b = (unsigned char *) &val_f; - + case MESSAGE_ROBOT_PING: + s+=LABEL_ROBOT_PING; break; - case MESSAGE_EMERGENCY_STOP: - buffer[1] = LABEL_EMERGENCY_STOP; - if (((MessageBool*) msg)->GetState()) - val_i = 1; - else - val_i = 0; - b = (unsigned char *) &val_i; - + case MESSAGE_ROBOT_RESET: + s+=LABEL_ROBOT_RESET; + break; + case MESSAGE_ROBOT_POWEROFF: + s+=LABEL_ROBOT_POWEROFF; + break; + case MESSAGE_ROBOT_START_WITHOUT_WD: + s+=LABEL_ROBOT_START_WITHOUT_WD; + break; + case MESSAGE_ROBOT_START_WITH_WD: + s+=LABEL_ROBOT_START_WITH_WD; + break; + case MESSAGE_ROBOT_RELOAD_WD: + s+=LABEL_ROBOT_RELOAD_WD; + break; + case MESSAGE_ROBOT_BATTERY_GET: + s+=LABEL_ROBOT_GET_BATTERY; + break; + case MESSAGE_ROBOT_STATE_GET: + s+=LABEL_ROBOT_GET_STATE; + break; + case MESSAGE_ROBOT_GO_FORWARD: + s+=LABEL_ROBOT_MOVE; + s+=LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(500000)); + break; + case MESSAGE_ROBOT_GO_BACKWARD: + s+=LABEL_ROBOT_MOVE; + s+=LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(-500000)); + break; + case MESSAGE_ROBOT_GO_LEFT: + s+=LABEL_ROBOT_TURN; + s+=LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(90)); + break; + case MESSAGE_ROBOT_GO_RIGHT: + s+=LABEL_ROBOT_TURN; + s+=LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(-90)); + break; + case MESSAGE_ROBOT_MOVE: + s+=LABEL_ROBOT_MOVE; + s+=LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(((MessageInt*)msg)->GetValue())); + break; + case MESSAGE_ROBOT_TURN: + s+=LABEL_ROBOT_TURN; + s+=LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(((MessageInt*)msg)->GetValue())); break; default: - printf("Invalid message to send"); - val_i = 0; - b = (unsigned char *) &val_i; + cerr<<"["<<__PRETTY_FUNCTION__<<"] Invalid message for robot ("<ToString()<<")"< using namespace std; @@ -30,114 +31,168 @@ using namespace std; */ class ComRobot { public: + /** * Constructor */ - ComRobot() {} - + ComRobot() { + } + /** * Destructor */ - virtual ~ComRobot() {} - + virtual ~ComRobot() { + } + /** * Open serial link with robot * @return File descriptor * @throw std::runtime_error if it fails */ int Open(); - + + /** + * Open serial link with robot + * @param usart Filename of usart to open + * @return File descriptor + * @throw std::runtime_error if it fails + */ + int Open(string usart); + /** * Close serial link * @return Success if above 0, failure if below 0 */ int Close(); - - /** - * Get a message from robot - * @return Message currently received - * @attention A message object is created (new) when receiving data from robot. You MUST remember to destroy is (delete) after use - * @attention Read method is blocking until a message is received - * @warning Read is not thread safe : Do not call it in multiple tasks simultaneously - */ - Message* Read(); - + /** * Send a message to robot * @param msg Message to send to robot - * @return 1 if success, 0 otherwise - * @attention Message is destroyed (delete) after being sent. You do not need to delete it yourself + * @return A message containing either an answer (Ack/Nak/Timeout/Error) or a value (battery level, robot state) depending of the command + * @attention Input message is destroyed (delete) after being sent. You do not need to delete it yourself + * @attention Write produce an answer message. You have to dispose it (delete) when you have finished using it * @attention Write is blocking until message is written into buffer (linux side) * @warning Write is not thread save : check that multiple tasks can't access this method simultaneously */ - int Write(Message* msg); - - /** - * Function called at beginning of Read method - * Use it to do some synchronization (call of mutex, for example) - */ - virtual void Read_Pre() {} - - /** - * Function called at end of Read method - * Use it to do some synchronization (call of mutex, for example) - */ - virtual void Read_Post() {} - + Message *Write(Message* msg); + /** * Function called at beginning of Write method * Use it to do some synchronization (call of mutex, for example) */ - virtual void Write_Pre() {} - + virtual void Write_Pre() { + } + /** * Function called at end of Write method * Use it to do some synchronization (call of mutex, for example) */ - virtual void Write_Post() {} + virtual void Write_Post() { + } - static Message *Ping(); + Message *SendCommand(Message* msg, MessageID answerID, int maxRetries); + static Message *Ping() { + return new Message(MESSAGE_ROBOT_PING); + } + + static Message *Reset() { + return new Message(MESSAGE_ROBOT_RESET); + } + + static Message *PowerOff() { + return new Message(MESSAGE_ROBOT_POWEROFF); + } + + static Message *StartWithWD() { + return new Message(MESSAGE_ROBOT_START_WITH_WD); + } + + static Message *StartWithoutWD() { + return new Message(MESSAGE_ROBOT_START_WITHOUT_WD); + } + + static Message *ReloadWD() { + return new Message(MESSAGE_ROBOT_RELOAD_WD); + } + + static Message *Move(int length) { + return new MessageInt(MESSAGE_ROBOT_MOVE, length); + } + + static Message *Turn(int angle) { + return new MessageInt(MESSAGE_ROBOT_TURN, angle); + } + + static Message *Stop() { + return new Message(MESSAGE_ROBOT_STOP); + } + + static Message *GoForward() { + return new Message(MESSAGE_ROBOT_GO_FORWARD); + } + + static Message *GoBackward() { + return new Message(MESSAGE_ROBOT_GO_BACKWARD); + } + + static Message *GoLeft() { + return new Message(MESSAGE_ROBOT_GO_LEFT); + } + + static Message *GoRight() { + return new Message(MESSAGE_ROBOT_GO_RIGHT); + } + + static Message *GetBattery() { + return new Message(MESSAGE_ROBOT_BATTERY_GET); + } + + static Message *GetState() { + return new Message(MESSAGE_ROBOT_STATE_GET); + } + protected: /** * Serial link file descriptor */ int fd; - + /** - * Convert an array of char to float - * @param bytes Array of char, containing a binary image of a float - * @return Float value + * Get an answer from robot + * @return String containing answer from robot + * @attention Read method is blocking until a message is received (timeout of 500 ms) + * @warning Read is not thread safe : Do not call it in multiple tasks simultaneously */ - float CharToFloat(unsigned char *bytes); - + string Read(); + /** - * Convert an array of char to boolean - * @param bytes Array of char, containing a binary image of a boolean - * @return Boolean value - */ - bool CharToBool(unsigned char *bytes); - - /** - * Convert an array of char to integer - * @param bytes Array of char, containing a binary image of an integer - * @return Integer value - */ - unsigned int CharToInt(unsigned char *bytes); - - /** - * Convert an array of char to its message representation (when receiving data from stm32) - * @param bytes Array of char + * Convert a string to its message representation (when receiving data from robot) + * @param s String from robot containing answer * @return Message corresponding to received array of char */ - Message* CharToMessage(unsigned char *bytes); - + Message* StringToMessage(string s); + /** - * Convert a message to its array of char representation (for sending command to stm32) + * Convert a message to its string representation (for sending command to robot) * @param msg Message to be sent to robot - * @param buffer Array of char, image of message to send + * @return String containing command to robot */ - void MessageToChar(Message *msg, unsigned char *buffer); + string MessageToString(Message *msg); + + /** + * Add a checksum and carriage return to a command string + * @param[in,out] s String containing command for robot, without ending char (carriage return) + */ + void AddChecksum(string &s); + + /** + * Verify if checksum of an incoming answer from robot is valid, + * then remove checksum from incoming answer (if checksum is ok) + * @param[in,out] s String containing incoming answer from robot + * @return true is checksum is valid, false otherwise. + */ + bool VerifyChecksum(string &s); }; #endif /* __COMROBOT_H__ */ diff --git a/software/raspberry/superviseur-robot/lib/img.cpp b/software/raspberry/superviseur-robot/lib/img.cpp index 4b7ae3a..ffbd655 100644 --- a/software/raspberry/superviseur-robot/lib/img.cpp +++ b/software/raspberry/superviseur-robot/lib/img.cpp @@ -27,9 +27,13 @@ Img::Img(ImageMat imgMatrice) { } string Img::ToString() { - return "Image size: "+this->img.cols+"x"this->img.rows+" (dim="+this->img.dims+")"; + return "Image size: "+to_string(this->img.cols)+"x"+to_string(this->img.rows)+" (dim="+to_string(this->img.dims)+")"; } +string Img::ToBase64() { + return ""; +} + Img* Img::Copy() { return new Img(this->img); } @@ -100,13 +104,13 @@ Jpg Img::toJpg() { return imgJpg; } -string Img::ToBase64() { - string imgBase64; - Jpg imgJpg = toJpg(); - - /* faire la convertion Jpg vers base 64 */ - return imgBase64; -} +//string Img::ToBase64() { +// string imgBase64; +// Jpg imgJpg = toJpg(); +// +// /* faire la convertion Jpg vers base 64 */ +// return imgBase64; +//} std::list Img::search_robot(Arene monArene) { diff --git a/software/raspberry/superviseur-robot/lib/img.h b/software/raspberry/superviseur-robot/lib/img.h index 4e98ea0..dc0efe8 100644 --- a/software/raspberry/superviseur-robot/lib/img.h +++ b/software/raspberry/superviseur-robot/lib/img.h @@ -49,7 +49,7 @@ typedef struct { class Arene { public: - Arene(); + Arene() {} cv::Rect arene; bool empty(); diff --git a/software/raspberry/superviseur-robot/lib/messages.cpp b/software/raspberry/superviseur-robot/lib/messages.cpp index 8957c62..904bc2f 100644 --- a/software/raspberry/superviseur-robot/lib/messages.cpp +++ b/software/raspberry/superviseur-robot/lib/messages.cpp @@ -27,7 +27,12 @@ const string MESSAGE_ID_STRING[] = { "Empty", "Log", - "Answer", + "Answer [Acknowledge]", + "Answer [Not Acknowledge]", + "Answer [Command timeout]", + "Answer [Command unknown]", + "Answer [Command error]", + "Answer [Communication error]", "Monitor connection lost", "Open serial com", "Close serial com", @@ -42,8 +47,8 @@ const string MESSAGE_ID_STRING[] = { "Image", "Robot ping", "Robot reset", - "Robot start with wtachdog", - "Robot start without wtachdog", + "Robot start with watchdog", + "Robot start without watchdog", "Robot reload watchdog", "Robot move", "Robot turn", @@ -56,7 +61,9 @@ const string MESSAGE_ID_STRING[] = { "Robot get battery", "Robot battery level", "Robot get state", - "Robot current state" + "Robot current state", + "Robot state [Not busy]", + "Robot state [Busy]" }; /* @@ -108,7 +115,7 @@ void Message::SetID(MessageID id) { */ string Message::ToString() { if (CheckID(this->messageID)) - return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\""; + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\""; else return "Invalid message"; } @@ -118,7 +125,7 @@ string Message::ToString() { * @return A message, copy of current */ Message* Message::Copy() { - Message *msg = new Message(); + Message *msg = new Message(this->messageID); return msg; } @@ -128,30 +135,12 @@ Message* Message::Copy() { * @return Current message ID */ bool Message::CheckID(MessageID id) { - if ((id != MESSAGE_EMPTY) && - (id != MESSAGE_MONITOR_LOST) && - (id != MESSAGE_ARENA_CONFIRM) && - (id != MESSAGE_ARENA_INFIRM) && - (id != MESSAGE_ASK_ARENA) && - (id != MESSAGE_CAM_CLOSE) && - (id != MESSAGE_CAM_OPEN) && - (id != MESSAGE_CLOSE_COM) && - (id != MESSAGE_COMPUTE_POSITION) && - (id != MESSAGE_OPEN_COM) && - (id != MESSAGE_ROBOT_GET_BATTERY) && - (id != MESSAGE_ROBOT_GET_STATE) && - (id != MESSAGE_ROBOT_GO_BACK) && - (id != MESSAGE_ROBOT_GO_FORWARD) && - (id != MESSAGE_ROBOT_GO_LEFT) && - (id != MESSAGE_ROBOT_GO_RIGHT) && - (id != MESSAGE_ROBOT_PING) && - (id != MESSAGE_ROBOT_POWEROFF) && - (id != MESSAGE_ROBOT_RELOAD_WD) && - (id != MESSAGE_ROBOT_RESET) && - (id != MESSAGE_ROBOT_START_WITHOUT_WD) && - (id != MESSAGE_ROBOT_START_WITH_WD) && - (id != MESSAGE_ROBOT_STOP) && - (id != MESSAGE_STOP_COMPUTE_POSITION)) { + if ((id == MESSAGE_CAM_IMAGE) || + (id == MESSAGE_CAM_POSITION) || + (id == MESSAGE_ROBOT_MOVE) || + (id == MESSAGE_ROBOT_TURN) || + (id == MESSAGE_LOG) || + (id == MESSAGE_ROBOT_BATTERY_LEVEL)) { return false; } else return true; } @@ -197,7 +186,7 @@ void MessageInt::SetID(MessageID id) { */ string MessageInt::ToString() { if (CheckID(this->messageID)) - return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nValue: " + to_string(this->value); + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nValue: " + to_string(this->value); else return "Invalid message"; } @@ -263,7 +252,7 @@ void MessageString::SetID(MessageID id) { */ string MessageString::ToString() { if (CheckID(this->messageID)) - return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nString: \"" + this->s + "\""; + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nString: \"" + this->s + "\""; else return "Invalid message"; } @@ -342,7 +331,7 @@ void MessageImg::SetImage(Img* image) { */ string MessageImg::ToString() { if (CheckID(this->messageID)) - return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\n" + this->image->ToString(); + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\n" + this->image->ToString(); else return "Invalid message"; } @@ -362,91 +351,7 @@ Message* MessageImg::Copy() { * @return true, if message ID is acceptable, false otherwise */ bool MessageImg::CheckID(MessageID id) { - if (id != MESSAGE_IMAGE) { - return false; - } else return true; -} - -/* class MessageAnswer*/ - -/** - * Create a new, empty answer message - */ -MessageAnswer::MessageAnswer() { - answer=ANSWER_ACK; -} - -/** - * Create a new answer message, with given ID and answer - * @param id Message ID - * @param ans Answer ID - * @throw std::runtime_error if message ID is incompatible with string data - */ -MessageAnswer::MessageAnswer(MessageID id, AnswerID ans) { - MessageAnswer::SetID(id); - MessageAnswer::SetAnswer(ans); -} - -/** - * Set message ID - * @param id Message ID - * @throw std::runtime_error if message ID is incompatible with answer message - */ -void MessageAnswer::SetID(MessageID id) { - if (CheckID(id)) - messageID = id; - else - throw std::runtime_error { - "Invalid message id for MessageAnswer" - }; -} - -/** - * Set message answer - * @param ans Answer ID - * @throw std::runtime_error if answer ID is incompatible with answer data - */ -void MessageAnswer::SetAnswer(AnswerID ans) { - if ((ans != ANSWER_ACK) && - (ans != ANSWER_NACK) && - (ans != ANSWER_LOST_ROBOT) && - (ans != ANSWER_ROBOT_CHECKSUM) && - (ans != ANSWER_ROBOT_ERROR) && - (ans != ANSWER_ROBOT_TIMEOUT) && - (ans != ANSWER_ROBOT_UNKNOWN_COMMAND)) { - this->answer = answer; - } else { - throw std::runtime_error{ - "Invalid answer for MessageAnswer"}; - } -} - -/** - * Translate content of message into a string that can be displayed - * @return A string describing message contents - */ -string MessageAnswer::ToString() { - if (CheckID(this->messageID)) - return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nAnswer: \"" + ANSWER_ID_STRING[this->answer] + "\""; - else - return "Invalid message"; -} - -/** - * Allocate a new message and copy contents of current message - * @return A message, copy of current - */ -Message* MessageAnswer::Copy() { - return new MessageAnswer(this->messageID, this->answer); -} - -/** - * Verify if message ID is compatible with current message type - * @param id Message ID - * @return true, if message ID is acceptable, false otherwise - */ -bool MessageAnswer::CheckID(MessageID id) { - if ((id != MESSAGE_ANSWER)) { + if (id != MESSAGE_CAM_IMAGE) { return false; } else return true; } @@ -523,7 +428,7 @@ string MessageBattery::ToString() { } if (CheckID(this->messageID)) - return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nBattery level: \"" + levelString + "\""; + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nBattery level: \"" + levelString + "\""; else return "Invalid message"; } @@ -603,7 +508,7 @@ void MessagePosition::SetPosition(Position& pos) { */ string MessagePosition::ToString() { if (CheckID(this->messageID)) - return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nPosition: \"" + to_string(this->pos.center.x) + ";" + to_string(this->pos.center.y) + "\""; + return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nPosition: \"" + to_string(this->pos.center.x) + ";" + to_string(this->pos.center.y) + "\""; else return "Invalid message"; } @@ -622,91 +527,7 @@ Message* MessagePosition::Copy() { * @return true, if message ID is acceptable, false otherwise */ bool MessagePosition::CheckID(MessageID id) { - if ((id != MESSAGE_POSITION)) { + if ((id != MESSAGE_CAM_POSITION)) { return false; } else return true; } - - -/* class MessageState */ - -/** - * Create a new, empty state message - */ -MessageState::MessageState() { - state = ROBOT_NOT_BUSY; -} - -/** - * Create a new string message, with given ID and string - * @param id Message ID - * @param s Message string - * @throw std::runtime_error if message ID is incompatible with string data - */ -MessageState::MessageState(MessageID id, RobotState state) { - MessageState::SetID(id); - MessageState::SetState(state); -} - -/** - * Set message ID - * @param id Message ID - * @throw std::runtime_error if message ID is incompatible with robot state - */ -void MessageState::SetID(MessageID id) { - if (CheckID(id)) - messageID = id; - else - throw std::runtime_error { - "Invalid message id for MessageState" - }; -} - -/** - * Set robot state - * @param state Robot state - */ -void MessageState::SetState(RobotState state) { - if ((state != ROBOT_NOT_BUSY) && (state != ROBOT_BUSY)) { - throw std::runtime_error{ - "Invalid state for MessageState"}; - } else { - this->state = state; - } -} - -/** - * Translate content of message into a string that can be displayed - * @return A string describing message contents - */ -string MessageState::ToString() { - string stateString; - - if (this->state == ROBOT_NOT_BUSY) stateString="Not busy"; - else if (this->state == ROBOT_BUSY) stateString="Busy"; - else stateString="Invalid state"; - - if (CheckID(this->messageID)) - return "Id: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nState: \"" + stateString + "\""; - else - return "Invalid message"; -} - -/** - * Allocate a new message and copy contents of current message - * @return A message, copy of current - */ -Message* MessageState::Copy() { - return new MessageState(this->messageID, this->state); -} - -/** - * Verify if message ID is compatible with current message type - * @param id Message ID - * @return true, if message ID is acceptable, false otherwise - */ -bool MessageState::CheckID(MessageID id) { - if ((id != MESSAGE_ROBOT_CURRENT_STATE)) { - return false; - } else return true; -} \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/lib/messages.h b/software/raspberry/superviseur-robot/lib/messages.h index d545220..60328de 100644 --- a/software/raspberry/superviseur-robot/lib/messages.h +++ b/software/raspberry/superviseur-robot/lib/messages.h @@ -33,11 +33,16 @@ typedef enum { MESSAGE_LOG, // Message containing answer (after robot command, or for monitor) - MESSAGE_ANSWER, + MESSAGE_ANSWER_ACK, + MESSAGE_ANSWER_NACK, + MESSAGE_ANSWER_ROBOT_TIMEOUT, + MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND, + MESSAGE_ANSWER_ROBOT_ERROR, + MESSAGE_ANSWER_COM_ERROR, // messages for serial communication with robot - MESSAGE_OPEN_COM, - MESSAGE_CLOSE_COM, + MESSAGE_ROBOT_COM_OPEN, + MESSAGE_ROBOT_COM_CLOSE, // Messages specific to server MESSAGE_MONITOR_LOST, @@ -45,13 +50,13 @@ typedef enum { // Messages for camera MESSAGE_CAM_OPEN, MESSAGE_CAM_CLOSE, - MESSAGE_ASK_ARENA, - MESSAGE_ARENA_CONFIRM, - MESSAGE_ARENA_INFIRM, - MESSAGE_COMPUTE_POSITION, - MESSAGE_STOP_COMPUTE_POSITION, - MESSAGE_POSITION, - MESSAGE_IMAGE, + MESSAGE_CAM_ASK_ARENA, + MESSAGE_CAM_ARENA_CONFIRM, + MESSAGE_CAM_ARENA_INFIRM, + MESSAGE_CAM_POSITION_COMPUTE_START, + MESSAGE_CAM_POSITION_COMPUTE_STOP, + MESSAGE_CAM_POSITION, + MESSAGE_CAM_IMAGE, // Messages for robot MESSAGE_ROBOT_PING, @@ -62,27 +67,18 @@ typedef enum { MESSAGE_ROBOT_MOVE, MESSAGE_ROBOT_TURN, MESSAGE_ROBOT_GO_FORWARD, - MESSAGE_ROBOT_GO_BACK, + MESSAGE_ROBOT_GO_BACKWARD, MESSAGE_ROBOT_GO_LEFT, MESSAGE_ROBOT_GO_RIGHT, MESSAGE_ROBOT_STOP, MESSAGE_ROBOT_POWEROFF, - MESSAGE_ROBOT_GET_BATTERY, + MESSAGE_ROBOT_BATTERY_GET, MESSAGE_ROBOT_BATTERY_LEVEL, - MESSAGE_ROBOT_GET_STATE, - MESSAGE_ROBOT_CURRENT_STATE + MESSAGE_ROBOT_STATE_GET, + MESSAGE_ROBOT_STATE_NOT_BUSY, + MESSAGE_ROBOT_STATE_BUSY } MessageID; -typedef enum { - ANSWER_ACK=0, - ANSWER_NACK, - ANSWER_LOST_ROBOT, - ANSWER_ROBOT_TIMEOUT, - ANSWER_ROBOT_UNKNOWN_COMMAND, - ANSWER_ROBOT_ERROR, - ANSWER_ROBOT_CHECKSUM -} AnswerID; - typedef enum { BATTERY_UNKNOWN=-1, BATTERY_EMPTY=0, @@ -90,11 +86,6 @@ typedef enum { BATTERY_FULL } BatteryLevel; -typedef enum { - ROBOT_NOT_BUSY=0, - ROBOT_BUSY -} RobotState; - using namespace std; /** @@ -132,6 +123,15 @@ public: */ virtual Message* Copy(); + /** + * Compare message ID + * @param id Id to compare message to + * @return true if id is equal to message id, false otherwise + */ + bool CompareID(MessageID id) { + return (this->messageID == id) ? true:false; + } + /** * Get message ID * @return Current message ID @@ -563,140 +563,5 @@ protected: bool CheckID(MessageID id); }; -/** - * Message class for holding answer, based on Message class - * - * @brief Answer message class - * - */ -class MessageAnswer : public Message { -public: - /** - * Create a new, empty image message - */ - MessageAnswer(); - - /** - * Create a new image message, with given ID and boolean value - * @param id Message ID - * @param ans Answer ID - * @throw std::runtime_error if message ID is incompatible with image message - */ - MessageAnswer(MessageID id, AnswerID ans); - - /** - * Set message ID - * @param id Message ID - * @throw std::runtime_error if message ID is incompatible withimage message - */ - void SetID(MessageID id); - - /** - * Get message image - * @return Pointer to image - */ - AnswerID GetAnswer() { - return answer; - } - - /** - * Set message answer - * @param ans Answer ID - */ - void SetAnswer(AnswerID ans); - - /** - * Translate content of message into a string that can be displayed - * @return A string describing message contents - */ - string ToString(); - - /** - * Allocate a new message and copy contents of current message - * @return A message, copy of current - */ - Message* Copy(); - -protected: - /** - * Message answer - */ - AnswerID answer; - - /** - * Verify if message ID is compatible with current message type - * @param id Message ID - * @return true, if message ID is acceptable, false otherwise - */ - bool CheckID(MessageID id); -}; - -/** - * Message class for holding robot state, based on Message class - * - * @brief Answer message class - * - */ -class MessageState: public Message { -public: - /** - * Create a new, empty image message - */ - MessageState(); - - /** - * Create a new image message, with given ID and boolean value - * @param id Message ID - * @param image Pointer to image - * @throw std::runtime_error if message ID is incompatible with image message - */ - MessageState(MessageID id, RobotState state); - - /** - * Set message ID - * @param id Message ID - * @throw std::runtime_error if message ID is incompatible withimage message - */ - void SetID(MessageID id); - - /** - * Get message image - * @return Pointer to image - */ - RobotState GetState() { - return state; - } - - /** - * Set message image - * @param image Pointer to image object - */ - void SetState(RobotState state); - - /** - * Translate content of message into a string that can be displayed - * @return A string describing message contents - */ - string ToString(); - - /** - * Allocate a new message and copy contents of current message - * @return A message, copy of current - */ - Message* Copy(); - -protected: - /** - * Robot state - */ - RobotState state; - - /** - * Verify if message ID is compatible with current message type - * @param id Message ID - * @return true, if message ID is acceptable, false otherwise - */ - bool CheckID(MessageID id); -}; #endif /* __MESSAGES_H__ */ diff --git a/software/raspberry/superviseur-robot/main.cpp b/software/raspberry/superviseur-robot/main.cpp index 7988a7a..de9d762 100644 --- a/software/raspberry/superviseur-robot/main.cpp +++ b/software/raspberry/superviseur-robot/main.cpp @@ -15,196 +15,39 @@ * along with this program. If not, see . */ -/** - * \file main.cpp - * \author PE.Hladik - * \version 1.0 - * \date 06/06/2017 - * \brief main program - */ - -#include -#include +#include #include #include -#include -#include -#include -#include -#include +#ifdef __WITH_PTHREAD__ +#include "tasks_pthread.h" +#else #include "tasks.h" - -// Déclaration des taches -RT_TASK th_server; -RT_TASK th_sendToMon; -RT_TASK th_receiveFromMon; -RT_TASK th_openComRobot; -RT_TASK th_startRobot; -RT_TASK th_move; - -// Déclaration des priorités des taches -int PRIORITY_TSERVER = 30; -int PRIORITY_TOPENCOMROBOT = 20; -int PRIORITY_TMOVE = 10; -int PRIORITY_TSENDTOMON = 25; -int PRIORITY_TRECEIVEFROMMON = 22; -int PRIORITY_TSTARTROBOT = 20; - -RT_MUTEX mutex_robotStarted; -RT_MUTEX mutex_move; - -// Déclaration des sémaphores -RT_SEM sem_barrier; -RT_SEM sem_openComRobot; -RT_SEM sem_serverOk; -RT_SEM sem_startRobot; - -// Déclaration des files de message -RT_QUEUE q_messageToMon; - -int MSG_QUEUE_SIZE = 10; - -// Déclaration des ressources partagées -int etatCommMoniteur = 1; -int robotStarted = 0; -char robotMove = DMB_STOP_MOVE; - -/** - * \fn void initStruct(void) - * \brief Initialisation des structures de l'application (tâches, mutex, - * semaphore, etc.) - */ -void initStruct(void); - -/** - * \fn void startTasks(void) - * \brief Démarrage des tâches - */ -void startTasks(void); - -/** - * \fn void deleteTasks(void) - * \brief Arrêt des tâches - */ -void deleteTasks(void); +#endif // __WITH_PTHREAD__ int main(int argc, char **argv) { - int err; + Tasks tasks; + //Lock the memory to avoid memory swapping for this program mlockall(MCL_CURRENT | MCL_FUTURE); - printf("#################################\n"); - printf("# DE STIJL PROJECT #\n"); - printf("#################################\n"); + cout<<"#################################"< - ./lib/camera.cpp + /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp ./lib/image.cpp - ./lib/img.cpp + /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp ./main.cpp ./lib/message.cpp ./lib/messages.cpp @@ -93,16 +93,12 @@ - - - - @@ -131,6 +127,11 @@ + + + + @@ -178,8 +184,6 @@ - - @@ -188,8 +192,6 @@ - - @@ -218,6 +220,11 @@ + + + + @@ -282,8 +294,6 @@ - - @@ -292,8 +302,6 @@ - - @@ -322,6 +330,11 @@ + + + + @@ -366,7 +384,7 @@ ./ ./lib - -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables + -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions _WITH_TRACE_ __FOR_PC__ @@ -382,8 +400,6 @@ - - @@ -392,11 +408,9 @@ - - - + @@ -404,15 +418,15 @@ - + - + - + @@ -420,6 +434,11 @@ + + + + diff --git a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml index b55dcb1..8d4ae2f 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml @@ -116,6 +116,8 @@ + + diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml index e64b33b..3f20efa 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/private.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml @@ -7,25 +7,15 @@ - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/message.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp index da732f2..43f9fea 100644 --- a/software/raspberry/superviseur-robot/tasks.cpp +++ b/software/raspberry/superviseur-robot/tasks.cpp @@ -15,16 +15,18 @@ * along with this program. If not, see . */ -/** - * \file functions.h - * \author PE.Hladik - * \version 1.0 - * \date 06/06/2017 - * \brief Miscellaneous functions used for destijl project. - */ - #include "tasks.h" +#ifndef __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 + char mode_start; void write_in_queue(RT_QUEUE *, MessageToMon); @@ -258,4 +260,6 @@ void write_in_queue(RT_QUEUE *queue, MessageToMon msg) { buff = rt_queue_alloc(&q_messageToMon, sizeof (MessageToMon)); memcpy(buff, &msg, sizeof (MessageToMon)); rt_queue_send(&q_messageToMon, buff, sizeof (MessageToMon), Q_NORMAL); -} \ No newline at end of file +} + +#endif // __WITH_PTHREAD__ \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h index b4127b8..119fc7f 100644 --- a/software/raspberry/superviseur-robot/tasks.h +++ b/software/raspberry/superviseur-robot/tasks.h @@ -15,17 +15,10 @@ * along with this program. If not, see . */ -/** - * \file functions.h - * \author PE.Hladik - * \version 1.0 - * \date 06/06/2017 - * \brief Miscellaneous functions used for destijl project. - */ - #ifndef __TASKS_H__ #define __TASKS_H__ +#ifndef __WITH_PTHREAD__ #include #include #include @@ -37,71 +30,107 @@ #include #include -#include "monitor.h" -#include "robot.h" -#include "image.h" -#include "message.h" -#include "server.h" +//#include "monitor.h" +//#include "robot.h" +//#include "image.h" +//#include "message.h" +//#include "server.h" -extern RT_TASK th_server; -extern RT_TASK th_sendToMon; -extern RT_TASK th_receiveFromMon; -extern RT_TASK th_openComRobot; -extern RT_TASK th_startRobot; -extern RT_TASK th_move; +#include "messages.h" +#include "commonitor.h" +#include "comrobot.h" -extern RT_MUTEX mutex_robotStarted; -extern RT_MUTEX mutex_move; +using namespace std; -extern RT_SEM sem_barrier; -extern RT_SEM sem_openComRobot; -extern RT_SEM sem_serverOk; -extern RT_SEM sem_startRobot; +class Tasks { +public: + /** + * @brief Initialisation des structures de l'application (tâches, mutex, + * semaphore, etc.) + */ + void Init(); -extern RT_QUEUE q_messageToMon; + /** + * @brief Démarrage des tâches + */ + void Run(); -extern int etatCommMoniteur; -extern int robotStarted; -extern char robotMove; + /** + * @brief Arrêt des tâches + */ + void Stop(); + + /** + */ + void Join() { + rt_sem_broadcast(&sem_barrier); + pause(); + } + + /** + */ + bool AcceptClient() { + return false; + } + +private: + ComMonitor monitor; + ComRobot robot; + + RT_TASK th_server; + RT_TASK th_sendToMon; + RT_TASK th_receiveFromMon; + RT_TASK th_openComRobot; + RT_TASK th_startRobot; + RT_TASK th_move; -extern int MSG_QUEUE_SIZE; + RT_MUTEX mutex_robotStarted; + RT_MUTEX mutex_move; -extern int PRIORITY_TSERVER; -extern int PRIORITY_TOPENCOMROBOT; -extern int PRIORITY_TMOVE; -extern int PRIORITY_TSENDTOMON; -extern int PRIORITY_TRECEIVEFROMMON; -extern int PRIORITY_TSTARTROBOT; + RT_SEM sem_barrier; + RT_SEM sem_openComRobot; + RT_SEM sem_serverOk; + RT_SEM sem_startRobot; -/** - * \brief Thread handling server communication. - */ -void f_server(void *arg); + RT_QUEUE q_messageToMon; -/** - * \brief Thread handling communication to monitor. - */ -void f_sendToMon(void *arg); + int etatCommMoniteur; + int robotStarted; + char robotMove; -/** - * \brief Thread handling communication from monitor. - */ -void f_receiveFromMon(void *arg); + int MSG_QUEUE_SIZE; -/** - * \brief Thread handling opening of robot communication. - */ -void f_openComRobot(void * arg); + /** + * \brief Thread handling server communication. + */ + void f_server(void *arg); -/** - * \brief Thread handling robot mouvements. - */ -void f_move(void *arg); + /** + * \brief Thread handling communication to monitor. + */ + void f_sendToMon(void *arg); -/** - * \brief Thread handling robot activation. - */ -void f_startRobot(void *arg); + /** + * \brief Thread handling communication from monitor. + */ + void f_receiveFromMon(void *arg); -#endif /* FUNCTIONS_H */ + /** + * \brief Thread handling opening of robot communication. + */ + void f_openComRobot(void * arg); + + /** + * \brief Thread handling robot mouvements. + */ + void f_move(void *arg); + + /** + * \brief Thread handling robot activation. + */ + void f_startRobot(void *arg); +}; + +#endif // __WITH_PTHREAD__ +#endif // __TASKS_H__ diff --git a/software/raspberry/superviseur-robot/tasks_pthread.cpp b/software/raspberry/superviseur-robot/tasks_pthread.cpp index 6e00725..5cb92d8 100644 --- a/software/raspberry/superviseur-robot/tasks_pthread.cpp +++ b/software/raspberry/superviseur-robot/tasks_pthread.cpp @@ -15,249 +15,337 @@ * along with this program. If not, see . */ -/** - * \file functions.h - * \author PE.Hladik - * \version 1.0 - * \date 06/06/2017 - * \brief Miscellaneous functions used for destijl project. - */ - #include "tasks_pthread.h" +#include #ifdef __WITH_PTHREAD__ -char mode_start; -void write_in_queue(RT_QUEUE *, MessageToMon); +// 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 -void f_server(void *arg) { +/* + * 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("/dev/ttyUSB1"); + 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() { + Message *msgRcv; + Message *msgSend; + int counter = 3; + + // threadServer=new thread((void (*)(void*)) &Tasks::ServerTask,this); + // threadSendToMon=new thread((void (*)(void*)) &Tasks::SendToMonTask,this); + // threadTimer=new thread((void (*)(void*)) &Tasks::TimerTask,this); + + 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); +} + +void Tasks::Stop() { + monitor.Close(); + robot.Close(); +} + +void Tasks::ServerTask(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); - - err=openServer(DEFAULT_SERVER_PORT); - - if (err < 0) { - printf("Failed to start server: %s\n", strerror(-err)); - exit(EXIT_FAILURE); - } else { -#ifdef _WITH_TRACE_ - printf("%s: server started\n", info.name); -#endif - //Waiting for a client to connect - err=acceptClient(); + cout << "Start " << __PRETTY_FUNCTION__ <= 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)); + //std::this_thread::sleep_for(std::chrono::seconds ) + //sleep(1); + if (nanosleep(&tim, &tim2) < 0) { + printf("Nano sleep system call failed \n"); + return; } + + mutexTimer.unlock(); } } -void 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 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); - +void Tasks::SendToMonTask(void* arg) { + + cout << "Start " << __PRETTY_FUNCTION__ < 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 f_startRobot(void * arg) { - int err; +//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); +//} - /* 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 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__ \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/tasks_pthread.h b/software/raspberry/superviseur-robot/tasks_pthread.h index 71dd7b4..b79c139 100644 --- a/software/raspberry/superviseur-robot/tasks_pthread.h +++ b/software/raspberry/superviseur-robot/tasks_pthread.h @@ -15,14 +15,6 @@ * along with this program. If not, see . */ -/** - * \file functions.h - * \author PE.Hladik - * \version 1.0 - * \date 06/06/2017 - * \brief Miscellaneous functions used for destijl project. - */ - #ifndef __TASKS_H__ #define __TASKS_H__ @@ -31,73 +23,112 @@ #include #include -#include +//#include "monitor.h" +//#include "robot.h" +//#include "image.h" +//#include "message.h" +//#include "server.h" -#include "monitor.h" -#include "robot.h" -#include "image.h" -#include "message.h" -#include "server.h" +#include "camera.h" +#include "img.h" -extern RT_TASK th_server; -extern RT_TASK th_sendToMon; -extern RT_TASK th_receiveFromMon; -extern RT_TASK th_openComRobot; -extern RT_TASK th_startRobot; -extern RT_TASK th_move; +#include "messages.h" +#include "commonitor.h" +#include "comrobot.h" -extern RT_MUTEX mutex_robotStarted; -extern RT_MUTEX mutex_move; - -extern RT_SEM sem_barrier; -extern RT_SEM sem_openComRobot; -extern RT_SEM sem_serverOk; -extern RT_SEM sem_startRobot; - -extern RT_QUEUE q_messageToMon; - -extern int etatCommMoniteur; -extern int robotStarted; -extern char robotMove; - -extern int MSG_QUEUE_SIZE; - -extern int PRIORITY_TSERVER; -extern int PRIORITY_TOPENCOMROBOT; -extern int PRIORITY_TMOVE; -extern int PRIORITY_TSENDTOMON; -extern int PRIORITY_TRECEIVEFROMMON; -extern int PRIORITY_TSTARTROBOT; +#include +#include +#include +class Tasks { +public: /** - * \brief Thread handling server communication. - */ -void f_server(void *arg); + * @brief Initialisation des structures de l'application (tâches, mutex, + * semaphore, etc.) + */ + void Init(); -/** - * \brief Thread handling communication to monitor. - */ -void f_sendToMon(void *arg); + /** + * @brief Démarrage des tâches + */ + void Run(); -/** - * \brief Thread handling communication from monitor. - */ -void f_receiveFromMon(void *arg); + /** + * @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 opening of robot communication. - */ -void f_openComRobot(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; + + 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 robot mouvements. - */ -void f_move(void *arg); - -/** - * \brief Thread handling robot activation. - */ -void f_startRobot(void *arg); + +// +// /** +// * @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__ */ diff --git a/software/robot/src/cmdManager.c b/software/robot/src/cmdManager.c index 1e9c9d5..54e9732 100644 --- a/software/robot/src/cmdManager.c +++ b/software/robot/src/cmdManager.c @@ -340,7 +340,7 @@ void cmdStartWithoutWatchdogAction(void) { * Le type de commande à envoyer est :"M=val\r". Ou val * peut être positif ou negatif. * - * @param None + * @param NSTART_WITH_WDone * @retval None */ void cmdMoveAction(void) { From 8bf6c73dbb4f43b64f27fdad7eff4145a91ef921 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20DI=20MERCURIO?= Date: Fri, 4 Jan 2019 16:55:48 +0100 Subject: [PATCH 04/10] images are now sent using base64. 40fps on localhost, test to be done on raspberry --- .vscode/c_cpp_properties.json | 16 - .vscode/tasks.json | 16 - software/monitor/monitor/Client.cs | 168 +++- software/monitor/monitor/CommandManager.cs | 8 +- .../monitor/monitor/DestijlCommandManager.cs | 305 +++++-- software/monitor/monitor/MonitorUI.cs | 195 ++-- software/monitor/monitor/monitor | Bin 104960 -> 107520 bytes software/raspberry/superviseur-robot/.dep.inc | 5 - .../raspberry/superviseur-robot/.idea/.name | 1 - .../.idea/codeStyles/Project.xml | 29 - .../superviseur-robot/.idea/misc.xml | 7 - .../superviseur-robot/.idea/modules.xml | 8 - .../.idea/superviseur-robot.iml | 2 - .../raspberry/superviseur-robot/.idea/vcs.xml | 6 - .../superviseur-robot/.idea/workspace.xml | 864 ------------------ .../GNU-Linux/superviseur-robot | Bin 956776 -> 1101728 bytes .../superviseur-robot/lib/base64/.gitignore | 2 + .../superviseur-robot/lib/base64/LICENSE | 19 + .../superviseur-robot/lib/base64/README.md | 7 + .../superviseur-robot/lib/base64/base64.cpp | 122 +++ .../superviseur-robot/lib/base64/base64.h | 14 + .../lib/base64/compile-and-run-test | 2 + .../superviseur-robot/lib/base64/test.cpp | 56 ++ .../superviseur-robot/lib/camera.cpp | 46 +- .../raspberry/superviseur-robot/lib/camera.h | 18 +- .../superviseur-robot/lib/commonitor.cpp | 48 +- .../superviseur-robot/lib/commonitor.h | 6 +- .../raspberry/superviseur-robot/lib/img.cpp | 64 +- .../raspberry/superviseur-robot/lib/img.h | 31 +- .../superviseur-robot/lib/messages.cpp | 6 +- .../superviseur-robot/lib/messages.h | 10 +- software/raspberry/superviseur-robot/main.cpp | 7 +- .../nbproject/Makefile-Debug.mk | 6 + .../nbproject/Makefile-Debug__Pthread_.mk | 6 + .../nbproject/Makefile-Debug__RPI_.mk | 6 + .../nbproject/Makefile-Release.mk | 6 + .../nbproject/configurations.xml | 42 + .../nbproject/private/private.xml | 3 +- .../superviseur-robot/tasks_pthread.cpp | 150 ++- .../superviseur-robot/tasks_pthread.h | 3 + 40 files changed, 1021 insertions(+), 1289 deletions(-) delete mode 100644 .vscode/c_cpp_properties.json delete mode 100644 .vscode/tasks.json delete mode 100644 software/raspberry/superviseur-robot/.dep.inc delete mode 100644 software/raspberry/superviseur-robot/.idea/.name delete mode 100644 software/raspberry/superviseur-robot/.idea/codeStyles/Project.xml delete mode 100644 software/raspberry/superviseur-robot/.idea/misc.xml delete mode 100644 software/raspberry/superviseur-robot/.idea/modules.xml delete mode 100644 software/raspberry/superviseur-robot/.idea/superviseur-robot.iml delete mode 100644 software/raspberry/superviseur-robot/.idea/vcs.xml delete mode 100644 software/raspberry/superviseur-robot/.idea/workspace.xml create mode 100644 software/raspberry/superviseur-robot/lib/base64/.gitignore create mode 100644 software/raspberry/superviseur-robot/lib/base64/LICENSE create mode 100644 software/raspberry/superviseur-robot/lib/base64/README.md create mode 100644 software/raspberry/superviseur-robot/lib/base64/base64.cpp create mode 100644 software/raspberry/superviseur-robot/lib/base64/base64.h create mode 100755 software/raspberry/superviseur-robot/lib/base64/compile-and-run-test create mode 100644 software/raspberry/superviseur-robot/lib/base64/test.cpp diff --git a/.vscode/c_cpp_properties.json b/.vscode/c_cpp_properties.json deleted file mode 100644 index ee202d8..0000000 --- a/.vscode/c_cpp_properties.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - "configurations": [ - { - "name": "Linux", - "includePath": [ - "${workspaceFolder}/**" - ], - "defines": [], - "compilerPath": "/usr/bin/clang", - "cStandard": "c11", - "cppStandard": "c++17", - "intelliSenseMode": "clang-x64" - } - ], - "version": 4 -} \ No newline at end of file diff --git a/.vscode/tasks.json b/.vscode/tasks.json deleted file mode 100644 index 29327bf..0000000 --- a/.vscode/tasks.json +++ /dev/null @@ -1,16 +0,0 @@ -{ - // See https://go.microsoft.com/fwlink/?LinkId=733558 - // for the documentation about the tasks.json format - "version": "2.0.0", - "tasks": [ - { - "taskName": "Compile on raspberry", - "command": "rsync -az '${file}' 10.105.1.6:~ && ssh server.example.org 'chmod +x ./${fileBasename}; ./${fileBasename}'", - "type": "shell", - "group": { - "kind": "build", - "isDefault": true - } - } - ] -} \ No newline at end of file diff --git a/software/monitor/monitor/Client.cs b/software/monitor/monitor/Client.cs index 48bb9c9..b6afe8a 100644 --- a/software/monitor/monitor/Client.cs +++ b/software/monitor/monitor/Client.cs @@ -23,6 +23,8 @@ using System; using System.Net.Sockets; using System.Text; +using System.Threading; + namespace monitor { ///

@@ -66,21 +68,26 @@ namespace monitor /// private static byte[] receiveBuffer; - private static int initialReceiveBufferIndex = 0; + //private static int initialReceiveBufferIndex = 0; /// /// String containing received message from tcp server /// private static StringBuilder message = new StringBuilder(); - private static int newLength = 1; - private static int packetCounter = 0; + //private static int newLength = 1; + //private static int packetCounter = 0; /// /// Callback to send received message to upper level /// - public delegate void ReadEvent(string msg, byte[] buffer); + public delegate void ReadEvent(string msg); public static ReadEvent readEvent = null; + /// + /// Thread used in reception + /// + private static Thread readThread; + /// /// Open connection to server "host", on default port number. /// @@ -114,7 +121,12 @@ namespace monitor // received data are stored in buffer // Next reading will be done in ReadCallback method - stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message); + stream.BeginRead(buffer, 0, 1, new AsyncCallback(ReadCallback), message); + + // Start reading thread + //message.Clear(); + //readThread = new Thread(new ThreadStart(ReadCallback)); + //readThread.Start(); } catch (ArgumentNullException e) { @@ -144,19 +156,142 @@ namespace monitor if (client != null) client.Close(); } + /// + /// Callback call by stream.BeginRead after reception of newLength data + /// + //private static void ReadCallback() + //{ + // char character; + // int data; + // byte[] buffer=new byte[4096]; + // int lengthRead; + + // while (client.Connected) + // { + // try + // { + // //data = stream.ReadByte(); + // lengthRead = stream.Read(buffer, 0, buffer.Length); + // } + // catch (ObjectDisposedException) + // { + // Console.WriteLine("Connection to server dropped (object disposed)!"); + // return; + // } + // catch (System.IO.IOException) + // { + // Console.WriteLine("Connection to server dropped (other error)"); + // return; + // } + + // if (lengthRead > 0) // a data was read + // { + // //character = (char)data; + // var str = System.Text.Encoding.Default.GetString(buffer); + // int indexOf = str.IndexOf('\n'); + + // //if (character != '\n') + // if (indexOf == -1) // \n doesn't exists + // { + // message.Append(str); + + // //if (receiveBuffer == null) receiveBuffer = new byte[1]; + // //else Array.Resize(ref receiveBuffer, receiveBuffer.Length + 1); // resize currrent buffer + + // //receiveBuffer[receiveBuffer.Length - 1] = (byte)data; + // } + // else // end of string found + // { + // message.Append((str.Substring(0,indexOf))); + // readEvent?.Invoke(message.ToString(), receiveBuffer); + + // message.Clear(); + // receiveBuffer = null; + // } + // } + // } + //} + /// /// Callback call by stream.BeginRead after reception of newLength data /// /// Not sure of what is it, but needed for terminate reading + //private static void ReadCallback(IAsyncResult ar) + //{ + // if (client.Connected) + // { + // int bytesRead; + + // try + // { + // // Termintae read operation, and get number of byte stored in buffer + // bytesRead = stream.EndRead(ar); + // } + // catch (ObjectDisposedException e) + // { + // Console.WriteLine("Connection to server dropped: " + e.ToString()); + // return; + // } + + // newLength = 1; + + // // if number of byte read is not 0, concatenate string and buffer + // if (bytesRead > 0) + // { + // packetCounter++; + + // if (packetCounter >= 3) + // { + // //Console.WriteLine("Supplementary packet " + packetCounter); + // } + + // // Append new data to current string (expecting data are ascii) + // message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead)); + + // // Similarly, append received bytes to current buffer + // if (receiveBuffer == null) receiveBuffer = new byte[bytesRead]; + // else Array.Resize(ref receiveBuffer, initialReceiveBufferIndex + bytesRead); // resize currrent buffer + + // System.Buffer.BlockCopy(buffer, 0, receiveBuffer, initialReceiveBufferIndex, bytesRead); // and add received data + // initialReceiveBufferIndex = receiveBuffer.Length; // move last index of current buffer + // } + + // // if it remains received data, prepare for a new reading (get another buffer to append to current one) + // if (client.Available > 0) + // { + // newLength = client.Available; + // if (newLength > BufferMaxSize) newLength = BufferMaxSize; + // else newLength = client.Available; + // } + // else + // { + // // no more data to read, buffer and string can be send to upper level + // readEvent?.Invoke(message.ToString(), receiveBuffer); + + // message.Clear(); + // receiveBuffer = null; + // initialReceiveBufferIndex = 0; + // packetCounter = 0; + // } + + // // Prepare for reading new data + // if (newLength> BufferMaxSize) newLength = BufferMaxSize; + // if (newLength <= 0) newLength = 1; + // stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message); + // } + //} + private static void ReadCallback(IAsyncResult ar) { + int newLength = 1; + if (client.Connected) { int bytesRead; try { - // Termintae read operation, and get number of byte stored in buffer + // Terminate read operation, and get number of byte stored in buffer bytesRead = stream.EndRead(ar); } catch (ObjectDisposedException e) @@ -165,27 +300,13 @@ namespace monitor return; } - newLength = 1; + //newLength = 1; // if number of byte read is not 0, concatenate string and buffer if (bytesRead > 0) { - packetCounter++; - - if (packetCounter >= 3) - { - //Console.WriteLine("Supplementary packet " + packetCounter); - } - // Append new data to current string (expecting data are ascii) message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead)); - - // Similarly, append received bytes to current buffer - if (receiveBuffer == null) receiveBuffer = new byte[bytesRead]; - else Array.Resize(ref receiveBuffer, initialReceiveBufferIndex + bytesRead); // resize currrent buffer - - System.Buffer.BlockCopy(buffer, 0, receiveBuffer, initialReceiveBufferIndex, bytesRead); // and add received data - initialReceiveBufferIndex = receiveBuffer.Length; // move last index of current buffer } // if it remains received data, prepare for a new reading (get another buffer to append to current one) @@ -198,12 +319,9 @@ namespace monitor else { // no more data to read, buffer and string can be send to upper level - readEvent?.Invoke(message.ToString(), receiveBuffer); + readEvent?.Invoke(message.ToString()); message.Clear(); - receiveBuffer = null; - initialReceiveBufferIndex = 0; - packetCounter = 0; } // Prepare for reading new data diff --git a/software/monitor/monitor/CommandManager.cs b/software/monitor/monitor/CommandManager.cs index 803e229..03efac1 100644 --- a/software/monitor/monitor/CommandManager.cs +++ b/software/monitor/monitor/CommandManager.cs @@ -33,7 +33,7 @@ namespace monitor /// /// Callback for sending received data to upper level /// - public delegate void CommandReceivedEvent(string msg, byte[] buffer); + public delegate void CommandReceivedEvent(string msg); public CommandReceivedEvent commandReceivedEvent = null; /// @@ -122,7 +122,7 @@ namespace monitor /// /// Message received from server /// Raw buffer reived from server - private void OnMessageReception(string message, byte[] buffer) + private void OnMessageReception(string message) { waitTimer.Stop(); // Stop timeout stopwatch @@ -144,7 +144,7 @@ namespace monitor waitForAcknowledge = false; - this.commandReceivedEvent?.Invoke(message, buffer); + this.commandReceivedEvent?.Invoke(message); } } @@ -158,7 +158,7 @@ namespace monitor messageReceived = null; // set buffer and message as null to indicate that no message was received // and call to OnMessagereception is due to timeout - OnMessageReception(messageReceived, null); + OnMessageReception(messageReceived); } /// diff --git a/software/monitor/monitor/DestijlCommandManager.cs b/software/monitor/monitor/DestijlCommandManager.cs index 2f85469..3257eb8 100644 --- a/software/monitor/monitor/DestijlCommandManager.cs +++ b/software/monitor/monitor/DestijlCommandManager.cs @@ -20,6 +20,7 @@ // along with this program. If not, see . using System; +using System.Globalization; namespace monitor { @@ -28,47 +29,84 @@ namespace monitor /// public static class DestijlCommandList { - public const string HeaderMtsComDmb = "COM"; - public const string HeaderMtsDmbOrder = "DMB"; - public const string HeaderMtsCamera = "CAM"; - public const string HeaderMtsMessage = "MSG"; + public const string ANSWER_ACK = "AACK"; + public const string ANSWER_NACK = "ANAK"; + public const string ANSWER_COM_ERROR = "ACER"; + public const string ANSWER_TIMEOUT = "ATIM"; + public const string ANSWER_CMD_REJECTED = "ACRJ"; + public const string MESSAGE = "MSSG"; + public const string CAMERA_OPEN = "COPN"; + public const string CAMERA_CLOSE = "CCLS"; + public const string CAMERA_IMAGE = "CIMG"; + public const string CAMERA_ARENA_ASK = "CASA"; + public const string CAMERA_ARENA_INFIRM = "CAIN"; + public const string CAMERA_ARENA_CONFIRM = "CACO"; + public const string CAMERA_POSITION_COMPUTE = "CPCO"; + public const string CAMERA_POSITION_STOP = "CPST"; + public const string CAMERA_POSITION = "CPOS"; + public const string ROBOT_COM_OPEN = "ROPN"; + public const string ROBOT_COM_CLOSE = "RCLS"; + public const string ROBOT_PING = "RPIN"; + public const string ROBOT_RESET = "RRST"; + public const string ROBOT_START_WITHOUT_WD = "RSOW"; + public const string ROBOT_START_WITH_WD = "RSWW"; + public const string ROBOT_RELOAD_WD = "RLDW"; + public const string ROBOT_MOVE = "RMOV"; + public const string ROBOT_TURN = "RTRN"; + public const string ROBOT_GO_FORWARD = "RGFW"; + public const string ROBOT_GO_BACKWARD = "RGBW"; + public const string ROBOT_GO_LEFT = "RGLF"; + public const string ROBOT_GO_RIGHT = "RGRI"; + public const string ROBOT_STOP = "RSTP"; + public const string ROBOT_POWEROFF = "RPOF"; + public const string ROBOT_BATTERY_LEVEL = "RBLV"; + public const string ROBOT_GET_BATTERY = "RGBT"; + public const string ROBOT_GET_STATE = "RGST"; + public const string ROBOT_CURRENT_STATE = "RCST"; - public const string DataComOpen = "o"; - public const string DataComClose = "C"; + public const char SEPARATOR_CHAR = ':'; - public const string DataCamOpen = "A"; - public const string DataCamClose = "I"; - public const string DataCamAskArena = "y"; - public const string DataCamArenaConfirm = "x"; - public const string DataCamInfirm = "z"; - public const string DataCamComputePosition = "p"; - public const string DataCamStopComputePosition = "s"; + //public const string HeaderMtsComDmb = "COM"; + //public const string HeaderMtsDmbOrder = "DMB"; + //public const string HeaderMtsCamera = "CAM"; + //public const string HeaderMtsMessage = "MSG"; - public const string HeaderStmAck = "ACK"; - public const string HeaderStmNoAck = "NAK"; - public const string HeaderStmLostDmb = "LCD"; - public const string HeaderStmImage = "IMG"; - public const string HeaderStmPos = "POS"; - public const string HeaderStmMes = "MSG"; - public const string HeaderStmBat = "BAT"; + //public const string DataComOpen = "o"; + //public const string DataComClose = "C"; + + //public const string DataCamOpen = "A"; + //public const string DataCamClose = "I"; + //public const string DataCamAskArena = "y"; + //public const string DataCamArenaConfirm = "x"; + //public const string DataCamInfirm = "z"; + //public const string DataCamComputePosition = "p"; + //public const string DataCamStopComputePosition = "s"; + + //public const string HeaderStmAck = "ACK"; + //public const string HeaderStmNoAck = "NAK"; + //public const string HeaderStmLostDmb = "LCD"; + //public const string HeaderStmImage = "IMG"; + //public const string HeaderStmPos = "POS"; + //public const string HeaderStmMes = "MSG"; + //public const string HeaderStmBat = "BAT"; } /// /// Commands used for robot messages /// - public static class RobotCommandList - { - public const string RobotPing = "p"; - public const string RobotReset = "r"; - public const string RobotStartWithoutWatchdog = "u"; - public const string RobotStartWithWatchdog = "W"; - public const string RobotGetBattery = "v"; - public const string RobotGetBusyState = "b"; - public const string RobotMove = "M"; - public const string RobotTurn = "T"; - public const string RobotGetVersion = "V"; - public const string RobotPowerOff = "z"; - } + //public static class RobotCommandList + //{ + // public const string RobotPing = "p"; + // public const string RobotReset = "r"; + // public const string RobotStartWithoutWatchdog = "u"; + // public const string RobotStartWithWatchdog = "W"; + // public const string RobotGetBattery = "v"; + // public const string RobotGetBusyState = "b"; + // public const string RobotMove = "M"; + // public const string RobotTurn = "T"; + // public const string RobotGetVersion = "V"; + // public const string RobotPowerOff = "z"; + //} /// /// Specialization class for command manager, which implemnent destijl protocol between monitor and server @@ -93,7 +131,7 @@ namespace monitor /// /// Callback for sending received data to application level /// - public delegate void CommandReceivedEvent(string header, string data, byte[] buffer); + public delegate void CommandReceivedEvent(string header, string data); public CommandReceivedEvent commandReceivedEvent = null; /// @@ -114,6 +152,34 @@ namespace monitor CommunicationLostWithServer } + public struct Point { + public double x; + public double y; + } + + public class Position { + public int robotID; + public double angle; + public Point centre; + public Point direction; + + public Position() { + robotID = 0; + angle = 0.0; + centre.x = 0.0; + centre.y = 0.0; + direction.x = 0.0; + direction.y = 0.0; + } + + public override string ToString() { + string s = "ID: " + robotID + ", Angle: " + angle + + ", Centre (x: " + centre.x + ", y: " + centre.y + + "), Direction (x: " + direction.x + ", y: " + direction.y + ")"; + return s; + } + } + /// /// Initializes a new instance of the class. /// @@ -138,10 +204,13 @@ namespace monitor /// /// String containing received message /// Raw buffer to be used when data are not in ascii format (image for example) - private void OnCommandReceived(string msg, byte[] buffer) + private void OnCommandReceived(string msg) { - // Firstly, split message in (at least) two part : header, and data - string[] msgs = msg.Split(':'); + // Firstly, remove ending \n and everything after + string[] msgsCarriageReturn = msg.Split('\n'); + + // Second, split message in (at least) two part : header, and data + string[] msgs = msgsCarriageReturn[0].Split(DestijlCommandList.SEPARATOR_CHAR); // If it exist at least on element in string array, it should be command header if (msgs.Length >= 1) receivedHeader = msgs[0]; @@ -152,7 +221,7 @@ namespace monitor else receivedData = null; // when split is done, provide data to application - this.commandReceivedEvent?.Invoke(receivedHeader, receivedData, buffer); + this.commandReceivedEvent?.Invoke(receivedHeader, receivedData); } /// @@ -193,7 +262,17 @@ namespace monitor /// Data part of the command private string CreateCommand(string header, string data) { - return header + ":" + data; + return header + DestijlCommandList.SEPARATOR_CHAR + data+"\n"; + } + + /// + /// Creates the command to send to server, based on header + /// + /// The command string + /// Header part of the command + private string CreateCommand(string header) + { + return header + DestijlCommandList.SEPARATOR_CHAR+"\n"; } /// @@ -215,9 +294,9 @@ namespace monitor if (answer != null) { // if command is not acknowledged, return Rejected - if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmNoAck)) status = CommandStatus.Rejected; + if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_NACK)) status = CommandStatus.Rejected; // if communication is lost with robot, return CommunicationLostWithRobot - else if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmLostDmb)) status = CommandStatus.CommunicationLostWithRobot; + else if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_TIMEOUT)) status = CommandStatus.CommunicationLostWithRobot; // if answer is empty, communication with robot is lost else if (answer.Length == 0) status = CommandStatus.CommunicationLostWithServer; //else status = CommandStatus.InvalidAnswer; @@ -237,7 +316,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsComDmb, DestijlCommandList.DataComOpen), + CreateCommand(DestijlCommandList.ROBOT_COM_OPEN), out answer, this.timeout); @@ -254,7 +333,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsComDmb, DestijlCommandList.DataComClose), + CreateCommand(DestijlCommandList.ROBOT_COM_CLOSE), out answer, this.timeout); @@ -271,7 +350,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotPing), + CreateCommand(DestijlCommandList.ROBOT_PING), out answer, this.timeout); @@ -288,7 +367,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotReset), + CreateCommand(DestijlCommandList.ROBOT_RESET), out answer, 0); @@ -305,7 +384,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotStartWithWatchdog), + CreateCommand(DestijlCommandList.ROBOT_START_WITH_WD), out answer, this.timeout); @@ -322,7 +401,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotStartWithoutWatchdog), + CreateCommand(DestijlCommandList.ROBOT_START_WITHOUT_WD), out answer, this.timeout); @@ -340,7 +419,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotMove + "=" + distance), + CreateCommand(DestijlCommandList.ROBOT_MOVE, Convert.ToString(distance)), out answer, 0); @@ -358,7 +437,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotTurn + "=" + angle), + CreateCommand(DestijlCommandList.ROBOT_TURN, Convert.ToString(angle)), out answer, 0); @@ -375,48 +454,13 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotGetBattery), + CreateCommand(DestijlCommandList.ROBOT_GET_BATTERY), out answer, 0); return DecodeStatus(localStatus, answer); } - /// - /// Request robot firmware version - /// - /// Command status (see DecodeStatus) - /// todo - public CommandStatus RobotGetVersion(out string version) - { - CommandManager.CommandManagerStatus localStatus; - CommandStatus status = CommandStatus.Success; - version = ""; - - string answer; - - localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotGetVersion), - out answer, - this.timeout); - - if (localStatus == CommandManager.CommandManagerStatus.AnswerReceived) - { - string[] msg = answer.Split(':'); - - if (msg.Length > 1) - { - version = msg[1]; - } - } - else if (localStatus == CommandManager.CommandManagerStatus.Timeout) - { - status = CommandStatus.CommunicationLostWithServer; - } - - return status; - } - /// /// Power off robot /// @@ -427,7 +471,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotPowerOff), + CreateCommand(DestijlCommandList.ROBOT_POWEROFF), out answer, 0); @@ -444,7 +488,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamOpen), + CreateCommand(DestijlCommandList.CAMERA_OPEN), out answer, this.timeout); @@ -461,7 +505,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamClose), + CreateCommand(DestijlCommandList.CAMERA_CLOSE), out answer, 0); @@ -478,7 +522,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamAskArena), + CreateCommand(DestijlCommandList.CAMERA_ARENA_ASK), out answer, 0); @@ -495,7 +539,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamArenaConfirm), + CreateCommand(DestijlCommandList.CAMERA_ARENA_CONFIRM), out answer, 0); @@ -512,7 +556,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamInfirm), + CreateCommand(DestijlCommandList.CAMERA_ARENA_INFIRM), out answer, 0); @@ -529,7 +573,7 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamComputePosition), + CreateCommand(DestijlCommandList.CAMERA_POSITION_COMPUTE), out answer, 0); @@ -546,11 +590,86 @@ namespace monitor string answer; localStatus = commandManager.SendCommand( - CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamStopComputePosition), + CreateCommand(DestijlCommandList.CAMERA_POSITION_STOP), out answer, 0); return DecodeStatus(localStatus, answer); } + + public static Position DecodePosition(string data) { + Position pos = new Position(); + + pos.robotID = 0; + pos.angle = 0.0; + pos.centre.x = 0.0; + pos.centre.y=0.0; + pos.direction.x = 0.0; + pos.direction.y = 0.0; + + string[] parts = data.Split(';'); + + //for (int i = 0; i < parts.Length; i++) { + // Console.WriteLine(parts[i]); + //} + + NumberFormatInfo provider = new NumberFormatInfo(); + provider.NumberDecimalSeparator = "."; + provider.NumberGroupSeparator = ","; + provider.NumberGroupSizes = new int[] { 3 }; + + if (parts.Length == 6) { + pos.robotID = Convert.ToInt32(parts[0]); + + try + { + pos.angle = Convert.ToDouble(parts[1]); + } catch (FormatException) + { + pos.angle = Convert.ToDouble(parts[1],provider); + } + + try + { + pos.centre.x = Convert.ToDouble(parts[2]); + } catch (FormatException) + { + pos.centre.x = Convert.ToDouble(parts[2], provider); + } + + try + { + pos.centre.y = Convert.ToDouble(parts[3]); + } + catch (FormatException) + { + pos.centre.y = Convert.ToDouble(parts[3], provider); + } + + try + { + pos.direction.x = Convert.ToDouble(parts[4]); + } + catch (FormatException) + { + pos.direction.x = Convert.ToDouble(parts[4], provider); + } + + try + { + pos.direction.y = Convert.ToDouble(parts[5]); + } + catch (FormatException) + { + pos.direction.y = Convert.ToDouble(parts[5], provider); + } + + } else { + // misformatted data, return 0 filled position + Console.WriteLine("Misformated position"); + } + + return pos; + } } } diff --git a/software/monitor/monitor/MonitorUI.cs b/software/monitor/monitor/MonitorUI.cs index d042c15..0835562 100644 --- a/software/monitor/monitor/MonitorUI.cs +++ b/software/monitor/monitor/MonitorUI.cs @@ -23,6 +23,7 @@ using System; using Gtk; using Gdk; +using Cairo; using monitor; @@ -41,6 +42,11 @@ public partial class MainWindow : Gtk.Window /// private Pixbuf drawingareaCameraPixbuf; + /// + /// Position used for displaying position + /// + private DestijlCommandManager.Position position=new DestijlCommandManager.Position(); + /// /// List of availble state for the application /// @@ -200,8 +206,8 @@ public partial class MainWindow : Gtk.Window a.RetVal = true; } - private byte[] imageComplete; - private byte[] imageInProgress; + //private byte[] imageComplete; + //private byte[] imageInProgress; /// /// Callback called when new message is received from server @@ -209,17 +215,20 @@ public partial class MainWindow : Gtk.Window /// Header of message /// Data of message /// Raw buffer corresponding of received message - public void OnCommandReceivedEvent(string header, string data, byte[] buffer) + public void OnCommandReceivedEvent(string header, string data) { - if (buffer==null) + if (header == null) { // we have lost server ChangeState(SystemState.NotConnected); - MessagePopup(MessageType.Error, + Gtk.Application.Invoke(delegate + { + MessagePopup(MessageType.Error, ButtonsType.Ok, "Server lost", "Server is down: disconnecting"); - cmdManager.Close(); + cmdManager.Close(); + }); } // if we have received a valid message @@ -228,75 +237,104 @@ public partial class MainWindow : Gtk.Window #if DEBUG // print message content if (header.Length > 4) - Console.WriteLine("Bad header(" + buffer.Length + ")"); - else - Console.WriteLine("Received header (" + header.Length + "): " + header); + Console.WriteLine("Bad header(" + header.Length + ")"); + //else + // Console.WriteLine("Received header (" + header.Length + "): " + header); //if (header.ToUpper() != DestijlCommandList.HeaderStmImage) //{ // if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data); //} #endif // Image management - if (header == DestijlCommandList.HeaderStmImage) - { - imageComplete = imageInProgress; - imageInProgress = buffer; - } - else - { - if (imageInProgress == null) imageInProgress = buffer; - else - { - Array.Resize(ref imageInProgress, imageInProgress.Length + buffer.Length); - System.Buffer.BlockCopy(buffer, 0, imageInProgress, imageInProgress.Length - buffer.Length, buffer.Length); - } - } + //if (header == DestijlCommandList.CAMERA_IMAGE) + //{ + // imageComplete = imageInProgress; + // //TODO: Decoder le base64 pour recuperer le JPG + // imageInProgress = buffer; + //} + //else + //{ + // if (imageInProgress == null) imageInProgress = buffer; + // else + // { + // Array.Resize(ref imageInProgress, imageInProgress.Length + buffer.Length); + // System.Buffer.BlockCopy(buffer, 0, imageInProgress, imageInProgress.Length - buffer.Length, buffer.Length); + // } + //} // depending on message received (based on header) // launch correponding action - if (header.ToUpper() == DestijlCommandList.HeaderStmBat) + header = header.ToUpper(); + + if (header == DestijlCommandList.ROBOT_BATTERY_LEVEL) { + string batLevel = ""; + switch (data[0]) { case '2': - labelBatteryLevel.Text = "High"; + batLevel = "High"; break; case '1': - labelBatteryLevel.Text = "Low"; + batLevel = "Low"; break; case '0': - labelBatteryLevel.Text = "Empty"; + batLevel = "Empty"; break; default: - labelBatteryLevel.Text = "Invalid value"; + batLevel = "Invalid value"; break; } + + Gtk.Application.Invoke(delegate + { + labelBatteryLevel.Text = batLevel; + }); } - else if (header.ToUpper() == DestijlCommandList.HeaderStmImage) + else if (header == DestijlCommandList.CAMERA_IMAGE) { // if message is an image, convert it to a pixbuf // that can be displayed - if (imageComplete != null) - { - byte[] image = new byte[imageComplete.Length - 4]; - System.Buffer.BlockCopy(imageComplete, 4, image, 0, image.Length); + //if (imageComplete != null) + //{ + //TODO: Decoder le base64 et convertir en JPG + byte[] image = Convert.FromBase64String(data); + //byte[] image = new byte[imageComplete.Length - 4]; + //System.Buffer.BlockCopy(imageComplete, 4, image, 0, image.Length); - imageReceivedCounter++; - try + imageReceivedCounter++; + + try + { + drawingareaCameraPixbuf = new Pixbuf(image); + + Gtk.Application.Invoke(delegate { - drawingareaCameraPixbuf = new Pixbuf(image); drawingAreaCamera.QueueDraw(); - } - catch (GLib.GException) - { - badImageReceivedCounter++; -#if DEBUG - Console.WriteLine("Bad Image: " + badImageReceivedCounter + - " / " + imageReceivedCounter + - " (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)"); -#endif - } + }); } + catch (GLib.GException) + { + badImageReceivedCounter++; +#if DEBUG + Console.WriteLine("Bad Image: " + badImageReceivedCounter + + " / " + imageReceivedCounter + + " (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)"); +#endif + } + //} + } + else if (header == DestijlCommandList.CAMERA_POSITION) + { + //Console.WriteLine("Pos data: " + data); + + position = DestijlCommandManager.DecodePosition(data); + //Console.WriteLine("decoded position: " + position.ToString()); + + Gtk.Application.Invoke(delegate + { + drawingAreaCamera.QueueDraw(); + }); } } } @@ -417,10 +455,10 @@ public partial class MainWindow : Gtk.Window DestijlCommandManager.CommandStatus status; //if robot is not activated - if (buttonRobotActivation.Label == "Activate") + if (buttonRobotActivation.Label == "Activate") { // if a startup with watchdog is requested - if (radioButtonWithWatchdog.Active) + if (radioButtonWithWatchdog.Active) { status = cmdManager.RobotStartWithWatchdog(); } @@ -557,9 +595,7 @@ public partial class MainWindow : Gtk.Window { if (cmdManager.CameraClose() != DestijlCommandManager.CommandStatus.Success) { - MessagePopup(MessageType.Error, - ButtonsType.Ok, "Error", - "Error when closing camera: bad answer for supervisor or timeout"); + Console.WriteLine("Error when closing camera: bad answer for supervisor or timeout"); } } else // camera is not active, switch it on @@ -569,10 +605,8 @@ public partial class MainWindow : Gtk.Window if (cmdManager.CameraOpen() != DestijlCommandManager.CommandStatus.Success) { - MessagePopup(MessageType.Error, - ButtonsType.Ok, "Error", - "Error when opening camera: bad answer for supervisor or timeout"); - checkButtonCameraOn.Active = false; + Console.WriteLine("Error when opening camera: bad answer for supervisor or timeout"); + //checkButtonCameraOn.Active = false; } } } @@ -589,20 +623,16 @@ public partial class MainWindow : Gtk.Window { if (cmdManager.CameraStopComputePosition() != DestijlCommandManager.CommandStatus.Success) { - MessagePopup(MessageType.Error, - ButtonsType.Ok, "Error", - "Error when stopping position reception: bad answer for supervisor or timeout"); + Console.WriteLine("Error when stopping position reception: bad answer for supervisor or timeout"); } } else // start reception of robot position { if (cmdManager.CameraComputePosition() != DestijlCommandManager.CommandStatus.Success) { - MessagePopup(MessageType.Error, - ButtonsType.Ok, "Error", - "Error when starting getting robot position: bad answer for supervisor or timeout"); + Console.WriteLine("Error when starting getting robot position: bad answer for supervisor or timeout"); - checkButtonRobotPosition.Active = false; + //checkButtonRobotPosition.Active = false; } } } @@ -657,6 +687,47 @@ public partial class MainWindow : Gtk.Window (areaHeight - displayPixbuf.Height) / 2, displayPixbuf.Width, displayPixbuf.Height, RgbDither.Normal, 0, 0); + + if (checkButtonRobotPosition.Active) { + Cairo.Context cr = Gdk.CairoHelper.Create(area.GdkWindow); + Cairo.Color textFontColor = new Cairo.Color(0.8, 0, 0); + + cr.SelectFontFace("Cantarell", FontSlant.Normal, FontWeight.Bold); + cr.SetSourceColor(textFontColor); + cr.SetFontSize(16); + + double space = 0.0; + string text = "Direction (" + position.direction.x.ToString("0.##") + " ; " + position.direction.y.ToString("0.##") +")"; + TextExtents te = cr.TextExtents(text); + cr.MoveTo(areaWidth - te.Width-5, + areaHeight - te.Height -5); + space = te.Height; + cr.ShowText(text); + + text = "Centre (" + position.centre.x.ToString("0.##") + " ; " + position.centre.y.ToString("0.##") + ")"; + te = cr.TextExtents(text); + cr.MoveTo(areaWidth - te.Width - 5, + areaHeight - te.Height - 5 - space-5); + space = space+ te.Height+5; + cr.ShowText(text); + + text = "Angle: " + position.angle.ToString("0.##"); + te = cr.TextExtents(text); + cr.MoveTo(areaWidth - te.Width - 5, + areaHeight - te.Height - 5 - space - 5); + space = space+ te.Height+5; + cr.ShowText(text); + + text = "ID: " + position.robotID; + te = cr.TextExtents(text); + cr.MoveTo(areaWidth - te.Width - 5, + areaHeight - te.Height - 5 - space-5); + + cr.ShowText(text); + + ((IDisposable)cr.GetTarget()).Dispose(); + ((IDisposable)cr).Dispose(); + } } /// diff --git a/software/monitor/monitor/monitor b/software/monitor/monitor/monitor index d65f28ccb20963cd6bfb8e2953b14a070e75a2b9..fe4e2743dfa7e2b83d2925399e2192d89f31c66b 100755 GIT binary patch delta 24038 zcmb_^3w#vix%WG>yR(~3c9Ypnc9W2ha0x64hM=GX5eXqckdTlB5CubkAZY^wvw?z} zI2$i0Dk_dQ#I|ayEv@%Uk?J{Bk8Q2>*Hdl%onE{iJw0mcS3RHos{LBd_kW&uW-mbd z+5S!-&ph|%d7t+>v$IJ*uBBhlZoGQp<>?vgg!A*3P?bWZNr*cXAp(-Q<=DY*tqzwS zQ$!~*o>9c}zJn8@MQ#4z6noxn)2f{9u(^%zreDN#J;ha^dW2o*G64?oGp2om+`UUhT~y&`n4`A4XX zra@q=p)Z0_pYE$^THA)S1ez#NYRrEj8tS3^nXAl{M{!IWsvs*=ESC&}jAw+1a$G~A zd99oCC;0T3XF!V+jB2{pj3IQ~j2MkD9^QMw3K_a`w6oQZv0!|cd&_{N?o z77CoAB?dNhsXl<}D|IpR97MUNE-r;!vwP~w%~i~;kYOBdrMaHD;P7H^<7Gd<>@B6^*s1a$P0P`!x-$WbnY$2F`ZdHK?yP^h?KrZTBl*@I43 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b/software/raspberry/superviseur-robot/.idea/codeStyles/Project.xml deleted file mode 100644 index 30aa626..0000000 --- a/software/raspberry/superviseur-robot/.idea/codeStyles/Project.xml +++ /dev/null @@ -1,29 +0,0 @@ - - - - - - - - - - - - - - \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/.idea/misc.xml b/software/raspberry/superviseur-robot/.idea/misc.xml deleted file mode 100644 index 8822db8..0000000 --- a/software/raspberry/superviseur-robot/.idea/misc.xml +++ /dev/null @@ -1,7 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/.idea/modules.xml b/software/raspberry/superviseur-robot/.idea/modules.xml deleted file mode 100644 index 7a92ef3..0000000 --- a/software/raspberry/superviseur-robot/.idea/modules.xml +++ /dev/null @@ -1,8 +0,0 @@ - - - - - - - - \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/.idea/superviseur-robot.iml b/software/raspberry/superviseur-robot/.idea/superviseur-robot.iml deleted file mode 100644 index f08604b..0000000 --- a/software/raspberry/superviseur-robot/.idea/superviseur-robot.iml +++ /dev/null @@ -1,2 +0,0 @@ - - \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/.idea/vcs.xml b/software/raspberry/superviseur-robot/.idea/vcs.xml deleted file mode 100644 index c2365ab..0000000 --- a/software/raspberry/superviseur-robot/.idea/vcs.xml +++ /dev/null @@ -1,6 +0,0 @@ - - - - - - \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/.idea/workspace.xml b/software/raspberry/superviseur-robot/.idea/workspace.xml deleted file mode 100644 index 2579f0f..0000000 --- a/software/raspberry/superviseur-robot/.idea/workspace.xml +++ /dev/null @@ -1,864 +0,0 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - true - DEFINITION_ORDER - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - -

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zKFvQ#KL$Q7|0y%czU6Oyp_x;+z95-yQ^r{Tu=g6B>yRw?{wMw*`JecMyN z6q$qhDH@}E2. + */ + +#include "camera.h" +#include "img.h" + +using namespace cv; + +void Camera::setSize(int size) { + this->size = size; + switch (size){ + case xs: + this->width = 480; + this->height = 360; + break; + case sm: + this->width = 640; + this->height = 480; + break; + case md: + this->width = 1024; + this->height = 768; + break; + case lg: + this->width = 1280; + this->height = 960; + break; + default: + this->width = 480; + this->height = 360; + + } +} + + +int Camera::open_camera() { + this->cap.open(0); +} + +Camera::Camera(int size) { + this->setSize(size); + this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3); + this->cap.set(CV_CAP_PROP_FRAME_WIDTH,width); + this->cap.set(CV_CAP_PROP_FRAME_HEIGHT,height); +} + +int Camera::close_camera() { + cap.release(); + return 0; +} + +Img Camera::grab_image() { + ImageMat frame; + cap >> frame; + Img capture = Img(frame); + return capture; +} + + +bool Camera::isOpen() { + return cap.isOpened(); +} + +int Camera::getWidth() const { + return width; +} + +int Camera::getHeight() const { + return height; +} + + diff --git a/software/raspberry/superviseur-robot/lib/camera.h b/software/raspberry/superviseur-robot/lib/camera.h new file mode 100644 index 0000000..3857657 --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/camera.h @@ -0,0 +1,52 @@ +/* + * 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 . + */ + +#ifndef __CAMERA_H__ +#define __CAMERA_H__ + +#include +#include + +#include "img.h" + +enum captureSize {xs, sm, md, lg}; + +class Camera { +public: + + Camera(int size); + + int open_camera(); + + int getWidth() const; + + int getHeight() const; + + bool isOpen(); + void setSize(int size); + + int close_camera(); + Img grab_image(); + +private: + cv::VideoCapture cap; + int size = sm; + int width; + int height; +}; + +#endif //__CAMERA_H__ diff --git a/software/raspberry/superviseur-robot/lib/comgui.cpp b/software/raspberry/superviseur-robot/lib/comgui.cpp new file mode 100644 index 0000000..0ad3141 --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/comgui.cpp @@ -0,0 +1,189 @@ +/* + * 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 . + */ + +#include "comgui.h" +#include +#include + +#include +#include +#include +#include + +#include +#include +#include + +/* + * Constants used for sending commands to gui + */ +const string LABEL_GUI_ANGULAR_POSITION = "AngularPosition"; +const string LABEL_GUI_ANGULAR_SPEED = "AngularSpeed"; +const string LABEL_GUI_BATTERY_LEVEL = "Battery"; +const string LABEL_GUI_LINEAR_SPEED = "LinearSpeed"; +const string LABEL_GUI_USER_PRESENCE = "User"; +const string LABEL_GUI_BETA_ANGLE = "Beta"; +const string LABEL_GUI_TORQUE = "Torque"; +const string LABEL_GUI_EMERGENCY_STOP = "Emergency"; +const string LABEL_GUI_LOG = "Log"; + +/** + * Create a server and open a socket over TCP + * + * @param port Port used for communication + * @return Socket number + * @throw std::runtime_error if it fails + */ +int ComGui::Open(int port) { + struct sockaddr_in server; + + socketFD = socket(AF_INET, SOCK_STREAM, 0); + if (socketFD < 0) { + throw std::runtime_error{"ComGui::Open : Can not create socket"}; + } + + server.sin_addr.s_addr = INADDR_ANY; + server.sin_family = AF_INET; + server.sin_port = htons(port); + + if (bind(socketFD, (struct sockaddr *) &server, sizeof (server)) < 0) { + throw std::runtime_error{"ComGui::Open : Can not bind socket on port " + std::to_string(port)}; + } + + listen(socketFD, 1); + + return socketFD; +} + +/** + * Close socket and server + */ +void ComGui::Close() { + close(socketFD); + + socketFD = -1; +} + +/** + * Wait for a client to connect + * @return Client number + * @throw std::runtime_error if it fails + */ +int ComGui::AcceptClient() { + struct sockaddr_in client; + int c = sizeof (struct sockaddr_in); + + clientID = accept(socketFD, (struct sockaddr *) &client, (socklen_t*) & c); + + if (clientID < 0) + throw std::runtime_error { + "ComGui::AcceptClient : Accept failed" + }; + + return clientID; +} + +/** + * Send a message to GUI + * + * @param msg Message to send to GUI + * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that. + * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously + */ +void ComGui::Write(Message* msg) { + string *str; + + // Call user method before Write + Write_Pre(); + + /* Convert message to string to send to GUI */ + str = MessageToString(msg); + + //cout << "Message sent to GUI: " << str->c_str() << endl; + write(clientID, str->c_str(), str->length()); + + delete(str); + + // Call user method after write + Write_Post(); +} + +/** + * Method used internally to convert a message content to a string that can be sent over TCP + * @param msg Message to be converted + * @return A string, image of the message + */ +string *ComGui::MessageToString(Message *msg) { + int id; + string *str; + + if (msg != NULL) { + id = msg->GetID(); + + switch (id) { + case MESSAGE_ANGLE_POSITION: + str = new string(LABEL_GUI_ANGULAR_POSITION + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); + replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . + break; + case MESSAGE_ANGULAR_SPEED: + str = new string(LABEL_GUI_ANGULAR_SPEED + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); + replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . + break; + case MESSAGE_BATTERY: + str = new string(LABEL_GUI_BATTERY_LEVEL + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); + replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . + break; + case MESSAGE_BETA: + str = new string(LABEL_GUI_BETA_ANGLE + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); + replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . + break; + case MESSAGE_LINEAR_SPEED: + str = new string(LABEL_GUI_LINEAR_SPEED + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); + replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . + break; + case MESSAGE_TORQUE: + str = new string(LABEL_GUI_TORQUE + "=" + to_string(((MessageFloat*) msg)->GetValue()) + "\n"); + replace(str->begin(), str->end(), '.', ','); // Mono C# require float to have a , instead of a . + break; + case MESSAGE_EMERGENCY_STOP: + str = new string(LABEL_GUI_EMERGENCY_STOP + "="); + if (((MessageBool*) msg)->GetState()) + str->append("True\n"); + else + str->append("False\n"); + break; + case MESSAGE_USER_PRESENCE: + str = new string(LABEL_GUI_USER_PRESENCE + "="); + if (((MessageBool*) msg)->GetState()) + str->append("True\n"); + else + str->append("False\n"); + break; + case MESSAGE_EMPTY: + str = new string(""); //empty string + break; + case MESSAGE_LOG: + str = new string(LABEL_GUI_LOG + "=" + ((MessageString*) msg)->GetString() + "\n"); + break; + default: + str = new string(""); //empty string + break; + } + } + + return str; +} diff --git a/software/raspberry/superviseur-robot/lib/comgui.h b/software/raspberry/superviseur-robot/lib/comgui.h new file mode 100644 index 0000000..351a0d7 --- /dev/null +++ b/software/raspberry/superviseur-robot/lib/comgui.h @@ -0,0 +1,104 @@ + /* + * 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 . + */ + +#ifndef __COMGUI_H__ +#define __COMGUI_H__ + +#include "messages.h" +#include + +using namespace std; + +/** + * Class used for generating a server and communicating through it with GUI + * + * @brief Communication class with GUI (server) + * + */ +class ComGui { +public: + /** + * Constructor + */ + ComGui() {} + + /** + * Destructor + */ + virtual ~ComGui() {} + + /** + * Create a server and open a socket over TCP + * + * @param port Port used for communication + * @return Socket number + * @throw std::runtime_error if it fails + */ + int Open(int port); + + /** + * Close socket and server + */ + void Close(); + + /** + * Wait for a client to connect + * @return Client number + * @throw std::runtime_error if it fails + */ + int AcceptClient(); + + /** + * Send a message to GUI + * + * @param msg Message to send to GUI + * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that. + * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously + */ + void Write(Message* msg); + + /** + * Function called at beginning of Write method + * Use it to do some synchronization (call of mutex, for example) + */ + virtual void Write_Pre() {} + + /** + * Function called at end of Write method + * Use it to do some synchronization (release of mutex, for example) + */ + virtual void Write_Post() {} +protected: + /** + * Socket descriptor + */ + int socketFD = -1; + + /** + * Socket descriptor + */ + int clientID = -1; + + /** + * Method used internally to convert a message content to a string that can be sent over TCP + * @param msg Message to be converted + * @return A string, image of the message + */ + string *MessageToString(Message *msg); +}; + +#endif /* __COMGUI_H__ */ diff --git a/software/raspberry/superviseur-robot/lib/doc/html/annotated.html b/software/raspberry/superviseur-robot/lib/doc/html/annotated.html deleted file mode 100644 index b29162e..0000000 --- a/software/raspberry/superviseur-robot/lib/doc/html/annotated.html +++ /dev/null @@ -1,108 +0,0 @@ - - - - - - - -Bibliotheques TP RT: Class List - - - - - - - - - - - - - - -