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demonstrateur pour les JPO2019

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This commit is contained in:
Sébastien DI MERCURIO 2019-01-23 13:49:19 +01:00
parent 37b9477567
commit 9a7132e922
17 changed files with 1222 additions and 10 deletions
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19
software/install-opencv.sh
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@ -20,7 +20,8 @@
OPENCV_VERSION='3.4.2'
mkdir opencv
cd opencv
# 1. KEEP UBUNTU OR DEBIAN UP TO DATE
sudo apt-get -y update
@ -82,6 +83,22 @@ make -j5
sudo make install
sudo ldconfig
# 4. Compile raspicam
cd ~
cd opencv
wget https://sourceforge.net/projects/raspicam/files/latest/raspicam.zip
unzip raspicam.zip
cd raspicam-0.1.6
mkdir build
cd build
cmake ..
make -j5
sudo make install
sudo ldconfig
# 4. EXECUTE SOME OPENCV EXAMPLES AND COMPILE A DEMONSTRATION

1
software/raspberry/superviseur-robot/main.cpp
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@ -29,6 +29,7 @@
int main(int argc, char **argv) {
Tasks tasks;
//Lock the memory to avoid memory swapping for this program
mlockall(MCL_CURRENT | MCL_FUTURE);

6
software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk
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@ -42,7 +42,7 @@ OBJECTFILES= \
${OBJECTDIR}/lib/img.o \
${OBJECTDIR}/lib/messages.o \
${OBJECTDIR}/main.o \
${OBJECTDIR}/tasks.o
${OBJECTDIR}/tasks_pthread.o
# C Compiler Flags
@ -104,10 +104,10 @@ ${OBJECTDIR}/main.o: main.cpp
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
${OBJECTDIR}/tasks.o: tasks.cpp
${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
# Subprojects
.build-subprojects:

125
software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk Normal file
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@ -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=JPO2019_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/base64/base64.o \
${OBJECTDIR}/lib/camera.o \
${OBJECTDIR}/lib/commonitor.o \
${OBJECTDIR}/lib/comrobot.o \
${OBJECTDIR}/lib/img.o \
${OBJECTDIR}/lib/messages.o \
${OBJECTDIR}/main.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 -Wno-pmf-conversions -std=gnu++11
CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
# 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 -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -lpthread -lrt
${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
${MKDIR} -p ${OBJECTDIR}/lib/base64
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
${OBJECTDIR}/lib/camera.o: lib/camera.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
${OBJECTDIR}/lib/img.o: lib/img.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
${OBJECTDIR}/lib/messages.o: lib/messages.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.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

2
software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk
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@ -31,7 +31,7 @@ DEFAULTCONF=Debug__PC_
CONF=${DEFAULTCONF}
# All Configurations
ALLCONFS=Debug__PC_ Debug__RPI_
ALLCONFS=Debug__PC_ Debug__RPI_ JPO2019_RPI_
# build

8
software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk
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@ -22,6 +22,14 @@ 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
# JPO2019_RPI_ configuration
CND_PLATFORM_JPO2019_RPI_=GNU-Linux
CND_ARTIFACT_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux
CND_ARTIFACT_NAME_JPO2019_RPI_=superviseur-robot
CND_ARTIFACT_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/superviseur-robot
CND_PACKAGE_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package
CND_PACKAGE_NAME_JPO2019_RPI_=superviseur-robot.tar
CND_PACKAGE_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package/superviseur-robot.tar
#
# include compiler specific variables
#

76
software/raspberry/superviseur-robot/nbproject/Package-JPO2019_RPI_.bash Normal file
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@ -0,0 +1,76 @@
#!/bin/bash -x
#
# Generated - do not edit!
#
# Macros
TOP=`pwd`
CND_PLATFORM=GNU-Linux
CND_CONF=JPO2019_RPI_
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}

83
software/raspberry/superviseur-robot/nbproject/configurations.xml
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@ -11,6 +11,7 @@
<itemPath>./lib/img.h</itemPath>
<itemPath>./lib/messages.h</itemPath>
<itemPath>./tasks.h</itemPath>
<itemPath>./tasks_pthread.h</itemPath>
</logicalFolder>
<logicalFolder name="ResourceFiles"
displayName="Resource Files"
@ -28,6 +29,7 @@
<itemPath>./main.cpp</itemPath>
<itemPath>./lib/messages.cpp</itemPath>
<itemPath>./tasks.cpp</itemPath>
<itemPath>./tasks_pthread.cpp</itemPath>
</logicalFolder>
<logicalFolder name="TestFiles"
displayName="Test Files"
@ -113,6 +115,8 @@
</item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
</item>
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
@ -180,10 +184,87 @@
</item>
<item path="./main.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./tasks.cpp" ex="false" tool="1" flavor2="0">
<item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./tasks_pthread.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
</item>
</conf>
<conf name="JPO2019_RPI_" type="1">
<toolsSet>
<compilerSet>GNU|GNU</compilerSet>
<dependencyChecking>true</dependencyChecking>
<rebuildPropChanged>false</rebuildPropChanged>
</toolsSet>
<compileType>
<cTool>
<incDir>
<pElem>./</pElem>
<pElem>./lib</pElem>
<pElem>/usr/xenomai/include</pElem>
<pElem>/usr/xenomai/include/mercury</pElem>
</incDir>
<commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy</commandLine>
</cTool>
<ccTool>
<standard>8</standard>
<incDir>
<pElem>./</pElem>
<pElem>./lib</pElem>
</incDir>
<commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11</commandLine>
<preprocessorList>
<Elem>_WITH_TRACE_</Elem>
<Elem>__WITH_ARUCO__</Elem>
<Elem>__WITH_PTHREAD__</Elem>
</preprocessorList>
</ccTool>
<linkerTool>
<linkerLibItems>
<linkerOptionItem>`pkg-config --libs opencv`</linkerOptionItem>
<linkerLibLibItem>raspicam_cv</linkerLibLibItem>
<linkerLibLibItem>raspicam</linkerLibLibItem>
</linkerLibItems>
<commandLine>-Wl,--no-as-needed -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -lpthread -lrt</commandLine>
</linkerTool>
</compileType>
<item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/base64/base64.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/base64/base64.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/camera.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/camera.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/commonitor.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/commonitor.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/comrobot.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/comrobot.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/img.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/img.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/messages.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/messages.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./main.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./tasks.cpp" ex="true" tool="1" flavor2="8">
</item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./tasks_pthread.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
</item>
</conf>
</confs>
</configurationDescriptor>

1
software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk
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@ -5,3 +5,4 @@
#
# Debug__PC_ configuration
# Debug__RPI_ configuration
# JPO2019_RPI_ configuration

35
software/raspberry/superviseur-robot/nbproject/private/configurations.xml
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@ -41,7 +41,40 @@
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
<developmentServer>pi@10.105.1.13:22</developmentServer>
<developmentServer>pi@10.105.1.11:22</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">
<gdb_pathmaps>
</gdb_pathmaps>
<gdb_interceptlist>
<gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
</gdb_interceptlist>
<gdb_options>
<DebugOptions>
</DebugOptions>
</gdb_options>
<gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
</dbx_gdbdebugger>
<nativedebugger version="1">
<engine>gdb</engine>
</nativedebugger>
<runprofile version="9">
<runcommandpicklist>
<runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
</runcommandpicklist>
<runcommand>"${OUTPUT_PATH}"</runcommand>
<rundir></rundir>
<buildfirst>true</buildfirst>
<terminal-type>0</terminal-type>
<remove-instrumentation>0</remove-instrumentation>
<environment>
</environment>
</runprofile>
</conf>
<conf name="JPO2019_RPI_" type="1">
<toolsSet>
<developmentServer>pi@10.105.1.11:22</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">

0
software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.11-pi-22 Normal file
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5
software/raspberry/superviseur-robot/nbproject/private/private.xml
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@ -2,18 +2,19 @@
<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
<data xmlns="http://www.netbeans.org/ns/make-project-private/1">
<activeConfTypeElem>1</activeConfTypeElem>
<activeConfIndexElem>0</activeConfIndexElem>
<activeConfIndexElem>2</activeConfIndexElem>
</data>
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h</file>
</group>
</open-files>

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software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.11-pi-22 Normal file
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#Wed Jan 23 10:36:49 CET 2019
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_position__coll__graph.md5=c1547564861000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1547735186000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_4.js=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_1.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_8.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/searchdata.js=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message__inherit__graph.png=c1547564949000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message__inherit__graph.md5=c1547564949000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__coll__graph.md5=c1547560339000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1542120848000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/nomatches.html=c1547565563000
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VERSION=1.3
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4
software/raspberry/superviseur-robot/nbproject/project.xml
View file

@ -21,6 +21,10 @@
<name>Debug__RPI_</name>
<type>1</type>
</confElem>
<confElem>
<name>JPO2019_RPI_</name>
<type>1</type>
</confElem>
</confList>
<formatting>
<project-formatting-style>false</project-formatting-style>

2
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -212,7 +212,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
msgSend = new Message(MESSAGE_ANSWER_ACK);
isActive = true;
delete(msgRcv); // mus be deleted manually, no consumer
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {

305
software/raspberry/superviseur-robot/tasks_pthread.cpp Normal file
View file

@ -0,0 +1,305 @@
/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "tasks_pthread.h"
#include <time.h>
#ifdef __WITH_PTHREAD__
// Déclaration des priorités des taches
#define PRIORITY_TSERVER 30
#define PRIORITY_TOPENCOMROBOT 20
#define PRIORITY_TMOVE 10
#define PRIORITY_TSENDTOMON 25
#define PRIORITY_TRECEIVEFROMMON 22
#define PRIORITY_TSTARTROBOT 20
/*
* Some remarks:
* 1- This program is mostly a template. It shows you how to create tasks, semaphore
* message queues, mutex ... and how to use them
*
* 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
*
* 3- Data flow is probably not optimal
*
* 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
* time for internal buffer to flush
*
* 5- Same behavior existe for ComMonitor::Write !
*
* 6- When you want to write something in terminal, use cout and terminate with endl and flush
*
* 7- Good luck !
*/
void Tasks::Init() {
int status;
/* Open com port with STM32 */
cout << "Open serial com (";
status = robot.Open();
cout << status;
cout << ")" << endl;
if (status >= 0) {
// Open server
status = monitor.Open(SERVER_PORT);
cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
if (status < 0) throw std::runtime_error {
"Unable to start server on port " + std::to_string(SERVER_PORT)
};
} else
throw std::runtime_error {
"Unable to open serial port /dev/ttyS0 "
};
}
void Tasks::Run() {
threadTimer = new thread((void (*)(void*)) & Tasks::TimerTask, this);
threadServer = new thread((void (*)(void*)) & Tasks::ServerTask, this);
cout << "Tasks launched" << endl << flush;
}
void Tasks::Stop() {
monitor.Close();
robot.Close();
}
void Tasks::ServerTask(void *arg) {
Message *msgRcv;
Message *msgSend;
bool isActive = true;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
while (isActive) {
msgRcv = NULL;
msgSend = NULL;
msgRcv = monitor.Read();
cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
msgSend = new Message(MESSAGE_ANSWER_ACK);
isActive = true;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
msgSend = new Message(MESSAGE_ANSWER_ACK);
cout << "isActive = false!" << msgRcv->ToString() << endl << flush;
isActive = false;
delete(msgRcv); // mus be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
msgSend = robot.Write(msgRcv);
cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
}
if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
msgSend = robot.Write(msgRcv);
cout << "Start without wd answer: " << msgSend->ToString() << endl << flush;
}
if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
msgSend = robot.Write(msgRcv);
cout << "Reset answer: " << msgSend->ToString() << endl << flush;
}
if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
msgSend = robot.Write(msgRcv);
cout << "Movement answer: " << msgSend->ToString() << endl << flush;
if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
delete (msgSend);
msgSend = NULL;
}
}
if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
sendImage = true;
msgSend = new Message(MESSAGE_ANSWER_ACK);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
sendImage = false;
msgSend = new Message(MESSAGE_ANSWER_ACK);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
sendPosition = true;
msgSend = new Message(MESSAGE_ANSWER_ACK);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
sendPosition = false;
msgSend = new Message(MESSAGE_ANSWER_ACK);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
showArena = true;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
showArena = false;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
showArena = false;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgSend != NULL) monitor.Write(msgSend);
}
}
void Tasks::TimerTask(void* arg) {
struct timespec tim, tim2;
Message *msgSend;
int counter;
int cntFrame = 0;
Position pos;
Arena arena;
int counter_img;
tim.tv_sec = 0;
tim.tv_nsec = 50000000; // 50ms (20fps)
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
Camera camera = Camera(sm, 15);
cout << "Try opening camera" << endl << flush;
if (camera.Open()) cout << "Camera opened successfully" << endl << flush;
else {
cout << "Failed to open camera" << endl << flush;
exit(0);
}
pos.angle = 0.0;
pos.robotId = -1;
pos.center = cv::Point2f(0, 0);
pos.direction = cv::Point2f(0, 0);
counter_img = 0;
while (1) {
Img image = camera.Grab(); // 15fps
cntFrame++;
cout << "cnt: " << to_string(cntFrame) << endl << flush;
if (sendPosition == true) {
counter++;
if (counter >= 5) { // div =15
counter = 0;
//if (!arena.IsEmpty()) {
image.dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3));
std::list<Position> poses = image.SearchRobot(arena);
cout << "Nbr of pos detected: " << to_string(poses.size()) << endl << flush;
if (poses.size() > 0) {
Position firstPos = poses.front();
pos.angle = firstPos.angle;
pos.robotId = firstPos.robotId;
pos.center = firstPos.center;
pos.direction = firstPos.direction;
} else {
// Nothing found
pos.angle = 0.0;
pos.robotId = -1;
pos.center = cv::Point2f(0, 0);
pos.direction = cv::Point2f(0, 0);
}
MessagePosition *msgp = new MessagePosition(MESSAGE_CAM_POSITION, pos);
monitor.Write(msgp);
cout << "Position sent" << endl << flush;
}
}
if (sendImage == true) {
counter_img++;
if (counter_img >= 1) {
counter_img = 0;
if (showArena) {
arena = image.SearchArena();
if (!arena.IsEmpty()) image.DrawArena(arena);
else cout << "Arena not found" << endl << flush;
}
if (sendPosition == true) {
image.DrawRobot(pos);
}
if (!arena.IsEmpty()) image.DrawArena(arena);
MessageImg *msg = new MessageImg(MESSAGE_CAM_IMAGE, &image);
monitor.Write(msg);
cout << "Image sent" << endl << flush;
}
}
}
}
void Tasks::SendToMonTask(void* arg) {
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
while (1) {
}
}
#endif //__WITH_PTHREAD__

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