projet init
This commit is contained in:
pehladik
parent
8b283de4db
commit
c38909f5cc
8 changed files with 341 additions and 306 deletions
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@ -46,8 +46,6 @@
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<Reference Include="pango-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
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<Reference Include="atk-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
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<Reference Include="glade-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
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<Reference Include="pango-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
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<Reference Include="atk-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
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</ItemGroup>
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<ItemGroup>
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<EmbeddedResource Include="gtk-gui\gui.stetic">
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@ -178,10 +178,16 @@ Message *ComMonitor::Read() {
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if (clientID > 0) {
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while (!endReception) {
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if ((length = recv(clientID, (void*) &data, 1, MSG_WAITALL)) > 0) {
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//cout << "length = " << to_string(length) << endl << flush;
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if (data != '\n') {
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s += data;
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} else endReception = true;
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}
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else {
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endReception = true;
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}
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//cout << "2- length = " << to_string(length) << endl << flush;
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}
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if (length <= 0) msg = new Message(MESSAGE_MONITOR_LOST);
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@ -37,13 +37,15 @@ int main(int argc, char **argv) {
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cout<<"#################################"<<endl;
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tasks.Init();
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tasks.Run();
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tasks.Join();
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if (tasks.AcceptClient()) {
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/*if (tasks.AcceptClient()) {
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cout << "Rock'n'Roll baby, client accepted!"<<endl<<flush;
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tasks.Run();
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tasks.Join();
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}
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}*/
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tasks.Stop();
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@ -2,19 +2,17 @@
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<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
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<data xmlns="http://www.netbeans.org/ns/make-project-private/1">
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<activeConfTypeElem>1</activeConfTypeElem>
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<activeConfIndexElem>0</activeConfIndexElem>
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<activeConfIndexElem>1</activeConfIndexElem>
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</data>
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<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
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<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
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<group>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/main.cpp</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
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<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
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</group>
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</open-files>
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</project-private>
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@ -1,4 +1,4 @@
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#Thu Jan 17 13:32:55 CET 2019
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#Fri Feb 08 17:01:19 CET 2019
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_0.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_3.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h_source.html=c1547565563000
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@ -19,6 +19,7 @@
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/nomatches.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string-members.html=c1547565563000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1548424346000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.map=c1547564949000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__dep__incl.md5=c1547560339000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp=c1542105130000
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@ -35,15 +36,18 @@
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1542120848000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_d.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_b.html=c1547565563000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/uiExample.cpp=c1548953827000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug__RPI_.mk=c1542104029000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_4.md5=c1547563913000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/.dep.inc=c1547717148000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_3.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/navtreedata.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__coll__graph.map=c1547560340000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1548424346000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_7.js=c1547565563000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/rtvideoExample.cpp=c1548953827000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.cpp=c1544778298000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherits.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/CMakeLists.txt=c1542120848000
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@ -74,6 +78,7 @@
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/files.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_1.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__dep__incl.pdf=c1547560339000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/.gitignore=c1548424346000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/private/Makefile-variables.mk=c1542029322000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_13.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_1.html=c1547565563000
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@ -111,6 +116,7 @@
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message__inherit__graph.pdf=c1547564949000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_0.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_position__inherit__graph.pdf=c1547560340000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1548424346000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_a.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_c.html=c1547565563000
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@ -120,9 +126,13 @@
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1547728285000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/nav_g.png=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_2.html=c1547565563000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1549622533000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_9.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1547728293000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/img.h=c1548424346000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int-members.html=c1547565563000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1548424346000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serialTest.cpp=c1548953827000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/camera_8h__incl.md5=c1547560339000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img-members.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_0.html=c1547565563000
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@ -131,6 +141,7 @@
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__inherit__graph.map=c1547560340000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_8.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_img__coll__graph.md5=c1547563913000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1548953827000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_2.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message__inherit__graph.md5=c1547564949000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_2.map=c1547560340000
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@ -155,13 +166,16 @@
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/nav_f.png=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/.gitignore=c1547565649000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/CMakeLists.txt=c1548953827000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_2.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h__dep__incl.md5=c1547560339000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_img__inherit__graph.md5=c1547560339000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_string__coll__graph.md5=c1547560339000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_14.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/close.png=c1547565563000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1548424347000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_1.html=c1547565563000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1548424346000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message__inherit__graph.map=c1547564949000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1518398687000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_6.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h=c1544778298000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/img_8h__dep__incl.pdf=c1547560339000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1548953827000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h=c1544797217000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug.bash=c1544780526000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk=c1542104029000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h=c1549641678000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/Makefile=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_4.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/.gitignore=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_b.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug__RPI_.bash=c1542029322000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1548424346000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__incl.md5=c1547560339000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_1.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_0.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena-members.html=c1547565563000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1548953827000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash=c1541685829000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_f.js=c1547565563000
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/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1548424347000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/.gitignore=c1542120848000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot-members.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/.gitignore=c1542120848000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.map=c1547560339000
|
||||
/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1548424346000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__dep__incl.md5=c1547560339000
|
||||
/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/Makefile=c1548424346000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/doxygen.css=c1547565563000
|
||||
/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1548424346000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_b.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_6.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/struct_position.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/videoExample.cpp=c1542120848000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__inherit__graph.png=c1547560339000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_12.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_img.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/bc_s.png=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_img.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_12.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.map=c1547564862000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/README.md=c1541685829000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_2.png=c1547560340000
|
||||
/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1548424346000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_2.html=c1547565563000
|
||||
VERSION=1.3
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/robot-icon.resized.png=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs=c1547722800000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h=c1544778298000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile=c1542100687000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h=c1544778298000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000
|
||||
|
|
|
|||
|
|
@ -21,7 +21,7 @@
|
|||
// Déclaration des priorités des taches
|
||||
#define PRIORITY_TSERVER 30
|
||||
#define PRIORITY_TOPENCOMROBOT 20
|
||||
#define PRIORITY_TMOVE 10
|
||||
#define PRIORITY_TMOVE 20
|
||||
#define PRIORITY_TSENDTOMON 22
|
||||
#define PRIORITY_TRECEIVEFROMMON 25
|
||||
#define PRIORITY_TSTARTROBOT 20
|
||||
|
|
@ -57,6 +57,14 @@ void Tasks::Init() {
|
|||
/**************************************************************************************/
|
||||
/* Mutex creation */
|
||||
/**************************************************************************************/
|
||||
if (err = rt_mutex_create(&mutex_monitor, NULL)) {
|
||||
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
if (err = rt_mutex_create(&mutex_robot, NULL)) {
|
||||
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
|
||||
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
|
|
@ -95,11 +103,11 @@ void Tasks::Init() {
|
|||
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
|
||||
if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
|
||||
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
|
||||
if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
|
||||
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
|
@ -115,10 +123,6 @@ void Tasks::Init() {
|
|||
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) {
|
||||
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
cout << "Tasks created successfully" << endl << flush;
|
||||
|
||||
/**************************************************************************************/
|
||||
|
|
@ -130,47 +134,39 @@ void Tasks::Init() {
|
|||
}
|
||||
cout << "Queues created successfully" << endl << flush;
|
||||
|
||||
/* 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 "
|
||||
};
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Démarrage des tâches
|
||||
*/
|
||||
void Tasks::Run() {
|
||||
rt_task_set_priority(NULL, T_LOPRIO);
|
||||
int err;
|
||||
|
||||
if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
|
||||
if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
|
||||
cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
if (err = rt_task_start(&th_camera, (void(*)(void*)) & Tasks::CameraTask, this)) {
|
||||
/**/if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
|
||||
cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}/**/
|
||||
/**/if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
|
||||
cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}/**/
|
||||
/**/if (err = rt_task_start(&th_openComRobot, (void(*)(void*)) & Tasks::OpenComRobot, this)) {
|
||||
cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}/**/
|
||||
if (err = rt_task_start(&th_startRobot, (void(*)(void*)) & Tasks::StartRobotTask, this)) {
|
||||
cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
if (err = rt_task_start(&th_move, (void(*)(void*)) & Tasks::MoveTask, this)) {
|
||||
cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
// if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
|
||||
// cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||
// exit(EXIT_FAILURE);
|
||||
// }
|
||||
|
||||
cout << "Tasks launched" << endl << flush;
|
||||
}
|
||||
|
|
@ -186,157 +182,31 @@ void Tasks::Stop() {
|
|||
/**
|
||||
*/
|
||||
void Tasks::Join() {
|
||||
cout << "Tasks synchronized" << endl << flush;
|
||||
rt_sem_broadcast(&sem_barrier);
|
||||
pause();
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Thread handling server communication.
|
||||
* @brief Thread handling server communication with the monitor.
|
||||
*/
|
||||
|
||||
void Tasks::ReceiveFromMonTask(void *arg) {
|
||||
Message *msgRcv;
|
||||
Message *msgSend;
|
||||
bool isActive = true;
|
||||
|
||||
void Tasks::ServerTask(void *arg) {
|
||||
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||
// Synchronization barrier (waiting that all tasks are started)
|
||||
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
|
||||
while (isActive) {
|
||||
msgRcv = NULL;
|
||||
msgSend = NULL;
|
||||
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
|
||||
int status = monitor.Open(SERVER_PORT);
|
||||
rt_mutex_release(&mutex_monitor);
|
||||
|
||||
msgRcv = monitor.Read();
|
||||
cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
|
||||
cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
|
||||
|
||||
if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
|
||||
msgSend = new Message(MESSAGE_ANSWER_ACK);
|
||||
isActive = true;
|
||||
|
||||
delete(msgRcv); // mus 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);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Thread handling periodic image capture.
|
||||
*/
|
||||
void Tasks::CameraTask(void* arg) {
|
||||
struct timespec tim, tim2;
|
||||
Message *msgSend;
|
||||
int counter;
|
||||
int cntFrame = 0;
|
||||
Position pos;
|
||||
Arena arena;
|
||||
|
||||
tim.tv_sec = 0;
|
||||
tim.tv_nsec = 50000000; // 50ms (20fps)
|
||||
|
||||
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||
|
||||
Camera camera = Camera(sm, 20);
|
||||
cout << "Try opening camera" << endl << flush;
|
||||
if (camera.Open()) cout << "Camera opened successfully" << endl << flush;
|
||||
else {
|
||||
cout << "Failed to open camera" << endl << flush;
|
||||
|
||||
exit(0);
|
||||
}
|
||||
|
||||
while (1) {
|
||||
|
||||
}
|
||||
if (status < 0) throw std::runtime_error {
|
||||
"Unable to start server on port " + std::to_string(SERVER_PORT)
|
||||
};
|
||||
monitor.AcceptClient(); // Wait the monitor client
|
||||
cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
|
||||
rt_sem_broadcast(&sem_serverOk);
|
||||
}
|
||||
|
||||
/**
|
||||
|
|
@ -344,9 +214,147 @@ void Tasks::CameraTask(void* arg) {
|
|||
*/
|
||||
void Tasks::SendToMonTask(void* arg) {
|
||||
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||
// Synchronization barrier (waiting that all tasks are starting)
|
||||
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
|
||||
rt_sem_p(&sem_serverOk, TM_INFINITE);
|
||||
|
||||
while (1) {
|
||||
cout << "wait msg to send" << endl << flush;
|
||||
Message *msg = ReadInQueue(&q_messageToMon);
|
||||
cout << "Send msg to mon: " << msg->ToString() << endl << flush;
|
||||
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
|
||||
monitor.Write(msg);
|
||||
rt_mutex_release(&mutex_monitor);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Thread receiving data from monitor.
|
||||
*/
|
||||
void Tasks::ReceiveFromMonTask(void *arg) {
|
||||
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||
// Synchronization barrier (waiting that all tasks are starting)
|
||||
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
|
||||
rt_sem_p(&sem_serverOk, TM_INFINITE);
|
||||
cout << "Received message from monitor activated" << endl << flush;
|
||||
|
||||
while (1) {
|
||||
Message *msgRcv;
|
||||
msgRcv = monitor.Read();
|
||||
cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
|
||||
|
||||
if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
|
||||
delete(msgRcv);
|
||||
exit(-1);
|
||||
} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
|
||||
rt_sem_v(&sem_openComRobot);
|
||||
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
|
||||
rt_sem_v(&sem_startRobot);
|
||||
} else 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)) {
|
||||
|
||||
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
||||
move = msgRcv->GetID();
|
||||
rt_mutex_release(&mutex_move);
|
||||
}
|
||||
delete msgRcv; // mus be deleted manually, no consumer
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Thread opening communication with the robot.
|
||||
*/
|
||||
void Tasks::OpenComRobot(void *arg) {
|
||||
int status;
|
||||
int err;
|
||||
|
||||
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||
// Synchronization barrier (waiting that all tasks are starting)
|
||||
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
|
||||
while (1) {
|
||||
rt_sem_p(&sem_openComRobot, TM_INFINITE);
|
||||
cout << "Open serial com (";
|
||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||
status = robot.Open();
|
||||
rt_mutex_release(&mutex_robot);
|
||||
cout << status;
|
||||
cout << ")" << endl << flush;
|
||||
|
||||
Message * msgSend;
|
||||
if (status < 0) {
|
||||
msgSend = new Message(MESSAGE_ANSWER_NACK);
|
||||
} else {
|
||||
msgSend = new Message(MESSAGE_ANSWER_ACK);
|
||||
}
|
||||
WriteInQueue(&q_messageToMon, msgSend);
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Thread starting the communication with the robot.
|
||||
*/
|
||||
void Tasks::StartRobotTask(void *arg) {
|
||||
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||
// Synchronization barrier (waiting that all tasks are starting)
|
||||
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
|
||||
while (1) {
|
||||
|
||||
Message * msgSend;
|
||||
rt_sem_p(&sem_startRobot, TM_INFINITE);
|
||||
cout << "Start robot without watchdog (";
|
||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||
msgSend = robot.Write(robot.StartWithoutWD());
|
||||
rt_mutex_release(&mutex_robot);
|
||||
cout << msgSend->GetID();
|
||||
cout << ")" << endl;
|
||||
|
||||
cout << "Movement answer: " << msgSend->ToString() << endl << flush;
|
||||
WriteInQueue(&q_messageToMon, msgSend);
|
||||
|
||||
if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
|
||||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||
robotStarted = 1;
|
||||
rt_mutex_release(&mutex_robotStarted);
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief Thread handling control of the robot.
|
||||
*/
|
||||
void Tasks::MoveTask(void *arg) {
|
||||
int rs;
|
||||
int cpMove;
|
||||
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||
// Synchronization barrier (waiting that all tasks are starting)
|
||||
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
rt_task_set_periodic(NULL, TM_NOW, 1000000000);
|
||||
|
||||
while (1) {
|
||||
rt_task_wait_period(NULL);
|
||||
cout << "Periodic movement update";
|
||||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||
rs = robotStarted;
|
||||
rt_mutex_release(&mutex_robotStarted);
|
||||
if (rs == 1) {
|
||||
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
||||
cpMove = move;
|
||||
rt_mutex_release(&mutex_move);
|
||||
|
||||
cout << " move: " << cpMove;
|
||||
|
||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||
robot.Write(new Message((MessageID)cpMove));
|
||||
rt_mutex_release(&mutex_robot);
|
||||
}
|
||||
cout << endl << flush;
|
||||
}
|
||||
}
|
||||
|
||||
|
|
@ -355,10 +363,9 @@ void Tasks::SendToMonTask(void* arg) {
|
|||
* @param queue Queue identifier
|
||||
* @param msg Message to be stored
|
||||
*/
|
||||
void WriteInQueue(RT_QUEUE &queue, Message *msg) {
|
||||
void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
|
||||
int err;
|
||||
|
||||
if ((err = rt_queue_send(&queue, (const void *) msg, sizeof ((const void *) msg), Q_NORMAL)) < 0) {
|
||||
if ((err = rt_queue_write(queue, (const void *) &msg, sizeof ((const void *) &msg), Q_NORMAL)) < 0) {
|
||||
cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
|
||||
throw std::runtime_error{"Error in write in queue"};
|
||||
}
|
||||
|
|
@ -369,14 +376,16 @@ void WriteInQueue(RT_QUEUE &queue, Message *msg) {
|
|||
* @param queue Queue identifier
|
||||
* @return Message read
|
||||
*/
|
||||
Message *ReadInQueue(RT_QUEUE &queue) {
|
||||
Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
|
||||
int err;
|
||||
Message *msg;
|
||||
|
||||
if ((err = rt_queue_read(&queue, (void*) msg, sizeof ((void*) msg), TM_INFINITE)) < 0) {
|
||||
cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
|
||||
throw std::runtime_error{"Error in write in queue"};
|
||||
}
|
||||
if ((err = rt_queue_read(queue, &msg, sizeof ((void*) &msg), TM_INFINITE)) < 0) {
|
||||
cout << "Read in queue failed: " << strerror(-err) << endl << flush;
|
||||
throw std::runtime_error{"Error in read in queue"};
|
||||
}/** else {
|
||||
cout << "@msg :" << msg << endl << flush;
|
||||
} /**/
|
||||
|
||||
return msg;
|
||||
}
|
||||
|
|
|
|||
|
|
@ -58,23 +58,13 @@ public:
|
|||
*/
|
||||
void Join();
|
||||
|
||||
/**
|
||||
*/
|
||||
bool AcceptClient() {
|
||||
return monitor.AcceptClient();
|
||||
}
|
||||
|
||||
|
||||
private:
|
||||
ComMonitor monitor;
|
||||
ComRobot robot;
|
||||
|
||||
bool sendImage=false;
|
||||
bool sendPosition=false;
|
||||
|
||||
int counter;
|
||||
bool flag;
|
||||
|
||||
bool showArena=false;
|
||||
int robotStarted;
|
||||
int move = MESSAGE_ROBOT_STOP;
|
||||
|
||||
RT_TASK th_server;
|
||||
RT_TASK th_sendToMon;
|
||||
|
|
@ -82,8 +72,9 @@ private:
|
|||
RT_TASK th_openComRobot;
|
||||
RT_TASK th_startRobot;
|
||||
RT_TASK th_move;
|
||||
RT_TASK th_camera;
|
||||
|
||||
RT_MUTEX mutex_monitor;
|
||||
RT_MUTEX mutex_robot;
|
||||
RT_MUTEX mutex_robotStarted;
|
||||
RT_MUTEX mutex_move;
|
||||
|
||||
|
|
@ -94,10 +85,6 @@ private:
|
|||
|
||||
RT_QUEUE q_messageToMon;
|
||||
|
||||
int etatCommMoniteur;
|
||||
int robotStarted;
|
||||
char robotMove;
|
||||
|
||||
int MSG_QUEUE_SIZE;
|
||||
|
||||
char mode_start;
|
||||
|
|
@ -117,48 +104,37 @@ private:
|
|||
Message *ReadInQueue(RT_QUEUE *queue);
|
||||
|
||||
/**
|
||||
* @brief Thread handling server communication.
|
||||
* @brief Thread handling server communication with the monitor.
|
||||
*/
|
||||
void ReceiveFromMonTask(void *arg);
|
||||
|
||||
/**
|
||||
* @brief Thread handling periodic image capture.
|
||||
*/
|
||||
void CameraTask(void *arg);
|
||||
void ServerTask(void *arg);
|
||||
|
||||
/**
|
||||
* @brief Thread sending data to monitor.
|
||||
*/
|
||||
void SendToMonTask(void *arg);
|
||||
// /**
|
||||
// * \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);
|
||||
|
||||
/**
|
||||
* @brief Thread receiving data from monitor.
|
||||
*/
|
||||
void ReceiveFromMonTask(void *arg);
|
||||
|
||||
/**
|
||||
* @brief Thread opening communication with the robot.
|
||||
*/
|
||||
void OpenComRobot(void *arg);
|
||||
|
||||
|
||||
/**
|
||||
* @brief Thread starting the communication with the robot.
|
||||
*/
|
||||
void StartRobotTask(void *arg);
|
||||
|
||||
|
||||
/**
|
||||
* @brief Thread handling control of the robot.
|
||||
*/
|
||||
void MoveTask(void *arg);
|
||||
|
||||
};
|
||||
|
||||
#endif // __TASKS_H__
|
||||
|
|
|
|||
Loading…
Reference in a new issue