robot class + serial class ok. Tcp server class seems ok
This commit is contained in:
Sébastien DI MERCURIO
parent
5beb9ad12d
commit
d6c8a54215
58 changed files with 2210 additions and 1720 deletions
16
.vscode/c_cpp_properties.json
vendored
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16
.vscode/c_cpp_properties.json
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@ -0,0 +1,16 @@
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{
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"configurations": [
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{
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"name": "Linux",
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"includePath": [
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"${workspaceFolder}/**"
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],
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"defines": [],
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"compilerPath": "/usr/bin/clang",
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"cStandard": "c11",
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"cppStandard": "c++17",
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"intelliSenseMode": "clang-x64"
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}
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],
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"version": 4
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}
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16
.vscode/tasks.json
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16
.vscode/tasks.json
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@ -0,0 +1,16 @@
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{
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// See https://go.microsoft.com/fwlink/?LinkId=733558
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// for the documentation about the tasks.json format
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"version": "2.0.0",
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"tasks": [
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{
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"taskName": "Compile on raspberry",
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"command": "rsync -az '${file}' 10.105.1.6:~ && ssh server.example.org 'chmod +x ./${fileBasename}; ./${fileBasename}'",
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"type": "shell",
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"group": {
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"kind": "build",
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"isDefault": true
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}
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}
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]
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}
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@ -0,0 +1,7 @@
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cmake_minimum_required(VERSION 3.9)
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project(stress)
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set(CMAKE_CXX_STANDARD 11)
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set(SOURCE_FILES main.cpp ../src/robot.cpp ../src/robot.h)
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add_executable(stress ${SOURCE_FILES})
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@ -1,6 +1,6 @@
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#include <iostream>
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#include "../../src/definitions.h"
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#include "../../src/robot.h"
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#include "../src/definitions.h"
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#include "../src/robot.h"
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#include <ctime>
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#define NB_TEST 50
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@ -19,7 +19,7 @@ int nb_unknown_cmd;
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int flipflop;
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int main() {
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if (open_communication_robot("/dev/ttyUSB0") != 0) {
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if (open_communication_robot() != 0) {
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std::cout << "Unable to open com port" << std::endl;
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return -1;
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145
software/raspberry/superviseur-robot/example/.cproject
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145
software/raspberry/superviseur-robot/example/.cproject
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@ -0,0 +1,145 @@
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<?xml version="1.0" encoding="UTF-8" standalone="no"?>
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<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
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<sourceEntries>
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<entry excluding="monitor.cpp|image.h|image.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="lib"/>
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<entry excluding="Makefile|videoExample.cpp|uiExample.cpp|serialExample.cpp|rtvideoExample.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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||||
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|
||||
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|
||||
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|
||||
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||||
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|
||||
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<configuration configurationName="serialTest">
|
||||
<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
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||||
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|
||||
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||||
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||||
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|
||||
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2
software/raspberry/superviseur-robot/example/.gitignore
vendored
Normal file
2
software/raspberry/superviseur-robot/example/.gitignore
vendored
Normal file
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@ -0,0 +1,2 @@
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/Debug/
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/Server test/
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0
software/raspberry/superviseur-robot/example/.gitignores
Normal file
0
software/raspberry/superviseur-robot/example/.gitignores
Normal file
27
software/raspberry/superviseur-robot/example/.project
Normal file
27
software/raspberry/superviseur-robot/example/.project
Normal file
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@ -0,0 +1,27 @@
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<?xml version="1.0" encoding="UTF-8"?>
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<projectDescription>
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<name>Dumber-Robot-Exemple</name>
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<comment></comment>
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<projects>
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</projects>
|
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<buildSpec>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
|
||||
<triggers>clean,full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
<buildCommand>
|
||||
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
|
||||
<triggers>full,incremental,</triggers>
|
||||
<arguments>
|
||||
</arguments>
|
||||
</buildCommand>
|
||||
</buildSpec>
|
||||
<natures>
|
||||
<nature>org.eclipse.cdt.core.cnature</nature>
|
||||
<nature>org.eclipse.cdt.core.ccnature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
|
||||
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
|
||||
</natures>
|
||||
</projectDescription>
|
||||
|
|
@ -0,0 +1,25 @@
|
|||
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
|
||||
<project>
|
||||
<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" name="serialTest">
|
||||
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
|
||||
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
|
||||
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
|
||||
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
|
||||
<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="205429042390110507" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
||||
<language-scope id="org.eclipse.cdt.core.gcc"/>
|
||||
<language-scope id="org.eclipse.cdt.core.g++"/>
|
||||
</provider>
|
||||
</extension>
|
||||
</configuration>
|
||||
<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" name="Server test">
|
||||
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
|
||||
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
|
||||
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
|
||||
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
|
||||
<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="205429042390110507" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD "${INPUTS}"" prefer-non-shared="true">
|
||||
<language-scope id="org.eclipse.cdt.core.gcc"/>
|
||||
<language-scope id="org.eclipse.cdt.core.g++"/>
|
||||
</provider>
|
||||
</extension>
|
||||
</configuration>
|
||||
</project>
|
||||
1
software/raspberry/superviseur-robot/example/lib
Symbolic link
1
software/raspberry/superviseur-robot/example/lib
Symbolic link
|
|
@ -0,0 +1 @@
|
|||
../src/
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
# Add inputs and outputs from these tool invocations to the build variables
|
||||
CPP_SRCS += \
|
||||
../lib/Robot.cpp \
|
||||
../lib/Serial.cpp \
|
||||
../lib/TcpServer.cpp \
|
||||
../lib/message.cpp
|
||||
|
||||
OBJS += \
|
||||
./lib/Robot.o \
|
||||
./lib/Serial.o \
|
||||
./lib/TcpServer.o \
|
||||
./lib/message.o
|
||||
|
||||
CPP_DEPS += \
|
||||
./lib/Robot.d \
|
||||
./lib/Serial.d \
|
||||
./lib/TcpServer.d \
|
||||
./lib/message.d
|
||||
|
||||
|
||||
# Each subdirectory must supply rules for building sources it contributes
|
||||
lib/%.o: ../lib/%.cpp
|
||||
g++ -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/lib" -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/src" -O0 -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
|
||||
|
||||
|
|
@ -0,0 +1,56 @@
|
|||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
-include ../makefile.init
|
||||
|
||||
RM := rm -rf
|
||||
|
||||
# All of the sources participating in the build are defined here
|
||||
-include sources.mk
|
||||
-include src/subdir.mk
|
||||
-include lib/subdir.mk
|
||||
-include subdir.mk
|
||||
-include objects.mk
|
||||
|
||||
ifneq ($(MAKECMDGOALS),clean)
|
||||
ifneq ($(strip $(CC_DEPS)),)
|
||||
-include $(CC_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(C++_DEPS)),)
|
||||
-include $(C++_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(C_UPPER_DEPS)),)
|
||||
-include $(C_UPPER_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(CXX_DEPS)),)
|
||||
-include $(CXX_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(CPP_DEPS)),)
|
||||
-include $(CPP_DEPS)
|
||||
endif
|
||||
ifneq ($(strip $(C_DEPS)),)
|
||||
-include $(C_DEPS)
|
||||
endif
|
||||
endif
|
||||
|
||||
-include ../makefile.defs
|
||||
|
||||
# Add inputs and outputs from these tool invocations to the build variables
|
||||
|
||||
# All Target
|
||||
all: Dumber-Robot-Exemple
|
||||
|
||||
# Tool invocations
|
||||
Dumber-Robot-Exemple: $(OBJS) $(USER_OBJS)
|
||||
g++ -o "Dumber-Robot-Exemple" $(OBJS) $(USER_OBJS) $(LIBS)
|
||||
|
||||
# Other Targets
|
||||
clean:
|
||||
-$(RM) $(CC_DEPS)$(C++_DEPS)$(EXECUTABLES)$(C_UPPER_DEPS)$(CXX_DEPS)$(OBJS)$(CPP_DEPS)$(C_DEPS) Dumber-Robot-Exemple
|
||||
-@echo ' '
|
||||
|
||||
.PHONY: all clean dependents
|
||||
.SECONDARY:
|
||||
|
||||
-include ../makefile.targets
|
||||
|
|
@ -0,0 +1,8 @@
|
|||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
USER_OBJS :=
|
||||
|
||||
LIBS :=
|
||||
|
||||
|
|
@ -0,0 +1,28 @@
|
|||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
C_UPPER_SRCS :=
|
||||
CXX_SRCS :=
|
||||
C++_SRCS :=
|
||||
OBJ_SRCS :=
|
||||
CC_SRCS :=
|
||||
ASM_SRCS :=
|
||||
CPP_SRCS :=
|
||||
C_SRCS :=
|
||||
O_SRCS :=
|
||||
S_UPPER_SRCS :=
|
||||
CC_DEPS :=
|
||||
C++_DEPS :=
|
||||
EXECUTABLES :=
|
||||
C_UPPER_DEPS :=
|
||||
CXX_DEPS :=
|
||||
OBJS :=
|
||||
CPP_DEPS :=
|
||||
C_DEPS :=
|
||||
|
||||
# Every subdirectory with source files must be described here
|
||||
SUBDIRS := \
|
||||
lib \
|
||||
src \
|
||||
|
||||
|
|
@ -0,0 +1,22 @@
|
|||
################################################################################
|
||||
# Automatically-generated file. Do not edit!
|
||||
################################################################################
|
||||
|
||||
# Add inputs and outputs from these tool invocations to the build variables
|
||||
CPP_SRCS += \
|
||||
../src/serialTest.cpp \
|
||||
../src/serverTest.cpp
|
||||
|
||||
OBJS += \
|
||||
./src/serialTest.o \
|
||||
./src/serverTest.o
|
||||
|
||||
CPP_DEPS += \
|
||||
./src/serialTest.d \
|
||||
./src/serverTest.d
|
||||
|
||||
|
||||
# Each subdirectory must supply rules for building sources it contributes
|
||||
src/%.o: ../src/%.cpp
|
||||
g++ -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/lib" -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/src" -O0 -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
|
||||
|
||||
186
software/raspberry/superviseur-robot/example/src/serialTest.cpp
Normal file
186
software/raspberry/superviseur-robot/example/src/serialTest.cpp
Normal file
|
|
@ -0,0 +1,186 @@
|
|||
/*******************************************************************************
|
||||
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
|
||||
* All rights reserved. This program and the accompanying materials
|
||||
* are made available "AS IS", without any warranty of any kind.
|
||||
*
|
||||
* INSA assumes no responsibility for errors or omissions in the
|
||||
* software or documentation available.
|
||||
*
|
||||
* Part of code Copyright ST Microelectronics.
|
||||
*
|
||||
* Contributors:
|
||||
* Lucien Senaneuch - Initial API and implementation
|
||||
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
|
||||
*******************************************************************************/
|
||||
|
||||
#include <iostream>
|
||||
#include <ctime>
|
||||
#include "Robot.h"
|
||||
#include <unistd.h>
|
||||
|
||||
using namespace std;
|
||||
|
||||
#define NB_TEST 50
|
||||
#define DELAY_BETWEEN_TEST 1000000 // 1 seconde
|
||||
|
||||
int nb_retries;
|
||||
int nb_test;
|
||||
|
||||
int laststatus;
|
||||
int nb_success;
|
||||
int nb_timeout;
|
||||
int nb_unknown_cmd;
|
||||
|
||||
int flipflop;
|
||||
|
||||
int Test(Robot rob) {
|
||||
try {
|
||||
if (flipflop == 0) {
|
||||
rob.Move(100);
|
||||
} else {
|
||||
rob.Move(-100);
|
||||
}
|
||||
} catch (string e) {
|
||||
//if (e.find("Timeout")==string.npos)
|
||||
// status=ROBOT_TIMED_OUT;
|
||||
|
||||
|
||||
}
|
||||
|
||||
return rob.GetLastCommandStatus();;
|
||||
}
|
||||
|
||||
int main() {
|
||||
Robot myRobot;
|
||||
|
||||
if (myRobot.Open("/dev/ttyUSB0") == SUCCESS) { // ouverture de la com avec le robot
|
||||
|
||||
std::cout << "Start robot: ";
|
||||
try {
|
||||
myRobot.StartWithoutWatchdog();
|
||||
} catch ( string e ) {
|
||||
std::cerr << std::endl << e << std::endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
if (myRobot.GetLastCommandStatus()==SUCCESS)
|
||||
std::cout << "Ok" <<std::endl;
|
||||
else {
|
||||
std::cout << " Error: GetLastCommand returns " << myRobot.GetLastCommandStatus() <<std::endl;
|
||||
return 2;
|
||||
}
|
||||
|
||||
std::cout << "Start stress test" << std::endl;
|
||||
time_t t_debut, t_fin;
|
||||
struct tm *tm_debut, *tm_fin;
|
||||
|
||||
time(&t_debut);
|
||||
tm_debut = localtime((const time_t*)&t_debut);
|
||||
std::cout << "[start time]: " << asctime(tm_debut) << std::endl;
|
||||
|
||||
nb_success =0;
|
||||
nb_timeout =0;
|
||||
nb_unknown_cmd =0;
|
||||
flipflop = 0;
|
||||
|
||||
for (nb_test=0; nb_test < NB_TEST; nb_test++) {
|
||||
laststatus=Test(myRobot);
|
||||
|
||||
if (flipflop ==0) flipflop=1;
|
||||
else flipflop =0;
|
||||
|
||||
if (laststatus == SUCCESS) nb_success++;
|
||||
else if (laststatus == TIMEOUT_COMMAND) nb_timeout++;
|
||||
else if ((laststatus == INVALID_ANSWER) || (laststatus == INVALID_COMMAND)) nb_unknown_cmd ++;
|
||||
|
||||
std::cout << "Test " << nb_test << " [s " << nb_success
|
||||
<< ": t " << nb_timeout << ": u " << nb_unknown_cmd
|
||||
<< "]"<< "\x1B" <<"[30D"<<std::flush;
|
||||
|
||||
usleep(DELAY_BETWEEN_TEST);
|
||||
}
|
||||
|
||||
time(&t_fin);
|
||||
tm_fin = localtime((const time_t*)&t_fin);
|
||||
std::cout << std::endl << std::endl << "[end time]: " << asctime(tm_fin) << std::endl;
|
||||
|
||||
std::cout << "Reset robot" <<std::endl;
|
||||
myRobot.Reset();
|
||||
|
||||
std::cout << "Close com" <<std::endl;
|
||||
myRobot.Close();
|
||||
|
||||
} else {
|
||||
std::cerr << "Unable to open \\dev\\ttyUSB0" << std::endl;
|
||||
|
||||
return 2;
|
||||
}
|
||||
|
||||
// if (open_communication_robot("/dev/ttyUSB0") != 0) {
|
||||
// std::cout << "Unable to open com port" << std::endl;
|
||||
//
|
||||
// return -1;
|
||||
// }
|
||||
//
|
||||
// std::cout << "Debut du test de stress" << std::endl;
|
||||
// time_t t_debut, t_fin;
|
||||
// struct tm *tm_debut, *tm_fin;
|
||||
//
|
||||
// time(&t_debut);
|
||||
// tm_debut = localtime((const time_t*)&t_debut);
|
||||
//
|
||||
// std::cout << "[heure debut]: " << asctime(tm_debut) << std::endl;
|
||||
//
|
||||
// nb_retries=-1;
|
||||
// do {
|
||||
// usleep(DELAY_BETWEEN_RETRIES);
|
||||
// nb_retries++;
|
||||
// laststatus = send_command_to_robot(DMB_START_WITHOUT_WD);
|
||||
// } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
|
||||
//
|
||||
// if(nb_retries == NB_RETRIES_MAX) {
|
||||
// std::cout << "Unable to start robot" <<std::endl;
|
||||
//
|
||||
// return -1;
|
||||
// }
|
||||
//
|
||||
// nb_success =0;
|
||||
// nb_timeout =0;
|
||||
// nb_unknown_cmd =0;
|
||||
// flipflop = 0;
|
||||
//
|
||||
// for (nb_test=0; nb_test < NB_TEST; nb_test++) {
|
||||
// nb_retries=-1;
|
||||
//
|
||||
// do {
|
||||
// usleep(DELAY_BETWEEN_RETRIES);
|
||||
// nb_retries++;
|
||||
// if (flipflop == 0) {
|
||||
// laststatus = send_command_to_robot(DMB_TURN, "100");
|
||||
// } else {
|
||||
// laststatus = send_command_to_robot(DMB_TURN, "-100");
|
||||
// }
|
||||
//
|
||||
// } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
|
||||
//
|
||||
// if (flipflop ==0) flipflop=1;
|
||||
// else flipflop =0;
|
||||
//
|
||||
// if (laststatus == 0) nb_success++;
|
||||
// else if (laststatus == ROBOT_TIMED_OUT) nb_timeout++;
|
||||
// else if (laststatus == ROBOT_UKNOWN_CMD) nb_unknown_cmd ++;
|
||||
//
|
||||
// std::cout << "Test " << nb_test << " [s " << nb_success
|
||||
// << ": t " << nb_timeout << ": u " << nb_unknown_cmd
|
||||
// << "]"<< "\x1B" <<"[30D"<<std::flush;
|
||||
//
|
||||
// usleep(DELAY_BETWEEN_TEST);
|
||||
// }
|
||||
//
|
||||
// time(&t_fin);
|
||||
// tm_fin = localtime((const time_t*)&t_fin);
|
||||
//
|
||||
// std::cout << std::endl << std::endl << "[heure fin]: " << asctime(tm_fin) << std::endl;
|
||||
|
||||
return 0;
|
||||
}
|
||||
111
software/raspberry/superviseur-robot/example/src/serverTest.cpp
Normal file
111
software/raspberry/superviseur-robot/example/src/serverTest.cpp
Normal file
|
|
@ -0,0 +1,111 @@
|
|||
/*******************************************************************************
|
||||
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
|
||||
* All rights reserved. This program and the accompanying materials
|
||||
* are made available "AS IS", without any warranty of any kind.
|
||||
*
|
||||
* INSA assumes no responsibility for errors or omissions in the
|
||||
* software or documentation available.
|
||||
*
|
||||
* Part of code Copyright ST Microelectronics.
|
||||
*
|
||||
* Contributors:
|
||||
* Lucien Senaneuch - Initial API and implementation
|
||||
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
|
||||
*******************************************************************************/
|
||||
|
||||
#include <iostream>
|
||||
#include "Robot.h"
|
||||
#include "TcpServer.h"
|
||||
|
||||
int main (void)
|
||||
{
|
||||
TcpServer server;
|
||||
int clientFD;
|
||||
string msgIn, msgOut,tmp;
|
||||
bool finish;
|
||||
|
||||
Robot robot;
|
||||
|
||||
cout << "TCP server example" << endl;
|
||||
|
||||
cout << "Bind and listen on port 1337: ";
|
||||
try {
|
||||
server.Listen(1337);
|
||||
}
|
||||
catch ( const invalid_argument &ia ) {
|
||||
cerr << "Error binding server: " << ia.what() << endl;
|
||||
return 1;
|
||||
}
|
||||
|
||||
cout << "Ok" <<endl;
|
||||
|
||||
cout << "Open com with robot: ";
|
||||
try {
|
||||
robot.Open ("/dev/ttyUSB0");
|
||||
} catch (string e)
|
||||
{
|
||||
cerr << e << endl;
|
||||
return 3;
|
||||
}
|
||||
|
||||
cout << "Ok" <<endl;
|
||||
|
||||
while (1)
|
||||
{
|
||||
cout << "Wait for client to connect: ";
|
||||
try {
|
||||
clientFD= server.AcceptClient();
|
||||
}
|
||||
catch ( const invalid_argument &ia ) {
|
||||
cerr << "Error during client accept: " << ia.what() << endl;
|
||||
return 2;
|
||||
}
|
||||
|
||||
cout << to_string(clientFD) << endl;
|
||||
|
||||
msgIn.clear();
|
||||
finish=false;
|
||||
|
||||
do {
|
||||
msgIn = server.Receive(clientFD, 2); // cmd + \n
|
||||
|
||||
if (msgIn.empty()) finish=true;
|
||||
else {
|
||||
try {
|
||||
switch (msgIn[0]) {
|
||||
case 's':
|
||||
// Start robot
|
||||
robot.StartWithoutWatchdog();
|
||||
break;
|
||||
case 'f':
|
||||
robot.Move(100);
|
||||
break;
|
||||
case 'b':
|
||||
robot.Move(-100);
|
||||
break;
|
||||
case 'r':
|
||||
robot.Turn(90);
|
||||
break;
|
||||
case 'l':
|
||||
robot.Turn(-90);
|
||||
break;
|
||||
case 'Q':
|
||||
robot.Reset();
|
||||
break;
|
||||
}
|
||||
} catch (string e) {
|
||||
cerr << e;
|
||||
}
|
||||
|
||||
if (robot.GetLastCommandStatus() == SUCCESS)
|
||||
server.Send(clientFD, "OK\n");
|
||||
else server.Send(clientFD, "ERR\n");
|
||||
}
|
||||
} while (finish==false);
|
||||
|
||||
cout << "Client disconnected" <<endl;
|
||||
clientFD=-1;
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
*.o
|
||||
*.d
|
||||
CMakeTmp
|
||||
stress.dir
|
||||
3.9.6
|
||||
*.log
|
||||
*.bin
|
||||
|
||||
|
|
@ -1,29 +0,0 @@
|
|||
<component name="ProjectCodeStyleConfiguration">
|
||||
<code_scheme name="Project" version="173">
|
||||
<Objective-C-extensions>
|
||||
<file>
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Import" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Macro" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Typedef" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Enum" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Constant" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Global" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Struct" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="FunctionPredecl" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Function" />
|
||||
</file>
|
||||
<class>
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Property" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Synthesize" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InitMethod" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="StaticMethod" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InstanceMethod" />
|
||||
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="DeallocMethod" />
|
||||
</class>
|
||||
<extensions>
|
||||
<pair source="cpp" header="h" fileNamingConvention="NONE" />
|
||||
<pair source="c" header="h" fileNamingConvention="NONE" />
|
||||
</extensions>
|
||||
</Objective-C-extensions>
|
||||
</code_scheme>
|
||||
</component>
|
||||
|
|
@ -1,4 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
|
||||
</project>
|
||||
|
|
@ -1,8 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="ProjectModuleManager">
|
||||
<modules>
|
||||
<module fileurl="file://$PROJECT_DIR$/.idea/stress.iml" filepath="$PROJECT_DIR$/.idea/stress.iml" />
|
||||
</modules>
|
||||
</component>
|
||||
</project>
|
||||
|
|
@ -1,2 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<module classpath="CMake" type="CPP_MODULE" version="4" />
|
||||
|
|
@ -1,6 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="VcsDirectoryMappings">
|
||||
<mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
|
||||
</component>
|
||||
</project>
|
||||
|
|
@ -1,294 +0,0 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project version="4">
|
||||
<component name="CMakeRunConfigurationManager" shouldGenerate="true" shouldDeleteObsolete="true" buildAllGenerated="true">
|
||||
<generated>
|
||||
<config projectName="stress" targetName="stress" />
|
||||
</generated>
|
||||
</component>
|
||||
<component name="CMakeSettings">
|
||||
<configurations>
|
||||
<configuration PROFILE_NAME="Debug" CONFIG_NAME="Debug" />
|
||||
</configurations>
|
||||
</component>
|
||||
<component name="ChangeListManager">
|
||||
<list default="true" id="6f68a0e1-52e9-471a-8d47-af63db94b711" name="Default" comment="">
|
||||
<change beforePath="" afterPath="$PROJECT_DIR$/.idea/codeStyles/Project.xml" />
|
||||
<change beforePath="" afterPath="$PROJECT_DIR$/.idea/misc.xml" />
|
||||
<change beforePath="" afterPath="$PROJECT_DIR$/.idea/vcs.xml" />
|
||||
</list>
|
||||
<ignored path="$PROJECT_DIR$/cmake-build-debug/" />
|
||||
<option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
|
||||
<option name="TRACKING_ENABLED" value="true" />
|
||||
<option name="SHOW_DIALOG" value="false" />
|
||||
<option name="HIGHLIGHT_CONFLICTS" value="true" />
|
||||
<option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
|
||||
<option name="LAST_RESOLUTION" value="IGNORE" />
|
||||
</component>
|
||||
<component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
|
||||
<component name="FileEditorManager">
|
||||
<leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
|
||||
<file leaf-file-name="CMakeLists.txt" pinned="false" current-in-tab="false">
|
||||
<entry file="file://$PROJECT_DIR$/CMakeLists.txt">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="108">
|
||||
<caret line="6" column="16" lean-forward="false" selection-start-line="6" selection-start-column="16" selection-end-line="6" selection-end-column="16" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
</file>
|
||||
<file leaf-file-name="main.cpp" pinned="false" current-in-tab="false">
|
||||
<entry file="file://$PROJECT_DIR$/main.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="144">
|
||||
<caret line="8" column="28" lean-forward="false" selection-start-line="8" selection-start-column="28" selection-end-line="8" selection-end-column="28" />
|
||||
<folding>
|
||||
<element signature="e#0#19#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
</file>
|
||||
<file leaf-file-name="robot.h" pinned="false" current-in-tab="false">
|
||||
<entry file="file://$PROJECT_DIR$/../../src/robot.h">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="-378">
|
||||
<caret line="18" column="19" lean-forward="true" selection-start-line="18" selection-start-column="19" selection-end-line="18" selection-end-column="19" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
</file>
|
||||
<file leaf-file-name="robot.cpp" pinned="false" current-in-tab="true">
|
||||
<entry file="file://$PROJECT_DIR$/../../src/robot.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="-1890">
|
||||
<caret line="6" column="9" lean-forward="true" selection-start-line="6" selection-start-column="9" selection-end-line="6" selection-end-column="9" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
</file>
|
||||
<file leaf-file-name="definitions.h" pinned="false" current-in-tab="false">
|
||||
<entry file="file://$PROJECT_DIR$/../../src/definitions.h">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="252">
|
||||
<caret line="35" column="24" lean-forward="false" selection-start-line="35" selection-start-column="8" selection-end-line="35" selection-end-column="24" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
</file>
|
||||
</leaf>
|
||||
</component>
|
||||
<component name="Git.Settings">
|
||||
<option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$/../.." />
|
||||
</component>
|
||||
<component name="IdeDocumentHistory">
|
||||
<option name="CHANGED_PATHS">
|
||||
<list>
|
||||
<option value="$PROJECT_DIR$/CMakeLists.txt" />
|
||||
<option value="$PROJECT_DIR$/main.cpp" />
|
||||
</list>
|
||||
</option>
|
||||
</component>
|
||||
<component name="JsBuildToolGruntFileManager" detection-done="true" sorting="DEFINITION_ORDER" />
|
||||
<component name="JsBuildToolPackageJson" detection-done="true" sorting="DEFINITION_ORDER" />
|
||||
<component name="JsGulpfileManager">
|
||||
<detection-done>true</detection-done>
|
||||
<sorting>DEFINITION_ORDER</sorting>
|
||||
</component>
|
||||
<component name="ProjectFrameBounds">
|
||||
<option name="x" value="331" />
|
||||
<option name="y" value="64" />
|
||||
<option name="width" value="1400" />
|
||||
<option name="height" value="873" />
|
||||
</component>
|
||||
<component name="ProjectLevelVcsManager" settingsEditedManually="true" />
|
||||
<component name="ProjectView">
|
||||
<navigator currentView="ProjectPane" proportions="" version="1">
|
||||
<flattenPackages />
|
||||
<showMembers />
|
||||
<showModules />
|
||||
<showLibraryContents />
|
||||
<hideEmptyPackages />
|
||||
<abbreviatePackageNames />
|
||||
<autoscrollToSource />
|
||||
<autoscrollFromSource />
|
||||
<sortByType />
|
||||
<manualOrder />
|
||||
<foldersAlwaysOnTop value="true" />
|
||||
</navigator>
|
||||
<panes>
|
||||
<pane id="ProjectPane">
|
||||
<subPane>
|
||||
<expand>
|
||||
<path>
|
||||
<item name="stress" type="dad4c3:CidrFilesViewHelper$MyProjectTreeStructure$1" />
|
||||
<item name="stress" type="47feb1d3:ProjectViewModuleNode" />
|
||||
</path>
|
||||
<path>
|
||||
<item name="stress" type="dad4c3:CidrFilesViewHelper$MyProjectTreeStructure$1" />
|
||||
<item name="stress" type="47feb1d3:ProjectViewModuleNode" />
|
||||
<item name="stress" type="462c0819:PsiDirectoryNode" />
|
||||
</path>
|
||||
<path>
|
||||
<item name="stress" type="dad4c3:CidrFilesViewHelper$MyProjectTreeStructure$1" />
|
||||
<item name="External Libraries" type="cb654da1:ExternalLibrariesNode" />
|
||||
</path>
|
||||
<path>
|
||||
<item name="stress" type="dad4c3:CidrFilesViewHelper$MyProjectTreeStructure$1" />
|
||||
<item name="External Libraries" type="cb654da1:ExternalLibrariesNode" />
|
||||
<item name="Header Search Paths" type="70bed36:NamedLibraryElementNode" />
|
||||
</path>
|
||||
</expand>
|
||||
<select />
|
||||
</subPane>
|
||||
</pane>
|
||||
</panes>
|
||||
</component>
|
||||
<component name="PropertiesComponent">
|
||||
<property name="nodejs_interpreter_path.stuck_in_default_project" value="undefined stuck path" />
|
||||
<property name="WebServerToolWindowFactoryState" value="false" />
|
||||
<property name="settings.editor.selected.configurable" value="preferences.lookFeel" />
|
||||
<property name="last_opened_file_path" value="$PROJECT_DIR$/../../src/definitions.h" />
|
||||
</component>
|
||||
<component name="RunDashboard">
|
||||
<option name="ruleStates">
|
||||
<list>
|
||||
<RuleState>
|
||||
<option name="name" value="ConfigurationTypeDashboardGroupingRule" />
|
||||
</RuleState>
|
||||
<RuleState>
|
||||
<option name="name" value="StatusDashboardGroupingRule" />
|
||||
</RuleState>
|
||||
</list>
|
||||
</option>
|
||||
</component>
|
||||
<component name="RunManager" selected="Application.stress">
|
||||
<configuration name="Build All" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="stress" RUN_TARGET_NAME="stress" EXPLICIT_BUILD_TARGET_NAME="all">
|
||||
<envs />
|
||||
</configuration>
|
||||
<configuration name="stress" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" PROJECT_NAME="stress" TARGET_NAME="stress" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="stress" RUN_TARGET_NAME="stress">
|
||||
<envs />
|
||||
</configuration>
|
||||
<list size="2">
|
||||
<item index="0" class="java.lang.String" itemvalue="Application.Build All" />
|
||||
<item index="1" class="java.lang.String" itemvalue="Application.stress" />
|
||||
</list>
|
||||
</component>
|
||||
<component name="ShelveChangesManager" show_recycled="false">
|
||||
<option name="remove_strategy" value="false" />
|
||||
</component>
|
||||
<component name="TaskManager">
|
||||
<task active="true" id="Default" summary="Default task">
|
||||
<changelist id="6f68a0e1-52e9-471a-8d47-af63db94b711" name="Default" comment="" />
|
||||
<created>1518169204762</created>
|
||||
<option name="number" value="Default" />
|
||||
<option name="presentableId" value="Default" />
|
||||
<updated>1518169204762</updated>
|
||||
<workItem from="1518169206682" duration="106000" />
|
||||
<workItem from="1518169334602" duration="6358000" />
|
||||
</task>
|
||||
<servers />
|
||||
</component>
|
||||
<component name="TimeTrackingManager">
|
||||
<option name="totallyTimeSpent" value="6464000" />
|
||||
</component>
|
||||
<component name="ToolWindowManager">
|
||||
<frame x="331" y="64" width="1400" height="873" extended-state="0" />
|
||||
<editor active="true" />
|
||||
<layout>
|
||||
<window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.18785714" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
|
||||
<window_info id="TODO" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Messages" active="true" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.18037136" sideWeight="0.5" order="-1" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="CMake" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.47612733" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Event Log" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="true" content_ui="tabs" />
|
||||
<window_info id="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Structure" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Terminal" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Favorites" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="true" content_ui="tabs" />
|
||||
<window_info id="Debug" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Cvs" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="4" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Message" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Commander" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Inspection" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="5" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Hierarchy" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="2" side_tool="false" content_ui="combo" />
|
||||
<window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
|
||||
<window_info id="Ant Build" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
|
||||
</layout>
|
||||
</component>
|
||||
<component name="TypeScriptGeneratedFilesManager">
|
||||
<option name="version" value="1" />
|
||||
</component>
|
||||
<component name="VcsContentAnnotationSettings">
|
||||
<option name="myLimit" value="2678400000" />
|
||||
</component>
|
||||
<component name="XDebuggerManager">
|
||||
<breakpoint-manager />
|
||||
<watches-manager />
|
||||
</component>
|
||||
<component name="editorHistoryManager">
|
||||
<entry file="file://$PROJECT_DIR$/CMakeLists.txt">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="0">
|
||||
<caret line="0" column="0" lean-forward="false" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
|
||||
<folding />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/main.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="0">
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57
software/raspberry/superviseur-robot/src.sav/definitions.h
Normal file
57
software/raspberry/superviseur-robot/src.sav/definitions.h
Normal file
|
|
@ -0,0 +1,57 @@
|
|||
/*
|
||||
* To change this license header, choose License Headers in Project Properties.
|
||||
* To change this template file, choose Tools | Templates
|
||||
* and open the template in the editor.
|
||||
*/
|
||||
|
||||
/*
|
||||
* File: msg.h
|
||||
* Author: pehladik
|
||||
*
|
||||
* Created on 15 janvier 2018, 20:45
|
||||
*/
|
||||
|
||||
#ifndef DEFINITIONS_H
|
||||
#define DEFINITIONS_H
|
||||
|
||||
#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_HIGHT 2
|
||||
|
||||
#define DMB_BUSY 1
|
||||
#define DMB_DO_NOTHING 0
|
||||
|
||||
#endif /* MSG_H */
|
||||
|
||||
211
software/raspberry/superviseur-robot/src.sav/image.cpp
Normal file
211
software/raspberry/superviseur-robot/src.sav/image.cpp
Normal file
|
|
@ -0,0 +1,211 @@
|
|||
/**
|
||||
* \file image.cpp
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
* \brief Fonctions de traitement d'image utilisable pour la détection du robot.
|
||||
*
|
||||
* \details 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.
|
||||
*/
|
||||
|
||||
#include "image.h"
|
||||
#include <iostream>
|
||||
|
||||
using namespace cv;
|
||||
#ifndef __STUB__
|
||||
using namespace raspicam;
|
||||
#else
|
||||
Image stubImg;
|
||||
#endif
|
||||
using namespace std;
|
||||
|
||||
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)
|
||||
{
|
||||
if(imgInput!=imgOutput)
|
||||
*imgOutput=imgInput->clone();
|
||||
rectangle(*imgOutput,monArene->tl(),monArene->br(),Scalar(0,0,125),2,8,0);
|
||||
}
|
||||
|
||||
int open_camera(Camera *camera)
|
||||
{
|
||||
#ifndef __STUB__
|
||||
camera->set(CV_CAP_PROP_FORMAT, CV_8UC3);
|
||||
camera->set(CV_CAP_PROP_FRAME_WIDTH,WIDTH);
|
||||
camera->set(CV_CAP_PROP_FRAME_HEIGHT,HEIGHT);
|
||||
|
||||
printf("Opening Camera...\n");
|
||||
if (!(camera->open())) {
|
||||
perror("Can't open Camera\n") ;
|
||||
return -1;
|
||||
}
|
||||
else
|
||||
{
|
||||
printf("Camera warmup 2sec\n");
|
||||
sleep(2);
|
||||
printf("Start capture\n");
|
||||
return 0;
|
||||
}
|
||||
#endif
|
||||
}
|
||||
|
||||
void get_image(Camera *camera, Image * monImage, const char * fichier) // getImg(Camera, Image img);
|
||||
{
|
||||
#ifndef __STUB__
|
||||
camera->grab();
|
||||
camera->retrieve(*monImage);
|
||||
cvtColor(*monImage,*monImage,CV_BGR2RGB);
|
||||
#else
|
||||
stubImg = imread(fichier, CV_LOAD_IMAGE_COLOR);
|
||||
stubImg.copyTo(*monImage);
|
||||
#endif
|
||||
}
|
||||
|
||||
void close_camera(Camera *camera) // closeCam(Camera) : camera Entrer
|
||||
{
|
||||
#ifndef __STUB__
|
||||
camera->release();
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
int detect_arena(Image *monImage, Arene *rectangle) // Image en entrée // rectangle en sortie
|
||||
{
|
||||
vector<vector<Point> > contours;
|
||||
vector<Point> approx;
|
||||
vector<Vec4i> hierarchy;
|
||||
|
||||
Image imageTrt;
|
||||
cvtColor(*monImage,imageTrt,CV_RGB2GRAY); // conversion en niveau de gris
|
||||
threshold(imageTrt,imageTrt,128,255,CV_THRESH_BINARY); // Threshold les éléments les plus clair
|
||||
Canny(imageTrt, imageTrt, 100,200,3); // detection d'angle
|
||||
|
||||
findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
|
||||
for(unsigned int i = 0; i < contours.size();i++)
|
||||
{
|
||||
approxPolyDP(Image(contours[i]), approx, arcLength(Image(contours[i]), true)*0.1, true);
|
||||
if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000)
|
||||
{
|
||||
*rectangle = boundingRect(Image(contours[i]));
|
||||
return 0;
|
||||
}
|
||||
}
|
||||
return -1;
|
||||
}
|
||||
|
||||
int cropArena(Image *imgInput, Image *imgOutput, Arene *areneInput) // image // rectangle // image2
|
||||
{
|
||||
Image img;
|
||||
img=imgInput->clone();
|
||||
|
||||
*imgOutput = img(*areneInput);
|
||||
return 0;
|
||||
}
|
||||
|
||||
float euclideanDist(Point& p, Point& q) {
|
||||
Point diff = p - q;
|
||||
return cv::sqrt(diff.x*diff.x + diff.y*diff.y);
|
||||
}
|
||||
|
||||
void compress_image(Image *imgInput, Jpg *imageCompress) // image entrée // imageEncodé en sortie
|
||||
{
|
||||
imencode(".jpg",*imgInput,*imageCompress);
|
||||
}
|
||||
|
||||
|
||||
int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene) // entree : image / sortie tab pos
|
||||
{
|
||||
vector<vector<Point> > contours;
|
||||
vector<Point> approx;
|
||||
vector<Vec4i> hierarchy;
|
||||
|
||||
Image imgTraitment;
|
||||
|
||||
if(monArene==NULL)
|
||||
imgTraitment=imgInput->clone();
|
||||
else
|
||||
cropArena(imgInput,&imgTraitment, 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, Point(0, 0));
|
||||
|
||||
int nbrTriangle = 0;
|
||||
for(unsigned int i = 0;i < contours.size();i++)
|
||||
{
|
||||
approxPolyDP(Mat(contours[i]), approx, arcLength(Mat(contours[i]), true)*0.17, true);
|
||||
if(approx.size() == 3 && fabs(contourArea(contours[i])) > 200 && fabs(contourArea(contours[i])) < 700)
|
||||
{
|
||||
|
||||
Point a,b,c;
|
||||
Point center;
|
||||
|
||||
|
||||
a = approx[0];
|
||||
b = approx[1];
|
||||
c = approx[2];
|
||||
|
||||
|
||||
if(monArene !=NULL) // ajout de l'offset de l'arène
|
||||
{
|
||||
a.x += monArene->x;
|
||||
a.y += monArene->y;
|
||||
b.x += monArene->x;
|
||||
b.y += monArene->y;
|
||||
c.x += monArene->x;
|
||||
c.y += monArene->y;
|
||||
}
|
||||
|
||||
center.x = (a.x + b.x + c.x)/3;
|
||||
center.y = (a.y + b.y + c.y)/3;
|
||||
|
||||
posTriangle[nbrTriangle].center=center;
|
||||
|
||||
if(euclideanDist(center,b) > euclideanDist(center,a) && euclideanDist(center,b) > euclideanDist(center,c) )
|
||||
{
|
||||
|
||||
posTriangle[nbrTriangle].direction=b;
|
||||
//line(img,center,b,Scalar(0,125,0),2,8,0);
|
||||
}
|
||||
else if(euclideanDist(center,a) > euclideanDist(center,c))
|
||||
{
|
||||
posTriangle[nbrTriangle].direction=a;
|
||||
//line(img,center,a,Scalar(0,125,0),2,8,0);
|
||||
|
||||
}
|
||||
else
|
||||
{
|
||||
posTriangle[nbrTriangle].direction=c;
|
||||
//line(img,center,c,Scalar(0,125,0),2,8,0);
|
||||
}
|
||||
posTriangle[nbrTriangle].angle=calculAngle(&posTriangle[nbrTriangle]);
|
||||
|
||||
nbrTriangle++;
|
||||
|
||||
}
|
||||
}
|
||||
return nbrTriangle;
|
||||
}
|
||||
|
||||
void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot) // img E/S pos : E
|
||||
{
|
||||
if(imgInput!=imgOutput)
|
||||
{
|
||||
*imgOutput=imgInput->clone();
|
||||
}
|
||||
line(*imgOutput,positionRobot->center,positionRobot->direction,Scalar(0,125,0),2,8,0);
|
||||
}
|
||||
|
||||
float calculAngle(Position * positionRobot) // position en entree
|
||||
{
|
||||
float a = positionRobot->direction.x - positionRobot->center.x;
|
||||
float b = positionRobot->direction.y - positionRobot->center.y ;
|
||||
float angle = atan2(b,a);
|
||||
return angle * 180.f/M_PI;
|
||||
|
||||
}
|
||||
128
software/raspberry/superviseur-robot/src.sav/image.h
Normal file
128
software/raspberry/superviseur-robot/src.sav/image.h
Normal file
|
|
@ -0,0 +1,128 @@
|
|||
/**
|
||||
* \file image.h
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
* \brief Fonctions de traitement d'image utilisable pour la d<EFBFBD>tection du robot.
|
||||
*
|
||||
* \details Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl.
|
||||
* Il permet de faciliter la d<EFBFBD>tection de l'ar<EFBFBD>ne et la d<EFBFBD>tection du robot.
|
||||
* /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet.
|
||||
*/
|
||||
|
||||
|
||||
#ifndef IMAGERIE_H
|
||||
#define IMAGERIE_H
|
||||
|
||||
#ifndef __STUB__
|
||||
#include <raspicam/raspicam_cv.h>
|
||||
#else
|
||||
#include <opencv2/highgui/highgui.hpp>
|
||||
#endif
|
||||
#include "opencv2/imgproc/imgproc.hpp"
|
||||
#include <unistd.h>
|
||||
#include <math.h>
|
||||
|
||||
#define WIDTH 480 //1280 1024 640 480
|
||||
#define HEIGHT 360 // 960 768 480 360
|
||||
|
||||
using namespace std;
|
||||
using namespace cv;
|
||||
#ifndef __STUB__
|
||||
using namespace raspicam;
|
||||
#endif
|
||||
|
||||
typedef Mat Image;
|
||||
#ifndef __STUB__
|
||||
typedef RaspiCam_Cv Camera;
|
||||
#else
|
||||
typedef int Camera;
|
||||
#endif
|
||||
typedef Rect Arene;
|
||||
typedef vector<unsigned char> Jpg;
|
||||
|
||||
struct Position {
|
||||
Point center;
|
||||
Point direction;
|
||||
float angle;
|
||||
};
|
||||
|
||||
/**
|
||||
* \brief Ouvre une camera.
|
||||
* \details Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte
|
||||
*
|
||||
* \param *Camera Pointeur d'un file descriptor d'une camera ouverte
|
||||
* \return retourne 0 si la camera a été ouverte correctement et -1 si une erreur survient.
|
||||
*/
|
||||
int open_camera(Camera *camera);
|
||||
|
||||
/**
|
||||
* \brief Ferme la camera passé en paramètre
|
||||
*
|
||||
* \param *Camera Pointeur sur la camera à fermer
|
||||
*/
|
||||
void close_camera(Camera *camera);
|
||||
|
||||
/**
|
||||
* \brief Capture une image avec la camera passée en entrée. En cas de test
|
||||
* sans camera, la fonction charge une image
|
||||
* \details La camera doit préalablement être ouverte via \a openCamera(...)
|
||||
*
|
||||
* \param *Camera Pointeur sur la camera passée en entrée.
|
||||
* \param *monImage Pointeur sur une image capturée.
|
||||
* \param *fichier chemin du fichier d'image
|
||||
* \return Retourne -1 si une erreur survient.
|
||||
*/
|
||||
void get_image(Camera *camera, Image * monImage, const char *fichier = NULL);
|
||||
|
||||
/**
|
||||
* \brief Détecte une arène dans une image fournis en paramètre.
|
||||
*
|
||||
* \param *monImage Pointeur sur l'image d'entrée
|
||||
* \param *rectangle Pointeur sur les coordonnées du rectangles trouvé.
|
||||
* \return Retourne -1 si aucune arène n'est détectée. Sinon retourne 0
|
||||
*/
|
||||
int detect_arena(Image *monImage, Arene *rectangle);
|
||||
|
||||
/**
|
||||
* \brief Dessine le plus petit rectangle contenant l'arène
|
||||
|
||||
* \param *imgInput Pointeur sur l'image d'entrée.
|
||||
* \param *imgOutput Pointeur sur l'image de sortie (image d'entrée + arène marquée)
|
||||
* \param *monArene Pointeur de type Arène contenant les information à dessiner
|
||||
*/
|
||||
void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene);
|
||||
|
||||
/**
|
||||
* \brief Détecte la position d'un robot.
|
||||
* \details Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.
|
||||
*
|
||||
* \param *imgInput Pointeur sur l'image sur laquelle chercher la position du des robots.
|
||||
* \param *posTriangle Pointeur sur un tableau de position ou seront stocké les positions des triangles détectés.
|
||||
* \param *monArene Pointeur de type Arène si nécessaire d'affiner la recherche (optionnel)
|
||||
* \return Le nombre de triangles détectés.
|
||||
*/
|
||||
int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene = NULL);
|
||||
|
||||
/**
|
||||
* \brief Dessine sur une image en entrée la position d'un robot et sa direction.
|
||||
* \details Sauvegarde l'image des coordonnées passées par positionRobot
|
||||
* superposée à l'image d'entrée sur imgOutput.
|
||||
*
|
||||
* \param *imgInput Pointeur sur l'image d'entrée
|
||||
* \param *imgOutput Pointeur sur l'image de sortie ( image
|
||||
* d'entrée + dessin de la position)
|
||||
* \param *positionRobot Pointeur sur la structure position d'un robot.
|
||||
*/
|
||||
void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot);
|
||||
|
||||
/**
|
||||
* \brief Détecte la position d'un robot.
|
||||
* \details Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.
|
||||
*
|
||||
* \param *imgInput Pointeur sur l'image à sauvegarder en mémoire sous format jpg.
|
||||
* \param *imageCompress Pointeur sur une image .jpg.
|
||||
*/
|
||||
void compress_image(Image *imgInput, Jpg *imageCompress);
|
||||
|
||||
#endif // IMAGERIE_H
|
||||
29
software/raspberry/superviseur-robot/src.sav/message.cpp
Normal file
29
software/raspberry/superviseur-robot/src.sav/message.cpp
Normal file
|
|
@ -0,0 +1,29 @@
|
|||
/*
|
||||
* To change this license header, choose License Headers in Project Properties.
|
||||
* To change this template file, choose Tools | Templates
|
||||
* and open the template in the editor.
|
||||
*/
|
||||
#include "message.h"
|
||||
|
||||
void set_msgToMon_header(MessageToMon *msg, char *header) {
|
||||
memcpy(msg->header, header, sizeof (header));
|
||||
}
|
||||
|
||||
void set_msgToMon_data(MessageToMon *msg, void * data) {
|
||||
if (msg->data != NULL) {
|
||||
free(msg->data);
|
||||
}
|
||||
msg->data = malloc(sizeof (data));
|
||||
memcpy(msg->data, data, sizeof (data));
|
||||
}
|
||||
|
||||
void free_msgToMon_data(MessageToMon *msg) {
|
||||
if (msg->data != NULL) {
|
||||
free(msg->data);
|
||||
}
|
||||
}
|
||||
|
||||
void print_msgToMon(MessageToMon *msg) {
|
||||
printf("header: %s\n", msg->header);
|
||||
printf("data: %s\n", msg->data);
|
||||
}
|
||||
33
software/raspberry/superviseur-robot/src.sav/message.h
Normal file
33
software/raspberry/superviseur-robot/src.sav/message.h
Normal file
|
|
@ -0,0 +1,33 @@
|
|||
/*
|
||||
* To change this license header, choose License Headers in Project Properties.
|
||||
* To change this template file, choose Tools | Templates
|
||||
* and open the template in the editor.
|
||||
*/
|
||||
|
||||
/*
|
||||
* File: message.h
|
||||
* Author: pehladik
|
||||
*
|
||||
* Created on 7 février 2018, 17:20
|
||||
*/
|
||||
|
||||
#ifndef MESSAGE_H
|
||||
#define MESSAGE_H
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <string.h>
|
||||
|
||||
typedef struct {
|
||||
char header[4];
|
||||
void *data = NULL;
|
||||
} MessageToMon;
|
||||
|
||||
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);
|
||||
|
||||
#endif /* MESSAGE_H */
|
||||
|
||||
161
software/raspberry/superviseur-robot/src.sav/monitor.cpp
Normal file
161
software/raspberry/superviseur-robot/src.sav/monitor.cpp
Normal file
|
|
@ -0,0 +1,161 @@
|
|||
#include "monitor.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
SOCKADDR_IN ssin;
|
||||
SOCKET sock;
|
||||
socklen_t recsize = sizeof (ssin);
|
||||
|
||||
/*Socket et contexte d'adressage du client */
|
||||
SOCKADDR_IN csin;
|
||||
SOCKET csock;
|
||||
socklen_t crecsize = sizeof (csin);
|
||||
|
||||
int sock_err;
|
||||
pid_t pidNodejs;
|
||||
|
||||
string serverReceive(int size);
|
||||
int serverSend(const void *data, int dataLength);
|
||||
int receive(char *data);
|
||||
|
||||
int run_nodejs(const char * path, char * file) {
|
||||
int ret;
|
||||
//char *const parmList[] = {"/bin/ls", "-l", "/home", NULL};
|
||||
char * const parmList[] = {"node", file, NULL};
|
||||
|
||||
if ((ret = fork()) == -1)
|
||||
perror("fork error");
|
||||
else if (ret == 0) {
|
||||
ret = execv(path, parmList);
|
||||
}
|
||||
return ret;
|
||||
}
|
||||
|
||||
int kill_nodejs() {
|
||||
#ifdef __VERBOSE__
|
||||
printf("kill nodejs\n");
|
||||
#endif
|
||||
return kill(pidNodejs, SIGTERM);
|
||||
}
|
||||
|
||||
int open_server(int port) {
|
||||
/* Création d'un socket */
|
||||
sock = socket(AF_INET, SOCK_STREAM, 0);
|
||||
int enable = 1;
|
||||
|
||||
/* Si la socket est valide */
|
||||
if (sock != INVALID_SOCKET) {
|
||||
#ifdef _WITH_TRACE_
|
||||
printf("TCP/IP Socket %d opened\n", sock);
|
||||
#endif
|
||||
setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof (enable));
|
||||
|
||||
/* Configuration */
|
||||
ssin.sin_addr.s_addr = htonl(INADDR_ANY); /* Adresse IP automatique */
|
||||
ssin.sin_family = AF_INET; /* Protocole familial (IP) */
|
||||
ssin.sin_port = htons(port); /* Listage du port */
|
||||
sock_err = bind(sock, (SOCKADDR*) & ssin, recsize);
|
||||
|
||||
/* Si la socket fonctionne */
|
||||
if (sock_err != SOCKET_ERROR) {
|
||||
/* Démarrage du listage (mode server) */
|
||||
sock_err = listen(sock, 1);
|
||||
|
||||
/* Si la socket fonctionne */
|
||||
if (sock_err != SOCKET_ERROR) {
|
||||
/* Attente pendant laquelle le client se connecte */
|
||||
#ifdef _WITH_TRACE_
|
||||
printf("Waiting a client on port %d\n", port);
|
||||
#endif
|
||||
csock = accept(sock, (SOCKADDR*) & csin, &crecsize);
|
||||
#ifdef _WITH_TRACE_
|
||||
printf("Client connected\n");
|
||||
#endif
|
||||
return 0;
|
||||
} else {
|
||||
perror("listen");
|
||||
}
|
||||
} else {
|
||||
perror("bind");
|
||||
return (-1);
|
||||
}
|
||||
} else {
|
||||
perror("socket");
|
||||
return (-1);
|
||||
}
|
||||
return 0;
|
||||
}
|
||||
|
||||
int close_server(void) {
|
||||
/* Fermeture de la socket client et de la socket serveur */
|
||||
close(csock);
|
||||
close(sock);
|
||||
printf("Socket fermé\n");
|
||||
return 0;
|
||||
}
|
||||
|
||||
int send_message_to_monitor(const char* typeMessage, const void * data) {
|
||||
if ((string) typeMessage == HEADER_STM_IMAGE) {
|
||||
Jpg * imgC = (Jpg*) data;
|
||||
serverSend("IMG", 3);
|
||||
serverSend(imgC->data(), imgC->size());
|
||||
serverSend("TRAME", 5);
|
||||
return 0;
|
||||
} else if ((string) typeMessage == HEADER_STM_POS) {
|
||||
char buffer[20];
|
||||
Position * maPosition = (Position*) data;
|
||||
sprintf(buffer, "POScenter: %3d;%3d | %.1fTRAME", maPosition->center.x, maPosition->center.y, maPosition->angle);
|
||||
serverSend(buffer, strlen(buffer));
|
||||
return 0;
|
||||
} else if ((string) typeMessage == HEADER_STM_MES) {
|
||||
char buffer[50];
|
||||
sprintf(buffer, "MSG%sTRAME", (const char*) data);
|
||||
serverSend(buffer, strlen(buffer));
|
||||
return 0;
|
||||
} else if ((string) typeMessage == HEADER_STM_ACK) {
|
||||
char buffer[50];
|
||||
sprintf(buffer, "ACK%sTRAME", (const char*) data);
|
||||
serverSend(buffer, strlen(buffer));
|
||||
return 0;
|
||||
} else if ((string) typeMessage == HEADER_STM_BAT) {
|
||||
char buffer[50];
|
||||
sprintf(buffer, "BAT%sTRAME", (const char*) data);
|
||||
serverSend(buffer, strlen(buffer));
|
||||
return 0;
|
||||
} else if ((string) typeMessage == HEADER_STM_NO_ACK) {
|
||||
char buffer[50];
|
||||
sprintf(buffer, "NAK%sTRAME", (const char*) data);
|
||||
serverSend(buffer, strlen(buffer));
|
||||
return 0;
|
||||
} else if ((string) typeMessage == HEADER_STM_LOST_DMB) {
|
||||
char buffer[50];
|
||||
sprintf(buffer, "LCD%sTRAME", (const char*) data);
|
||||
serverSend(buffer, strlen(buffer));
|
||||
return 0;
|
||||
} else {
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
int receive_message_from_monitor(char *typeMessage, char *data) {
|
||||
char buffer[20];
|
||||
int tBuffer = receive(buffer);
|
||||
sscanf(buffer, "%3s:%s", typeMessage, data);
|
||||
return tBuffer;
|
||||
}
|
||||
|
||||
int receive(char *data) {
|
||||
int result;
|
||||
result = recv(csock, data, 20, 0);
|
||||
//cout <<"Data : " << data << endl;
|
||||
return result;
|
||||
}
|
||||
|
||||
int serverSend(const void *data, int dataLength) {
|
||||
if (send(csock, data, dataLength, 0) != dataLength) {
|
||||
perror("Send failed : ");
|
||||
return false;
|
||||
}
|
||||
|
||||
return true;
|
||||
}
|
||||
115
software/raspberry/superviseur-robot/src.sav/monitor.h
Normal file
115
software/raspberry/superviseur-robot/src.sav/monitor.h
Normal file
|
|
@ -0,0 +1,115 @@
|
|||
//
|
||||
// Created by lucien on 05/04/17.
|
||||
//
|
||||
|
||||
#ifndef TCPSERVER_H
|
||||
#define TCPSERVER_H
|
||||
|
||||
#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"
|
||||
|
||||
#define HEADER_STM_IMAGE "IMG" // Envoi d'une image
|
||||
#define HEADER_STM_BAT "BAT" // Envoi de l'état de la batterie
|
||||
#define HEADER_STM_POS "POS" // Envoi de la position
|
||||
#define HEADER_STM_NO_ACK "NAK" // Acquittement d'un échec
|
||||
#define HEADER_STM_ACK "ACK" // Acquittement d'un succès
|
||||
#define HEADER_STM_MES "MSG" // Message textuel
|
||||
#define HEADER_STM_LOST_DMB "LCD" // Perte de la communication avec le robot
|
||||
|
||||
#define HEADER_MTS_MSG "MSG" // Message directe pour Console Dumber
|
||||
#define HEADER_MTS_DMB_ORDER "DMB" // Message d'ordre pour le robot
|
||||
#define HEADER_MTS_COM_DMB "COM" // Message de gestion de la communication avec le robot
|
||||
#define HEADER_MTS_CAMERA "CAM" // Message de gestion de la camera
|
||||
#define HEADER_MTS_STOP "STO" // Message d'arrêt du system
|
||||
|
||||
#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)
|
||||
|
||||
typedef int SOCKET;
|
||||
typedef struct sockaddr_in SOCKADDR_IN;
|
||||
typedef struct sockaddr SOCKADDR;
|
||||
|
||||
typedef struct {
|
||||
char header[4];
|
||||
char data[100];
|
||||
} MessageFromMon;
|
||||
|
||||
|
||||
/**
|
||||
* \brief Lance nodejs .
|
||||
* \param path chemin de l'executable nodejs (défaut /usr/bin/nodejs)
|
||||
* \param file chemin du fichier de l'interface (défaut ./interface.js)
|
||||
* \return retourne 0 si le process a été lancé et -1 sinon.
|
||||
*/
|
||||
int run_nodejs(const char * path = DEFAULT_NODEJS_PATH, char * file = DEFAULT_INTERFACE_FILE);
|
||||
|
||||
/**
|
||||
* \brief Tue le process exécutant nodejs.
|
||||
* \return retourne 0 en cas de succès et -1 sinon.
|
||||
*/
|
||||
int kill_nodejs();
|
||||
|
||||
/**
|
||||
* \brief Mise en place du serveur (port 8080 par défaut).
|
||||
* \param port numéro du port utilisé par le serveur (8080 par défaut).
|
||||
* \return retourne 0 si le serveur est mis en place et -1 en cas de problème.
|
||||
*/
|
||||
int open_server(int port = DEFAULT_PORT); //public
|
||||
|
||||
/**
|
||||
* \brief Ferme le serveur.
|
||||
* \return retourne 0 si le serveur est fermé et -1 en cas de problème.
|
||||
*/
|
||||
int close_server(void); // public
|
||||
|
||||
/**
|
||||
* \brief Envoi d'un message vers l'interface graphique
|
||||
* \param typeMessage Type 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.
|
||||
* \param data données 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.
|
||||
* \return retourne 0 si l'envoie a bien été réalisé et -1 en cas de problème.
|
||||
*/
|
||||
int send_message_to_monitor(const char* typeMessage, const void * data = NULL);
|
||||
|
||||
/**
|
||||
* \brief 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.
|
||||
* \param typeMessage Type 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
|
||||
* \param data données associées au message reçu.
|
||||
* \return retourne 0 la taille du message reçu ou une valeur négative si la
|
||||
* connexion est perdue.
|
||||
*/
|
||||
int receive_message_from_monitor(char *typeMessage, char *data);
|
||||
|
||||
|
||||
#endif // TCPSERVER_H
|
||||
|
|
@ -1,3 +1,13 @@
|
|||
/**
|
||||
* \file robot.cpp
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
* \brief Fonction permettant la communication avec le robot.
|
||||
*
|
||||
* \details Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
|
||||
*/
|
||||
|
||||
#include "robot.h"
|
||||
|
||||
int fd;
|
||||
|
|
@ -190,19 +200,19 @@ int getChar(char * c)
|
|||
|
||||
int readSerial(char * msg)
|
||||
{
|
||||
char car;
|
||||
int i =0,j=0;
|
||||
for(j = 0 ; j < 20 ; j++)
|
||||
char car=0;
|
||||
int i=0;
|
||||
for(int j = 0 ; j < 20 ; j++)
|
||||
msg[j]=0;
|
||||
while(car !='\r' && car!='\n')
|
||||
{
|
||||
if(i>=20)
|
||||
|
||||
while(car !='\r' && car!='\n') {
|
||||
if(i>=20)
|
||||
return -5;
|
||||
|
||||
if(getChar(&car)==ROBOT_TIMED_OUT)
|
||||
{
|
||||
if(getChar(&car)==ROBOT_TIMED_OUT) {
|
||||
return ROBOT_TIMED_OUT;
|
||||
}
|
||||
|
||||
msg[i] = car;
|
||||
i++;
|
||||
}
|
||||
|
|
@ -1,5 +1,5 @@
|
|||
/**
|
||||
* \file serial.h
|
||||
* \file robot.h
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
349
software/raspberry/superviseur-robot/src/Robot.cpp
Normal file
349
software/raspberry/superviseur-robot/src/Robot.cpp
Normal file
|
|
@ -0,0 +1,349 @@
|
|||
/*******************************************************************************
|
||||
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
|
||||
* All rights reserved. This program and the accompanying materials
|
||||
* are made available "AS IS", without any warranty of any kind.
|
||||
*
|
||||
* INSA assumes no responsibility for errors or omissions in the
|
||||
* software or documentation available.
|
||||
*
|
||||
* Contributors:
|
||||
* Lucien Senaneuch - Initial API and implementation
|
||||
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
|
||||
*******************************************************************************/
|
||||
|
||||
/**
|
||||
* \file robot.cpp
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
* \brief Fonction permettant la communication avec le robot.
|
||||
*
|
||||
* \details Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
|
||||
*/
|
||||
|
||||
#include "Robot.h"
|
||||
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
|
||||
#include <stdlib.h>
|
||||
#include "definitions.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
#define ROBOT_CMD_ENDING_CHAR '\r'
|
||||
|
||||
#define ROBOT_CMD_PING 'p'
|
||||
#define ROBOT_CMD_RESET 'r'
|
||||
#define ROBOT_CMD_START_WITHOUT_WD 'u'
|
||||
#define ROBOT_CMD_START_WITH_WD 'W'
|
||||
#define ROBOT_CMD_RELOAD_WD 'w'
|
||||
#define ROBOT_CMD_GET_VBAT 'v'
|
||||
#define ROBOT_CMD_IS_BUSY 'b'
|
||||
#define ROBOT_CMD_MOVE 'M'
|
||||
#define ROBOT_CMD_TURN 'T'
|
||||
#define ROBOT_CMD_GET_VERSION 'V'
|
||||
#define ROBOT_CMD_POWER_OFF 'z'
|
||||
|
||||
#define ROBOT_CMD_OK_ANS "O"
|
||||
#define ROBOT_CMD_ERR_ANS "E"
|
||||
#define ROBOT_CMD_UNKNOW_ANS "C"
|
||||
|
||||
const string Robot::InvalidAnswerException = "Invalid answer exception";
|
||||
|
||||
Robot::Robot() {
|
||||
|
||||
}
|
||||
|
||||
Robot::~Robot() {
|
||||
this->Close();
|
||||
}
|
||||
|
||||
char Robot::Open() {
|
||||
return Serial::Open(DEFAULT_SERIAL_PORT,9600);
|
||||
}
|
||||
|
||||
char Robot::Open(const char *path) {
|
||||
return Serial::Open(path,9600);
|
||||
}
|
||||
|
||||
char Robot::Close() {
|
||||
return Serial::Close();
|
||||
}
|
||||
|
||||
int Robot::GetLastCommandStatus() {
|
||||
return this->lastCommandStatus;
|
||||
}
|
||||
|
||||
void Robot::Ping() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_PING), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::Reset() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_RESET), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::StartWithoutWatchdog() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_START_WITHOUT_WD), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::StartWithWatchdog() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_START_WITH_WD), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::ResetWatchdog() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_RELOAD_WD), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::Move(int distance) {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_MOVE) + "="+to_string(distance), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::Turn(int angle) {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_TURN) + "="+to_string(angle), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::PowerOff() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_POWER_OFF), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
char Robot::GetBatteryLevel() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
|
||||
SendCommand(string(1,ROBOT_CMD_GET_VBAT), &ans);
|
||||
lastCommandStatus=SUCCESS;
|
||||
|
||||
if (ans.length()==1) {
|
||||
if ((ans[0] != '2') && (ans[0] != '1') && (ans[0] != '0')) {
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid battery value (" + ans[0] +")\n");
|
||||
}
|
||||
} else {
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid answer length (" + to_string(ans.length())+")\n");
|
||||
}
|
||||
|
||||
return ans[0];
|
||||
#else
|
||||
return BATTERY_FULL;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
string Robot::GetVersion() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
|
||||
SendCommand(string(1,ROBOT_CMD_GET_VERSION), &ans);
|
||||
lastCommandStatus=SUCCESS;
|
||||
|
||||
if (ans.find("version")== string::npos) {
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
throw (InvalidAnswerException + " raised in Robot::GetVersion. Invalid version (" + ans +")\n");
|
||||
}
|
||||
|
||||
return ans;
|
||||
#else
|
||||
return "1.3";
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
bool Robot::IsBusy() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
|
||||
SendCommand(string(1,ROBOT_CMD_IS_BUSY), &ans);
|
||||
lastCommandStatus=SUCCESS;
|
||||
|
||||
if (ans.length()!=1) {
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid answer length (" + to_string(ans.length())+")\n");
|
||||
}
|
||||
|
||||
if (ans[0]=='1')
|
||||
return true;
|
||||
else if (ans[0]=='0')
|
||||
return false;
|
||||
else {
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
throw (InvalidAnswerException + " raised in Robot::IsBusy. Invalid value (" + ans[0] +")\n");
|
||||
}
|
||||
#else
|
||||
return false;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::CommunicationProlog() {}
|
||||
void Robot::CommunicationEpilog() {}
|
||||
|
||||
/****************************/
|
||||
/* PRIVATE */
|
||||
/****************************/
|
||||
|
||||
char Robot::SendCommand(string cmd, string *ans) {
|
||||
string commandString;
|
||||
commandString = this->AddChecksum(cmd);
|
||||
|
||||
this->CommunicationProlog(); // action avant le debut de la commande
|
||||
|
||||
ssize_t status = Send(commandString);
|
||||
|
||||
if (status == (ssize_t)commandString.length()) {
|
||||
// Recuperation de la reponse
|
||||
string commandResponse;
|
||||
vector<char> endingChars;
|
||||
|
||||
endingChars.push_back('\r');
|
||||
try {
|
||||
commandResponse = Serial::Receive(endingChars,30);
|
||||
} catch (string e) {
|
||||
if (e.find("Timeout")!= string::npos)
|
||||
lastCommandStatus= TIMEOUT_COMMAND;
|
||||
else
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
|
||||
if (lastCommandStatus == TIMEOUT_COMMAND)
|
||||
throw (Serial::TimeoutException + " raised in Robot::SendCommand. Timeout while receiving answer from robot.\n");
|
||||
else
|
||||
throw (e + " raised in Robot::SendCommand.\n");
|
||||
}
|
||||
|
||||
this->CommunicationEpilog(); // Action a faire apres la commande
|
||||
|
||||
if (ValidateChecksum(&commandResponse, commandResponse)) {
|
||||
ans->assign(commandResponse);
|
||||
} else {
|
||||
lastCommandStatus = INVALID_ANSWER;
|
||||
throw InvalidAnswerException;
|
||||
}
|
||||
|
||||
lastCommandStatus=SUCCESS;
|
||||
} else {
|
||||
lastCommandStatus=INVALID_COMMUNICATION_PORT;
|
||||
|
||||
throw IOErrorException;
|
||||
}
|
||||
|
||||
return lastCommandStatus;
|
||||
}
|
||||
|
||||
void Robot::CheckAnswer(string ans) {
|
||||
|
||||
if (ans.length()==1)
|
||||
{
|
||||
switch (ans.at(0)) {
|
||||
case 'o':
|
||||
case 'O':
|
||||
lastCommandStatus=SUCCESS;
|
||||
break;
|
||||
case 'e':
|
||||
case 'E':
|
||||
lastCommandStatus=REJECTED_COMMAND;
|
||||
break;
|
||||
case 'c':
|
||||
case 'C':
|
||||
lastCommandStatus=INVALID_COMMAND;
|
||||
break;
|
||||
default:
|
||||
lastCommandStatus = INVALID_ANSWER;
|
||||
throw InvalidAnswerException;
|
||||
}
|
||||
} else {
|
||||
lastCommandStatus = INVALID_ANSWER;
|
||||
throw InvalidAnswerException;
|
||||
}
|
||||
}
|
||||
|
||||
string Robot::AddChecksum(string cmd) {
|
||||
string commandWithChecksum(cmd);
|
||||
char checksum=0;
|
||||
|
||||
commandWithChecksum.resize(cmd.length()+2, ' ');
|
||||
|
||||
for (size_t i=0; i<commandWithChecksum.length()-2; i++) {
|
||||
checksum = checksum^commandWithChecksum.at(i);
|
||||
}
|
||||
|
||||
commandWithChecksum.at(commandWithChecksum.length()-2) = checksum;
|
||||
commandWithChecksum.at(commandWithChecksum.length()-1) = '\r';
|
||||
|
||||
return commandWithChecksum;
|
||||
}
|
||||
|
||||
bool Robot::ValidateChecksum(string *answerWithoutChecksum, string answer) {
|
||||
string localAnswer(answer, 0, answer.length()-1); // recopie de la chaine initiale, sans le dernier caractere (checksum)
|
||||
char checksum=0;
|
||||
bool status=false;
|
||||
|
||||
if (answer.length()<2) // trop court pour contenir un checksum
|
||||
throw InvalidAnswerException;
|
||||
else {
|
||||
for (size_t i=0; i< answer.length()-1; i++) {
|
||||
checksum = checksum^answer.at(i);
|
||||
}
|
||||
|
||||
if (answer.at(answer.length()-1) == checksum) {
|
||||
status=true;
|
||||
}
|
||||
}
|
||||
|
||||
answerWithoutChecksum->assign(localAnswer);
|
||||
return status;
|
||||
}
|
||||
84
software/raspberry/superviseur-robot/src/Robot.h
Normal file
84
software/raspberry/superviseur-robot/src/Robot.h
Normal file
|
|
@ -0,0 +1,84 @@
|
|||
/*******************************************************************************
|
||||
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
|
||||
* All rights reserved. This program and the accompanying materials
|
||||
* are made available "AS IS", without any warranty of any kind.
|
||||
*
|
||||
* INSA assumes no responsibility for errors or omissions in the
|
||||
* software or documentation available.
|
||||
*
|
||||
* Contributors:
|
||||
* Lucien Senaneuch - Initial API and implementation
|
||||
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
|
||||
*******************************************************************************/
|
||||
/**
|
||||
* \file robot.h
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
* \brief Fonction permettant la communication avec le robot.
|
||||
*
|
||||
* \details Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
|
||||
*/
|
||||
|
||||
#ifndef __ROBOT_H__
|
||||
#define __ROBOT_H__
|
||||
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <Serial.h>
|
||||
|
||||
using namespace std;
|
||||
|
||||
#define REJECTED_COMMAND -3
|
||||
#define INVALID_COMMAND -4
|
||||
#define TIMEOUT_COMMAND -5
|
||||
#define INVALID_ANSWER -6
|
||||
|
||||
#define BATTERY_FULL 2
|
||||
#define BATTERY_LOW 1
|
||||
#define BATTERY_EMPTY 0
|
||||
|
||||
class Robot : public Serial {
|
||||
public:
|
||||
Robot();
|
||||
virtual ~Robot();
|
||||
|
||||
char Open();
|
||||
char Open(const char *path);
|
||||
char Close();
|
||||
|
||||
int GetLastCommandStatus();
|
||||
|
||||
void Ping();
|
||||
void Reset();
|
||||
|
||||
void StartWithoutWatchdog();
|
||||
void StartWithWatchdog();
|
||||
void ResetWatchdog();
|
||||
|
||||
void Move(int distance);
|
||||
void Turn(int angle);
|
||||
|
||||
void PowerOff();
|
||||
|
||||
char GetBatteryLevel();
|
||||
string GetVersion();
|
||||
bool IsBusy();
|
||||
|
||||
// Ces deux methodes virtuelles sont a redefinir (surcharger) dans une classe qui etends la classe Robot
|
||||
// Servez vous en pour faire une action avant (prologue) ou apres (epilogue) une commande au robot
|
||||
virtual void CommunicationProlog();
|
||||
virtual void CommunicationEpilog();
|
||||
|
||||
static const string InvalidAnswerException;
|
||||
private:
|
||||
|
||||
int lastCommandStatus;
|
||||
|
||||
char SendCommand(string cmd, string *ans);
|
||||
string AddChecksum(string cmd);
|
||||
bool ValidateChecksum(string *answerWithoutChecksum, string answer);
|
||||
void CheckAnswer(string ans);
|
||||
};
|
||||
|
||||
#endif //__ROBOT_H__
|
||||
164
software/raspberry/superviseur-robot/src/Serial.cpp
Normal file
164
software/raspberry/superviseur-robot/src/Serial.cpp
Normal file
|
|
@ -0,0 +1,164 @@
|
|||
/*******************************************************************************
|
||||
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
|
||||
* All rights reserved. This program and the accompanying materials
|
||||
* are made available "AS IS", without any warranty of any kind.
|
||||
*
|
||||
* INSA assumes no responsibility for errors or omissions in the
|
||||
* software or documentation available.
|
||||
*
|
||||
* Part of code Copyright ST Microelectronics.
|
||||
*
|
||||
* Contributors:
|
||||
* Lucien Senaneuch - Initial API and implementation
|
||||
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
|
||||
*******************************************************************************/
|
||||
|
||||
#include <Serial.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
const string Serial::TimeoutException = "Timeout exception";
|
||||
const string Serial::IOErrorException = "IO error exception";
|
||||
const string Serial::BufferOverflowException = "Buffer overflow exception";
|
||||
|
||||
Serial::Serial() {
|
||||
this->serialPortDescriptor=-1;
|
||||
}
|
||||
|
||||
Serial::~Serial() {
|
||||
this->Close();
|
||||
}
|
||||
|
||||
char Serial::Open(void) {
|
||||
return this->Open(DEFAULT_SERIAL_PORT, DEFAULT_BAUDRATE);
|
||||
}
|
||||
|
||||
char Serial::Open(int baudrate) {
|
||||
return this->Open(DEFAULT_SERIAL_PORT, baudrate);
|
||||
}
|
||||
|
||||
char Serial::Open(const char *path, int baudrate) {
|
||||
#ifndef __STUB__
|
||||
struct termios options;
|
||||
|
||||
if (this->IsOpen() == true) return COMMUNICATION_PORT_ALREADY_OPENED;
|
||||
|
||||
this->serialPortDescriptor = open(path, O_RDWR | O_NOCTTY | O_NDELAY);
|
||||
|
||||
if(this->serialPortDescriptor >= 0) {
|
||||
fcntl(this->serialPortDescriptor, F_SETFL, 0);
|
||||
tcgetattr(this->serialPortDescriptor, &options);
|
||||
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
|
||||
cfsetospeed (&options, this->SetBaudrate(baudrate));
|
||||
cfsetispeed (&options, this->SetBaudrate(baudrate));
|
||||
options.c_cc[VMIN]=0;
|
||||
options.c_cc[VTIME]=10;
|
||||
tcsetattr(this->serialPortDescriptor, TCSANOW, &options);
|
||||
|
||||
return SUCCESS;
|
||||
}
|
||||
else {
|
||||
std::cerr << "[Robot::Open] Can't open port " << path;
|
||||
return INVALID_COMMUNICATION_PORT;
|
||||
}
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif
|
||||
}
|
||||
|
||||
char Serial::Close(void) {
|
||||
#ifndef __STUB__
|
||||
if (this->serialPortDescriptor<0) {
|
||||
if (close(this->serialPortDescriptor) == 0)
|
||||
return SUCCESS;
|
||||
else return INVALID_COMMUNICATION_PORT;
|
||||
} else return SUCCESS;
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif
|
||||
}
|
||||
|
||||
bool Serial::IsOpen() {
|
||||
if(this->serialPortDescriptor >= 0)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
ssize_t Serial::Send(string mes) {
|
||||
ssize_t n;
|
||||
|
||||
n=write(this->serialPortDescriptor, (void*)mes.c_str(), mes.length());
|
||||
|
||||
if (n< (ssize_t)mes.length())
|
||||
throw (IOErrorException + " raised in Serial::Send. Requested to send " + to_string(mes.length()) + " characters, sent only " + to_string(n) +"\n");
|
||||
else
|
||||
return n;
|
||||
}
|
||||
|
||||
string Serial::Receive(int size) {
|
||||
string mes;
|
||||
|
||||
while(mes.length() < (unsigned int)size){
|
||||
mes += this->GetChar();
|
||||
}
|
||||
|
||||
return mes;
|
||||
}
|
||||
|
||||
string Serial::Receive(vector<char> endingChars,int maxLength) {
|
||||
string mes;
|
||||
char c;
|
||||
|
||||
bool characterFound = false;
|
||||
|
||||
do {
|
||||
c= GetChar();
|
||||
|
||||
if (std::find(endingChars.begin(), endingChars.end(), c)!=endingChars.end()) //recherche du caractere dans la liste des caractere de fin
|
||||
characterFound=true;
|
||||
else {
|
||||
mes += c;
|
||||
}
|
||||
} while ((mes.length()<(unsigned int)maxLength) && (characterFound==false));
|
||||
|
||||
if (mes.length()>=(unsigned int)maxLength) {
|
||||
throw (BufferOverflowException + " raised in Serial::Receive. Received data exceed " + to_string(maxLength) + "chars\n");
|
||||
}
|
||||
|
||||
return mes;
|
||||
}
|
||||
|
||||
int Serial::SetBaudrate(int baudrate) {
|
||||
switch(baudrate){
|
||||
case 4800:
|
||||
return baudrate = B4800;
|
||||
case 9600:
|
||||
return baudrate = B9600;
|
||||
case 38400:
|
||||
return baudrate = B38400;
|
||||
case 57600:
|
||||
return baudrate = B57600;
|
||||
case 115200:
|
||||
return baudrate = B115200;
|
||||
default:
|
||||
std::cerr << "Baudrate not supported" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
char Serial::GetChar() {
|
||||
char c;
|
||||
|
||||
if (read(this->serialPortDescriptor, &c, 1) > 0)
|
||||
return c;
|
||||
else
|
||||
throw (TimeoutException + " raised in Serial::GetChar\n");
|
||||
}
|
||||
|
||||
|
||||
49
software/raspberry/superviseur-robot/src/Serial.h
Normal file
49
software/raspberry/superviseur-robot/src/Serial.h
Normal file
|
|
@ -0,0 +1,49 @@
|
|||
/*
|
||||
* Serial.h
|
||||
*
|
||||
* Created on: 12 oct. 2018
|
||||
* Author: dimercur
|
||||
*/
|
||||
|
||||
#ifndef SERIAL_H_
|
||||
#define SERIAL_H_
|
||||
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
using namespace std;
|
||||
|
||||
#define SUCCESS 0
|
||||
#define INVALID_COMMUNICATION_PORT -1
|
||||
#define COMMUNICATION_PORT_ALREADY_OPENED -2
|
||||
|
||||
#define DEFAULT_SERIAL_PORT "/dev/ttyS0"
|
||||
#define DEFAULT_BAUDRATE 9600
|
||||
|
||||
class Serial {
|
||||
public:
|
||||
static const string TimeoutException;
|
||||
static const string IOErrorException;
|
||||
static const string BufferOverflowException;
|
||||
|
||||
Serial();
|
||||
virtual ~Serial();
|
||||
|
||||
char Open(void);
|
||||
char Open(int baudrate);
|
||||
char Open(const char *path, int baudrate);
|
||||
char Close(void);
|
||||
|
||||
bool IsOpen();
|
||||
ssize_t Send(string mes);
|
||||
string Receive(int size);
|
||||
string Receive(vector<char> endingChars, int maxLength);
|
||||
|
||||
private:
|
||||
int serialPortDescriptor;
|
||||
int SetBaudrate(int baudrate);
|
||||
char GetChar(); // read 1 char
|
||||
};
|
||||
|
||||
#endif /* SERIAL_H_ */
|
||||
93
software/raspberry/superviseur-robot/src/TcpServer.cpp
Normal file
93
software/raspberry/superviseur-robot/src/TcpServer.cpp
Normal file
|
|
@ -0,0 +1,93 @@
|
|||
/*******************************************************************************
|
||||
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
|
||||
* All rights reserved. This program and the accompanying materials
|
||||
* are made available "AS IS", without any warranty of any kind.
|
||||
*
|
||||
* INSA assumes no responsibility for errors or omissions in the
|
||||
* software or documentation available.
|
||||
*
|
||||
* Part of code Copyright ST Microelectronics.
|
||||
*
|
||||
* Contributors:
|
||||
* Lucien Senaneuch - Initial API and implementation
|
||||
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
|
||||
*******************************************************************************/
|
||||
|
||||
|
||||
#include "TcpServer.h"
|
||||
#include <netinet/in.h>
|
||||
#include <zconf.h>
|
||||
#include <vector>
|
||||
|
||||
TcpServer::TcpServer() {
|
||||
this->socketFD = -1;
|
||||
this->socketClients.clear();
|
||||
}
|
||||
|
||||
int TcpServer::Listen (int port) {
|
||||
struct sockaddr_in server;
|
||||
|
||||
this->socketFD = socket(AF_INET, SOCK_STREAM, 0);
|
||||
if(this->socketFD < 0){
|
||||
throw invalid_argument("Can not create socket");
|
||||
}
|
||||
|
||||
server.sin_addr.s_addr = INADDR_ANY;
|
||||
server.sin_family = AF_INET;
|
||||
server.sin_port = htons(port);
|
||||
|
||||
if(bind(this->socketFD, (struct sockaddr *) &server, sizeof(server)) < 0) {
|
||||
throw invalid_argument("Can not bind socket");
|
||||
}
|
||||
|
||||
listen(this->socketFD , NB_CONNECTION_MAX);
|
||||
|
||||
return this->socketFD;
|
||||
}
|
||||
|
||||
int TcpServer::AcceptClient() {
|
||||
struct sockaddr_in client;
|
||||
int c = sizeof(struct sockaddr_in);
|
||||
|
||||
int fd = accept(this->socketFD,(struct sockaddr *) &client, (socklen_t*)&c);
|
||||
|
||||
if (fd >=0 )
|
||||
this->socketClients.push_back(fd);
|
||||
else throw invalid_argument("Accept failed in TcpServer::AcceptClient");
|
||||
|
||||
return fd;
|
||||
}
|
||||
|
||||
int TcpServer::Send(int client, string mes) {
|
||||
return write(client, mes.c_str(), mes.size());
|
||||
}
|
||||
|
||||
string TcpServer::Receive(int client_fd, int size){
|
||||
char tab[size];
|
||||
|
||||
if(recv(client_fd,tab,size,0) >0) {
|
||||
tab[size] = 0;
|
||||
return string(tab);
|
||||
} else
|
||||
return string();
|
||||
}
|
||||
|
||||
int TcpServer::Broadcast(string mes) {
|
||||
for (int socket : this->socketClients) {
|
||||
int err = write(socket, mes.c_str(), mes.size());
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
const vector<int> &TcpServer::getSocketClients() const {
|
||||
return socketClients;
|
||||
}
|
||||
|
||||
void TcpServer::SetSocketClients(const std::vector<int> &socketClients) {
|
||||
this->socketClients = socketClients;
|
||||
}
|
||||
|
||||
TcpServer::~TcpServer() {
|
||||
close(this->socketFD);
|
||||
}
|
||||
35
software/raspberry/superviseur-robot/src/TcpServer.h
Normal file
35
software/raspberry/superviseur-robot/src/TcpServer.h
Normal file
|
|
@ -0,0 +1,35 @@
|
|||
//
|
||||
// Created by senaneuc on 12/06/18.
|
||||
//
|
||||
|
||||
#ifndef TCP_SERVER_H_
|
||||
#define TCP_SERVER_H_
|
||||
|
||||
#define NB_CONNECTION_MAX 5
|
||||
|
||||
#include <iostream>
|
||||
#include <vector>
|
||||
|
||||
using namespace std;
|
||||
|
||||
class TcpServer {
|
||||
public:
|
||||
TcpServer();
|
||||
virtual ~TcpServer();
|
||||
|
||||
int Listen (int port);
|
||||
int AcceptClient();
|
||||
int Send(int clien_fd, string mes);
|
||||
int Broadcast(string mes);
|
||||
string Receive(int client_fd, int size);
|
||||
|
||||
const vector<int> &getSocketClients() const;
|
||||
|
||||
void SetSocketClients(const vector<int> &socketClients);
|
||||
|
||||
private:
|
||||
vector<int> socketClients;
|
||||
int socketFD;
|
||||
};
|
||||
|
||||
#endif /* TCP_SERVER_H_ */
|
||||
|
|
@ -14,30 +14,6 @@
|
|||
#ifndef DEFINITIONS_H
|
||||
#define DEFINITIONS_H
|
||||
|
||||
#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'
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
/**
|
||||
* \file imagerie.cpp
|
||||
* \file image.cpp
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
/**
|
||||
* \file imagerie.h
|
||||
* \file image.h
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
|
|
|
|||
Loading…
Reference in a new issue