Re-merge depuis la branche dev du repertoire software/raspberry/superviseur-robot qui n'etait pas à jour

software/raspberry/superviseur-robot/lib/camera.cpp

@@ -21,6 +21,13 @@
 
 using namespace cv;
 
+/**
+ * Create an object for accessing camera with default values (size = sm and 
+ * fps = 10)
+ */
+Camera::Camera():Camera(sm, 10){
+}
+
 /**
  * Create an object for accessing camera
  * @param size Size of picture to grab (@see captureSize)

software/raspberry/superviseur-robot/lib/camera.h

@@ -35,9 +35,16 @@ enum captureSize {xs, sm, md, lg};
  * Class for camera (image grab)
  * 
  * @brief Class for camera (image grab)
+ * How to grab an image and send it to the monitor:
+ *  1. Grab an image, for example:
+ *          Img * img = new Img(cam->Grab());
+ *  2. Instanciate the message to send the image:
+ *          MessageImg *msgImg = new MessageImg(MESSAGE_CAM_IMAGE, img);
  */
 class Camera {
 public:
+    Camera();
+    
     /**
      * Create an object for accessing camera
      * @param size Size of picture to grab (@see captureSize)

software/raspberry/superviseur-robot/lib/messages.cpp

@@ -131,7 +131,7 @@ Message* Message::Copy() {
 }
 
 /**
- * Get message ID
+ * Check message ID
  * @return Current message ID
  */
 bool Message::CheckID(MessageID id) {
@@ -162,7 +162,6 @@ MessageInt::MessageInt() {
  */
 MessageInt::MessageInt(MessageID id, int val) {
     MessageInt::SetID(id);
-
     value = val;
 }
 
@@ -282,6 +281,7 @@ bool MessageString::CheckID(MessageID id) {
  * Create a new, empty image message
  */
 MessageImg::MessageImg() {
+    this->messageID = MESSAGE_CAM_IMAGE;
     image = NULL;
 }
 
@@ -362,6 +362,7 @@ bool MessageImg::CheckID(MessageID id) {
  * Create a new, empty battery message
  */
 MessageBattery::MessageBattery() {
+    this->messageID = MESSAGE_ROBOT_BATTERY_LEVEL;
     this->level = BATTERY_UNKNOWN;
 }
 
@@ -455,9 +456,10 @@ bool MessageBattery::CheckID(MessageID id) {
 /* class MessagePosition */
 
 /**
- * Create a new, empty string message
+ * Create a new, empty position message
  */
 MessagePosition::MessagePosition() {
+    this->messageID = MESSAGE_CAM_POSITION;
     this->pos.angle = 0.0;
     this->pos.robotId = 0;
     this->pos.center.x=0.0;
@@ -467,9 +469,9 @@ MessagePosition::MessagePosition() {
 }
 
 /**
- * Create a new string message, with given ID and string
+ * Create a new position message, with given ID and position
  * @param id Message ID
- * @param s Message string
+ * @param pos Message position
  * @throw std::runtime_error if message ID is incompatible with string data
  */
 MessagePosition::MessagePosition(MessageID id, Position& pos) {

software/raspberry/superviseur-robot/lib/messages.h

@@ -47,7 +47,7 @@ typedef enum {
     MESSAGE_ROBOT_COM_OPEN,
     MESSAGE_ROBOT_COM_CLOSE,
          
-    // Messages for camera   
+    // Messages for camera from Monitor to Supervisor
     MESSAGE_CAM_OPEN,
     MESSAGE_CAM_CLOSE,
     MESSAGE_CAM_ASK_ARENA,
@@ -55,6 +55,8 @@ typedef enum {
     MESSAGE_CAM_ARENA_INFIRM,
     MESSAGE_CAM_POSITION_COMPUTE_START,
     MESSAGE_CAM_POSITION_COMPUTE_STOP,
+            
+    // Messages for camera from Supervisor to Monitor 
     MESSAGE_CAM_POSITION,
     MESSAGE_CAM_IMAGE,
             
@@ -499,7 +501,14 @@ protected:
  * Message class for holding battery level, based on Message class
  * 
  * @brief Battery message class
- * 
+ * How to use:
+ *  1. Ask the battery level to the robot:
+ *      MessageBattery * msg;
+ *      msg = (MessageBattery*)robot.Write(new Message(MESSAGE_ROBOT_BATTERY_GET));
+ *  2. Send the message, for example:
+ *          monitor.send(msg);
+ *      or
+ *          WriteInQueue(&q_messageToMon, msg);
  */
 class MessageBattery : public Message {
 public:

software/raspberry/superviseur-robot/nbproject/private/configurations.xml

@@ -41,7 +41,7 @@
     </conf>
     <conf name="Debug__RPI_" type="1">
       <toolsSet>
-        <developmentServer>pi@10.105.1.13:22</developmentServer>
+        <developmentServer>pi@10.105.1.08:22</developmentServer>
         <platform>2</platform>
       </toolsSet>
       <dbx_gdbdebugger version="1">

software/raspberry/superviseur-robot/nbproject/private/private.xml

@@ -7,12 +7,12 @@
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
         <group>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/main.cpp</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
             <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
             <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
             <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
         </group>
     </open-files>
 </project-private>

software/raspberry/superviseur-robot/tasks.h

@@ -64,7 +64,7 @@ private:
     /**********************************************************************/
     ComMonitor monitor;
     ComRobot robot;
-    int robotStarted;
+    int robotStarted = 0;
     int move = MESSAGE_ROBOT_STOP;
     
     /**********************************************************************/