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This commit is contained in:
Leonie Gallois 2021-03-17 10:00:43 +01:00
parent f76171f0b3
commit eb02897a06
2 changed files with 58 additions and 30 deletions
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9
software/raspberry/superviseur-robot/nbproject/private/private.xml
View file

@ -7,12 +7,9 @@
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/> <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"> <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group> <group>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h</file> <file>file:/home/gallois/Documents/insa4/S2/robot/Temps_Reel_Robot/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file> <file>file:/home/gallois/Documents/insa4/S2/robot/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file> <file>file:/home/gallois/Documents/insa4/S2/robot/Temps_Reel_Robot/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/messages.h</file>
</group> </group>
</open-files> </open-files>
</project-private> </project-private>

79
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -97,6 +97,11 @@ void Tasks::Init() {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush; cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_sem_create(&sem_restartServer, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Semaphores created successfully" << endl << flush; cout << "Semaphores created successfully" << endl << flush;
/**************************************************************************************/ /**************************************************************************************/
@ -224,18 +229,22 @@ void Tasks::ServerTask(void *arg) {
/**************************************************************************************/ /**************************************************************************************/
/* The task server starts here */ /* The task server starts here */
/**************************************************************************************/ /**************************************************************************************/
rt_mutex_acquire(&mutex_monitor, TM_INFINITE); while(1){
status = monitor.Open(SERVER_PORT); rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
rt_mutex_release(&mutex_monitor); status = monitor.Open(SERVER_PORT);
rt_mutex_release(&mutex_monitor);
cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl; cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
if (status < 0) throw std::runtime_error {
"Unable to start server on port " + std::to_string(SERVER_PORT)
};
monitor.AcceptClient(); // Wait the monitor client
cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
rt_sem_broadcast(&sem_serverOk);
rt_sem_p(&sem_restartServer);
}
if (status < 0) throw std::runtime_error {
"Unable to start server on port " + std::to_string(SERVER_PORT)
};
monitor.AcceptClient(); // Wait the monitor client
cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
rt_sem_broadcast(&sem_serverOk);
} }
/** /**
@ -287,7 +296,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
delete(msgRcv); delete(msgRcv);
exit(-1); exit(-1);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) { } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
rt_sem_v(&sem_openComRobot); //rt_sem_v(&sem_openComRobot);
WriteInQueue(&q_messageComRobot, msgRcv);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) { } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
rt_sem_v(&sem_startRobot); rt_sem_v(&sem_startRobot);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) || } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
@ -319,21 +329,42 @@ void Tasks::OpenComRobot(void *arg) {
/* The task openComRobot starts here */ /* The task openComRobot starts here */
/**************************************************************************************/ /**************************************************************************************/
while (1) { while (1) {
rt_sem_p(&sem_openComRobot, TM_INFINITE); Message * msg;
cout << "Open serial com ("; msg=ReadInQueue(&q_messageComRobot);
rt_mutex_acquire(&mutex_robot, TM_INFINITE); if(msg->CompareID(MESSAGE_ROBOT_COM_OPEN)){
status = robot.Open(); cout << "Open serial com (";
rt_mutex_release(&mutex_robot); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
cout << status; status = robot.Open();
cout << ")" << endl << flush; rt_mutex_release(&mutex_robot);
cout << status;
cout << ")" << endl << flush;
Message * msgSend; Message * msgSend;
if (status < 0) { if (status < 0) {
msgSend = new Message(MESSAGE_ANSWER_NACK); msgSend = new Message(MESSAGE_ANSWER_NACK);
} else { } else {
msgSend = new Message(MESSAGE_ANSWER_ACK); msgSend = new Message(MESSAGE_ANSWER_ACK);
}
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
}else if(msg->CompareID(MESSAGE_ROBOT_COM_CLOSE)){
cout << "Close serial com (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
status = robot.Close();
rt_mutex_release(&mutex_robot);
cout << status;
cout << ")" << endl << flush;
Message * msgSend;
if (status < 0) {
msgSend = new Message(MESSAGE_ANSWER_NACK);
} else {
msgSend = new Message(MESSAGE_ANSWER_ACK);
}
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
} }
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon delete(msg);
//rt_sem_p(&sem_openComRobot, TM_INFINITE);
} }
} }