nouvelle branche double_port pour tester un port special pour les images
This commit is contained in:
Sébastien DI MERCURIO
parent
f3a83fa7d9
commit
ff85e268e8
6 changed files with 52 additions and 49 deletions
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@ -49,8 +49,8 @@ OBJECTFILES= \
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CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
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# CC Compiler Flags
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CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
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CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
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CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg
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CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg
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# Fortran Compiler Flags
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FFLAGS=
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@ -67,7 +67,7 @@ LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam
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${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
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${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
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${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lpthread -lrt
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${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lpthread -lrt -pg
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${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
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${MKDIR} -p ${OBJECTDIR}/lib/base64
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@ -213,7 +213,7 @@
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<pElem>./</pElem>
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<pElem>./lib</pElem>
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</incDir>
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<commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11</commandLine>
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<commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg</commandLine>
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<preprocessorList>
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<Elem>_WITH_TRACE_</Elem>
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<Elem>__WITH_ARUCO__</Elem>
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@ -226,7 +226,7 @@
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<linkerLibLibItem>raspicam_cv</linkerLibLibItem>
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<linkerLibLibItem>raspicam</linkerLibLibItem>
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</linkerLibItems>
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<commandLine>-Wl,--no-as-needed -lpthread -lrt</commandLine>
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<commandLine>-Wl,--no-as-needed -lpthread -lrt -pg</commandLine>
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</linkerTool>
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</compileType>
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<item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">
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@ -9,6 +9,7 @@
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<group>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
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<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>
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@ -1,4 +1,4 @@
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#Thu Jan 24 10:34:54 CET 2019
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#Thu Jan 24 17:03:52 CET 2019
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_0.js=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h_source.html=c1547565563000
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@ -300,12 +300,12 @@
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1547735186000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__coll__graph.png=c1547563913000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/struct_position.tex=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_4.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__coll__graph.png=c1547563913000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h__incl.md5=c1547560339000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_4.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_2.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/graph_legend.md5=c1547560339000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_7.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_9.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_7.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp=c1548322487000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__coll__graph.md5=c1547560339000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp=c1548345823000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/doxygen.png=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__coll__graph.md5=c1547560339000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/commonitor_8h__incl.png=c1547560339000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_0.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_c.js=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_0.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_7.js=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1548321303000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/typedefs_0.html=c1547565563000
|
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|
|
@ -415,21 +415,21 @@
|
|||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery.tex=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_b.js=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_6.js=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/commonitor_8h__incl.md5=c1547560339000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_e.html=c1547565563000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/commonitor_8h__incl.md5=c1547560339000
|
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/closed.png=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp=c1547736477000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1548321303000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp=c1547736477000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/index.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_4.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.md5=c1547564861000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/refman.tex=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/not_for_students/examples/.gitignore=c1547736477000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot-members.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.map=c1547560339000
|
||||
|
|
@ -440,17 +440,17 @@
|
|||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_6.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/struct_position.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__inherit__graph.png=c1547560339000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_12.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_img.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/bc_s.png=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_img.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_12.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.map=c1547564862000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/README.md=c1541685829000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_2.png=c1547560340000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_2.html=c1547565563000
|
||||
VERSION=1.3
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/robot-icon.resized.png=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h.html=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
|
||||
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000
|
||||
|
|
|
|||
|
|
@ -72,6 +72,7 @@ void Tasks::Init() {
|
|||
}
|
||||
|
||||
void Tasks::Run() {
|
||||
|
||||
threadTimer = new thread((void (*)(void*)) & Tasks::TimerTask, this);
|
||||
threadServer = new thread((void (*)(void*)) & Tasks::ServerTask, this);
|
||||
|
||||
|
|
@ -86,7 +87,6 @@ void Tasks::Stop() {
|
|||
void Tasks::ServerTask(void *arg) {
|
||||
Message *msgRcv;
|
||||
Message *msgSend;
|
||||
bool isActive = true;
|
||||
|
||||
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||
|
||||
|
|
@ -115,6 +115,8 @@ void Tasks::ServerTask(void *arg) {
|
|||
if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
|
||||
msgSend = robot.Write(msgRcv);
|
||||
cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
|
||||
|
||||
isActive=false;
|
||||
}
|
||||
|
||||
if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
|
||||
|
|
@ -135,7 +137,7 @@ void Tasks::ServerTask(void *arg) {
|
|||
msgSend = robot.Write(msgRcv);
|
||||
|
||||
cout << "Movement answer: " << msgSend->ToString() << endl << flush;
|
||||
|
||||
|
||||
if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
|
||||
delete (msgSend);
|
||||
msgSend = NULL;
|
||||
|
|
@ -228,7 +230,7 @@ void Tasks::TimerTask(void* arg) {
|
|||
|
||||
counter_img = 0;
|
||||
|
||||
while (1) {
|
||||
while (isActive) {
|
||||
Img image = camera.Grab(); // 15fps
|
||||
cntFrame++;
|
||||
cout << "cnt: " << to_string(cntFrame) << endl << flush;
|
||||
|
|
|
|||
|
|
@ -89,7 +89,7 @@ private:
|
|||
|
||||
int counter;
|
||||
bool flag;
|
||||
|
||||
bool isActive = true;
|
||||
bool showArena=false;
|
||||
|
||||
thread *threadServer;
|
||||
|
|
|
|||
Loading…
Reference in a new issue