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- /*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #ifndef __TASKS_H__
- #define __TASKS_H__
-
- #include <unistd.h>
- #include <iostream>
-
- #include <sys/mman.h>
- #include <alchemy/task.h>
- #include <alchemy/timer.h>
- #include <alchemy/mutex.h>
- #include <alchemy/sem.h>
- #include <alchemy/queue.h>
-
- #include "messages.h"
- #include "commonitor.h"
- #include "comrobot.h"
- #include "camera.h"
- #include "img.h"
-
- using namespace std;
-
- class Tasks {
- public:
- /**
- * @brief Initializes main structures (semaphores, tasks, mutex, etc.)
- */
- void Init();
-
- /**
- * @brief Starts tasks
- */
- void Run();
-
- /**
- * @brief Stops tasks
- */
- void Stop();
-
- /**
- * @brief Suspends main thread
- */
- void Join();
-
- private:
- /**********************************************************************/
- /* Shared data */
- /**********************************************************************/
- ComMonitor monitor;
- ComRobot robot;
- int robotStarted = 0;
- int move = MESSAGE_ROBOT_STOP;
-
- /**********************************************************************/
- /* Tasks */
- /**********************************************************************/
- RT_TASK th_server;
- RT_TASK th_sendToMon;
- RT_TASK th_receiveFromMon;
- RT_TASK th_openComRobot;
- RT_TASK th_startRobot;
- RT_TASK th_move;
- RT_TASK th_getBattery;
- RT_TASK th_watchDog;
- RT_TASK th_controlCamera;
- RT_TASK th_picture;
-
- /**********************************************************************/
- /* Mutex */
- /**********************************************************************/
- RT_MUTEX mutex_monitor;
- RT_MUTEX mutex_robot;
- RT_MUTEX mutex_robotStarted;
- RT_MUTEX mutex_move;
-
- RT_MUTEX mutex_camera;
- RT_MUTEX mutex_controlStruct;
-
- /**********************************************************************/
- /* Semaphores */
- /**********************************************************************/
- RT_SEM sem_barrier;
- RT_SEM sem_openComRobot;
- RT_SEM sem_serverOk;
- RT_SEM sem_startRobot;
- RT_SEM sem_watchdogStart;
- RT_SEM sem_restartServer;
- RT_SEM sem_robotStopped;
-
-
-
- /**********************************************************************/
- /* Message queues */
- /**********************************************************************/
- int MSG_QUEUE_SIZE;
- RT_QUEUE q_messageToMon;
- RT_QUEUE q_messageComRobot;
- RT_QUEUE q_messageControlRobot;
- RT_QUEUE q_messageControlCam;
-
- /**********************************************************************/
- /* Tasks' functions */
- /**********************************************************************/
- /**
- * @brief Thread handling server communication with the monitor.
- */
- void ServerTask(void *arg);
-
- /**
- * @brief Thread sending data to monitor.
- */
- void SendToMonTask(void *arg);
-
- /**
- * @brief Thread receiving data from monitor.
- */
- void ReceiveFromMonTask(void *arg);
-
- /**
- * @brief Thread opening communication with the robot.
- */
- void OpenComRobot(void *arg);
-
- /**
- * @brief Thread starting the communication with the robot.
- */
- void StartRobotTask(void *arg);
-
- /**
- * @brief Thread handling control of the robot.
- */
- void MoveTask(void *arg);
-
- /**********************************************************************/
- /* Queue services */
- /**********************************************************************/
- /**
- * Write a message in a given queue
- * @param queue Queue identifier
- * @param msg Message to be stored
- */
- void WriteInQueue(RT_QUEUE *queue, Message *msg);
-
- /**
- * Read a message from a given queue, block if empty
- * @param queue Queue identifier
- * @return Message read
- */
- Message *ReadInQueue(RT_QUEUE *queue);
-
-
- /**
- * Read the battery level of the robot
- * @return Nothing
- */
- void ReadBattery(void *arg);
-
- /**
- * Sends periodically a message to the robot
- * @return Nothing
- */
- void WatchDog(void *arg);
-
- };
-
- #endif // __TASKS_H__
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