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Nettoyage du Code Gwen inc.

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This commit is contained in:
Gwenael Robert 2023-04-13 17:13:14 +02:00
parent d6bd146249
commit 1b8a6e5c1d
2 changed files with 43 additions and 40 deletions
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4
software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.4-xenomai-22
View file

@ -1,4 +1,4 @@
#Thu Apr 13 16:52:14 CEST 2023
#Thu Apr 13 17:09:29 CEST 2023
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/README.md=c1681393207260
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1681393207255
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1681393207258
@ -22,7 +22,7 @@
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.dep.inc=c1681393207120
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1681393207321
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1681393207272
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp=c1681397524403
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp=c1681398565600
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.cpp=c1681393226950
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1681393226960
/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/superviseur.doxygen=c1681393207355

69
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -666,45 +666,55 @@ void Tasks::StartCameraTask(void *arg) {
/**************************************************************************************/
while (1) {
Message * msgSend;
Message * msg;
bool status;
rt_sem_p(&sem_startCamera, TM_INFINITE);
cout << "Start Camera ";
cout << "Camera changed state " << endl << flush;
rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
if(!cameraStarted){
status = camera->Open();
cout << "Camera Opened" << endl << flush; // Toggle a modifier ?
cout << "Camera Opened" << endl << flush;
rt_mutex_acquire(&mutex_image, TM_INFINITE);
getImage = 1;
rt_mutex_release(&mutex_image);
}else{
camera->Close();
status = true;
status = true; // camera->Close() does not return a status
cout << "Camera Closed" << endl << flush;
rt_mutex_acquire(&mutex_image, TM_INFINITE);
getImage = 0;
rt_mutex_release(&mutex_image);
cout << "Camera Closed" << endl << flush;
}
rt_mutex_release(&mutex_camera);
if(!status){
msgSend = new Message(MESSAGE_ANSWER_NACK);
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
cout << msgSend->ToString() << endl << flush;
rt_mutex_release(&mutex_camera);
rt_mutex_release(&mutex_cameraStarted);
continue;
}
msg = new Message(MESSAGE_ANSWER_NACK);
cout << msg->ToString() << endl << flush;
cout << "Camera failed to start" << endl << flush;
}else{
msg = new Message(MESSAGE_ANSWER_ACK);
cout << msg->ToString() << endl << flush;
cameraStarted = !cameraStarted;
cout << cameraStarted << endl << flush;
rt_mutex_release(&mutex_camera);
cout << "Camera started successfully !" << endl <<flush;
}
WriteInQueue(&q_messageToMon, msg);
rt_mutex_release(&mutex_cameraStarted);
cout << "Cam success! " << endl <<flush;
cout << "Fin de start cam" << endl << flush;
}
}
@ -767,16 +777,15 @@ void Tasks::BatteryTask(void *arg) {
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted;
rt_mutex_release(&mutex_robotStarted);
if (rs == 1) {
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
Message* batteryReply = parseMessage(robot.Write(robot.GetBattery()));
string batteryLevel = batteryReply->ToString();
rt_mutex_release(&mutex_robot);
WriteInQueue(&q_messageToMon, batteryReply);
}
}
}
@ -785,7 +794,6 @@ void Tasks::BatteryTask(void *arg) {
*/
void Tasks::CameraTask(void *arg){
int cam;
int grab;
Img* image; // Image qui sera envoyée au moniteur
Arena arenaSaved,arena ; // arenaSaved : Arène sauvegardée par le moniteur, arena: Arène temporaire pour le traitement
std::list<Position> robotPosition; // Liste des positions de robot à envoyer
@ -807,10 +815,9 @@ void Tasks::CameraTask(void *arg){
}
rt_mutex_acquire(&mutex_image, TM_INFINITE);
if(getImage){
cout << "Statut du traitement " << getImage << endl;
// Lancer le traitement périodique
//cout << "Traitement de l'image" << endl << flush ;
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
// Lancer le traitement périodique
Img img = camera->Grab();
image = img.Copy();
@ -821,8 +828,6 @@ void Tasks::CameraTask(void *arg){
cout << "Arret du traitment !!!!" << endl << flush;
getImage = 0;
// chopper l'arene
if(arena.IsEmpty()){
cout << "Arena is empty" << endl << flush;
// envoi d'un no ack au moniteur
@ -859,16 +864,13 @@ void Tasks::CameraTask(void *arg){
WriteInQueue(&q_messageToMon, imgToSend);
}
cout << "Statut du traitement " << getImage << endl;
cout << "Statut du search " << searchArena << endl;
rt_mutex_release(&mutex_image);
cout << "Avant Réponse ! " << endl << flush;
rt_mutex_acquire(&mutex_answer_arena, TM_INFINITE);
if(searchArena){
//rt_sem_p(&sem_answerSync, TM_INFINITE);
rt_mutex_acquire(&mutex_answerSync, TM_INFINITE);
rt_mutex_acquire(&mutex_answerSync, TM_INFINITE); // Possibilité de réduire les conditions inutiles avec des sémaphores
if(answerSync){
rt_mutex_acquire(&mutex_answer_arena, TM_INFINITE);
if(arenaConfirm){
// Arena OK
cout << "Arena Saved" << endl << flush;
@ -879,15 +881,16 @@ void Tasks::CameraTask(void *arg){
// Rien ?
}
rt_mutex_acquire(&mutex_image, TM_INFINITE);
getImage = 1; // changer en booleen pour synchroniser plutot que ça
getImage = 1;
rt_mutex_release(&mutex_image);
searchArena = 0;
answerSync = 0;
rt_mutex_release(&mutex_answer_arena);
}
rt_mutex_release(&mutex_answerSync);
}
rt_mutex_release(&mutex_answer_arena);
rt_mutex_release(&mutex_search_arena);
}
}