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alejeune 2023-03-29 09:44:59 +02:00
parent 7297bcc92d
commit 44467756fd
5 changed files with 94 additions and 4 deletions
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2
software/raspberry/superviseur-robot/nbproject/private/configurations.xml
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@ -41,7 +41,7 @@
</conf> </conf>
<conf name="Debug__RPI_" type="1"> <conf name="Debug__RPI_" type="1">
<toolsSet> <toolsSet>
<developmentServer>xenomai@10.105.1.7:22</developmentServer> <developmentServer>xenomai@10.105.1.10:22</developmentServer>
<platform>2</platform> <platform>2</platform>
</toolsSet> </toolsSet>
<dbx_gdbdebugger version="1"> <dbx_gdbdebugger version="1">

0
software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.10-xenomai-22 Normal file
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39
software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.10-xenomai-22 Normal file
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@ -0,0 +1,39 @@
#Tue Mar 21 15:11:16 CET 2023
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1679401432892
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1679401432930
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1679401432864
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1679401432813
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1679401432832
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1679401457314
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1679407831774
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.dep.inc=c1679401432701
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1679401432922
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1679401457320
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1679401457309
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/README.md=c1679401432714
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1679401457337
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/Makefile=c1679401432709
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1679401432820
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h=c1679406345632
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/wrapper.c=c1679401457381
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp=c1679404095224
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1679401432983
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1679401457304
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1679401432851
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1679401432844
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1679401457346
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1679401432926
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1679401457377
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1679401432827
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1679401432918
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1679401432944
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1679401432993
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1679401432897
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1679401432840
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1679401432877
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.h=c1679401457331
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.gitignore=c1679401432706
VERSION=1.3
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1679401432868
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1679401432836
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1679401432848

50
software/raspberry/superviseur-robot/tasks.cpp
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@ -26,6 +26,7 @@
#define PRIORITY_TRECEIVEFROMMON 25 #define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TSTARTROBOT 20 #define PRIORITY_TSTARTROBOT 20
#define PRIORITY_TCAMERA 21 #define PRIORITY_TCAMERA 21
#define PRIORITY_TBATTERY 25
/* /*
* Some remarks: * Some remarks:
@ -39,7 +40,7 @@
* 4- Take into account that ComRobot::Write will block your task when serial buffer is full, * 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
* time for internal buffer to flush * time for internal buffer to flush
* *
* 5- Same behavior existe for ComMonitor::Write ! * 5- Same behavior exists for ComMonitor::Write !
* *
* 6- When you want to write something in terminal, use cout and terminate with endl and flush * 6- When you want to write something in terminal, use cout and terminate with endl and flush
* *
@ -123,6 +124,10 @@ void Tasks::Init() {
cerr << "Error task create: " << strerror(-err) << endl << flush; cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_task_create(&th_battery, "th_battery", 0, PRIORITY_TBATTERY, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks created successfully" << endl << flush; cout << "Tasks created successfully" << endl << flush;
/**************************************************************************************/ /**************************************************************************************/
@ -167,6 +172,10 @@ void Tasks::Run() {
cerr << "Error task start: " << strerror(-err) << endl << flush; cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_task_start(&th_battery, (void(*)(void*)) & Tasks::BatteryTask, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks launched" << endl << flush; cout << "Tasks launched" << endl << flush;
} }
@ -276,7 +285,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
move = msgRcv->GetID(); move = msgRcv->GetID();
rt_mutex_release(&mutex_move); rt_mutex_release(&mutex_move);
} }
delete(msgRcv); // mus be deleted manually, no consumer delete(msgRcv); // must be deleted manually, no consumer
} }
} }
@ -367,7 +376,6 @@ void Tasks::MoveTask(void *arg) {
cout << "Periodic movement update"; cout << "Periodic movement update";
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted; rs = robotStarted;
rt_mutex_release(&mutex_robotStarted);
if (rs == 1) { if (rs == 1) {
rt_mutex_acquire(&mutex_move, TM_INFINITE); rt_mutex_acquire(&mutex_move, TM_INFINITE);
cpMove = move; cpMove = move;
@ -379,10 +387,46 @@ void Tasks::MoveTask(void *arg) {
robot.Write(new Message((MessageID)cpMove)); robot.Write(new Message((MessageID)cpMove));
rt_mutex_release(&mutex_robot); rt_mutex_release(&mutex_robot);
} }
rt_mutex_release(&mutex_robotStarted);
cout << endl << flush; cout << endl << flush;
} }
} }
/**
* @brief task in charge of the battery status.
*/
void Tasks::BatteryTask(void *arg) {
int rs;
int cpMove;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task starts here */
/**************************************************************************************/
rt_task_set_periodic(NULL, TM_NOW, 500*1000*1000);
while (1) {
rt_task_wait_period(NULL);
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted;
if (rs == 1) {
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
Message* batteryReply = robot.Write(robot.GetBattery());
string batteryLevel = batteryReply->ToString();
rt_mutex_release(&mutex_robot);
string msg = " Battery level : " << batteryLevel << endl << flush;
WriteInQueue(&q_messageToMon, BatteryReply); // a tester
}
rt_mutex_release(&mutex_robotStarted);
}
}
/** /**
* Write a message in a given queue * Write a message in a given queue
* @param queue Queue identifier * @param queue Queue identifier

7
software/raspberry/superviseur-robot/tasks.h
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@ -76,6 +76,7 @@ private:
RT_TASK th_openComRobot; RT_TASK th_openComRobot;
RT_TASK th_startRobot; RT_TASK th_startRobot;
RT_TASK th_move; RT_TASK th_move;
RT_TASK th_battery;
/**********************************************************************/ /**********************************************************************/
/* Mutex */ /* Mutex */
@ -132,6 +133,12 @@ private:
*/ */
void MoveTask(void *arg); void MoveTask(void *arg);
/**
* @brief task in charge of the battery status.
*/
void BatteryTask(void *arg);
/**********************************************************************/ /**********************************************************************/
/* Queue services */ /* Queue services */
/**********************************************************************/ /**********************************************************************/