From 6113bf708f0c1e567e77dc281c18d367a3d91566 Mon Sep 17 00:00:00 2001 From: g_robert Date: Fri, 14 Apr 2023 10:06:05 +0200 Subject: [PATCH] final version (hope so) --- .../nbproject/private/configurations.xml | 2 +- .../private/downloads-10.105.1.1-xenomai-22 | 0 .../nbproject/private/private.xml | 13 +--- .../private/timestamps-10.105.1.1-xenomai-22 | 39 ++++++++++ .../private/timestamps-10.105.1.8-xenomai-22 | 75 ++++++++++++++----- .../raspberry/superviseur-robot/tasks.cpp | 45 +++++++---- 6 files changed, 131 insertions(+), 43 deletions(-) create mode 100644 software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.1-xenomai-22 create mode 100644 software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.1-xenomai-22 diff --git a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml index 31c7391..0ccb8cc 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml @@ -41,7 +41,7 @@ - xenomai@10.105.1.4:22 + xenomai@10.105.1.1:22 2 diff --git a/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.1-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.1-xenomai-22 new file mode 100644 index 0000000..e69de29 diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml index f7493fc..6f143fb 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/private.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml @@ -7,15 +7,10 @@ - file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h - file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h - file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp - file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp - file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp - file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp - file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp - file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.h - file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h + file:/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h + file:/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h + file:/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp + file:/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.1-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.1-xenomai-22 new file mode 100644 index 0000000..761571b --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.1-xenomai-22 @@ -0,0 +1,39 @@ +#Fri Apr 14 09:59:49 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/commonitor.h=c1681393207285 +/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1681393207258 +/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/.gitignore=c1681393207250 +/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.h=c1681393672548 +/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.h=c1681393226953 +/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1681393207325 +/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1681393207318 +/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1681393207323 +/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.gitignore=c1681393207123 +/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1681393207281 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+/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/README.md=c1681393207129 diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.8-xenomai-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.8-xenomai-22 index c1f3153..bdef194 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.8-xenomai-22 +++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.8-xenomai-22 @@ -1,39 +1,76 @@ -#Fri Apr 07 12:13:15 CEST 2023 -/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp=c1680524819149 +#Fri Apr 14 09:20:11 CEST 2023 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.cpp=c1680524985794 -/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp=c1680862388297 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+/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h=c1681393207291 diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp index 9581a51..ceb67d9 100644 --- a/software/raspberry/superviseur-robot/tasks.cpp +++ b/software/raspberry/superviseur-robot/tasks.cpp @@ -93,7 +93,10 @@ Message* Tasks::parseMessage(Message* msg){ rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); robotStarted = 0; rt_mutex_release(&mutex_robotStarted); - + rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE); + compteurRobotLoss = 0; + rt_mutex_release(&mutex_compteurRobotLoss); + // send info to monitor if (state < 0) { @@ -482,17 +485,25 @@ void Tasks::ReceiveFromMonTask(void *arg) { rt_mutex_release(&mutex_robot_pos); cout << "Robot Pos false" << endl << flush; - }else if(msgRcv->CompareID(MESSAGE_MONITOR_LOST)){ // Perte de connexion avec le robot + }else if(msgRcv->CompareID(MESSAGE_MONITOR_LOST)){ // Perte de connexion avec le moniteur cout << "MONITOR LOST" << endl << flush; rt_mutex_acquire(&mutex_robot, TM_INFINITE); robot.Close(); rt_mutex_release(&mutex_robot); - + rt_mutex_acquire(&mutex_image, TM_INFINITE); + getImage = 0; + rt_mutex_release(&mutex_image); + rt_mutex_acquire(&mutex_camera, TM_INFINITE); camera->Close(); rt_mutex_release(&mutex_camera); + + rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE); + cameraStarted = 0; + rt_mutex_release(&mutex_cameraStarted); + rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); @@ -672,8 +683,10 @@ void Tasks::StartCameraTask(void *arg) { cout << "Camera changed state " << endl << flush; rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE); + int cameraStart = cameraStarted; + rt_mutex_release(&mutex_cameraStarted); rt_mutex_acquire(&mutex_camera, TM_INFINITE); - if(!cameraStarted){ + if(!cameraStart){ status = camera->Open(); cout << "Camera Opened" << endl << flush; @@ -681,6 +694,7 @@ void Tasks::StartCameraTask(void *arg) { rt_mutex_acquire(&mutex_image, TM_INFINITE); getImage = 1; rt_mutex_release(&mutex_image); + cameraStart = 1; }else{ @@ -688,7 +702,7 @@ void Tasks::StartCameraTask(void *arg) { status = true; // camera->Close() does not return a status cout << "Camera Closed" << endl << flush; - + cameraStart = 0; rt_mutex_acquire(&mutex_image, TM_INFINITE); getImage = 0; rt_mutex_release(&mutex_image); @@ -707,14 +721,14 @@ void Tasks::StartCameraTask(void *arg) { msg = new Message(MESSAGE_ANSWER_ACK); cout << msg->ToString() << endl << flush; - cameraStarted = !cameraStarted; + rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE); + cameraStarted = cameraStart; + rt_mutex_release(&mutex_cameraStarted); cout << "Camera started successfully !" << endl <