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Camera almost finished: todo suppress tooggle, semaphore battery, fps count

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alejeune 2023-04-07 12:10:04 +02:00
parent a9194dee2d
commit 670fff6a0a
7 changed files with 88 additions and 27 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@10.105.1.8:22</developmentServer> <developmentServer>xenomai@10.105.1.3:22</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-10.105.1.3-xenomai-22 Normal file
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software/raspberry/superviseur-robot/nbproject/private/private.xml
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@ -9,8 +9,10 @@
<group> <group>
<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h</file> <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h</file> <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp</file> <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file> <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp</file> <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp</file>
<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h</file> <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
</group> </group>

39
software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.3-xenomai-22 Normal file
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@ -0,0 +1,39 @@
#Fri Apr 07 11:52:43 CEST 2023
/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/messages.cpp=c1680248859421
/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=c1680861150700
/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=c1680518630237
/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/wrapper.c=c1679401457381
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h=c1680860665596
/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=c1680855564574
/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

66
software/raspberry/superviseur-robot/tasks.cpp
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@ -22,12 +22,12 @@
#define PRIORITY_TSERVER 30 #define PRIORITY_TSERVER 30
#define PRIORITY_TOPENCOMROBOT 20 #define PRIORITY_TOPENCOMROBOT 20
#define PRIORITY_TMOVE 20 #define PRIORITY_TMOVE 20
#define PRIORITY_TSENDTOMON 22 #define PRIORITY_TSENDTOMON 23
#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 #define PRIORITY_TBATTERY 19
#define PRIORITY_TSTARTCAMERA 25 #define PRIORITY_TSTARTCAMERA 22
/* /*
@ -46,7 +46,19 @@
* *
* 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
* *
* 7- Good luck ! * 7- Good luck !#include <stdexcept>
// Déclaration des priorités des taches
#define PRIORITY_TSERVER 30
#define PRIORITY_TOPENCOMROBOT 20
#define PRIORITY_TMOVE 20
#define PRIORITY_TSENDTOMON 23
#define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TSTARTROBOT 20
#define PRIORITY_TCAMERA 21
#define PRIORITY_TBATTERY 19
#define PRIORITY_TSTARTCAMERA 22
*/ */
/** /**
@ -164,12 +176,14 @@ void Tasks::Init() {
/**************************************************************************************/ /**************************************************************************************/
/* Message queues creation */ /* Message queues creation */
/**************************************************************************************/ /**************************************************************************************/
if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) { if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*100, Q_UNLIMITED, Q_FIFO)) < 0) {
cerr << "Error msg queue create: " << strerror(-err) << endl << flush; cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
cout << "Queues created successfully" << endl << flush; cout << "Queues created successfully" << endl << flush;
camera = new Camera(sm,5);
cout << "New camera ! " << endl << flush;
} }
/** /**
@ -329,7 +343,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
} else if(msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM) || msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)){ } else if(msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM) || msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)){
rt_mutex_acquire(&mutex_answer_arena,TM_INFINITE); rt_mutex_acquire(&mutex_answer_arena,TM_INFINITE);
arenaConfirm = msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)? 1:0; // A vérifier que le ternaire est utile arenaConfirm = msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)? 1:0; // A vérifier que le ternaire est utile
cout << "Staut de l'arene" << arenaConfirm << endl << flush; cout << "Statut de l'arene" << arenaConfirm << endl << flush;
rt_mutex_release(&mutex_answer_arena); rt_mutex_release(&mutex_answer_arena);
rt_sem_v(&sem_answerSync); rt_sem_v(&sem_answerSync);
}else if(msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)){ }else if(msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)){
@ -439,10 +453,10 @@ void Tasks::StartCameraTask(void *arg) {
rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE); rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
rt_mutex_acquire(&mutex_camera, TM_INFINITE); rt_mutex_acquire(&mutex_camera, TM_INFINITE);
if(!cameraStarted){ if(!cameraStarted){
status = camera.Open(); status = camera->Open();
cout << "Camera Opened" << endl << flush; cout << "Camera Opened" << endl << flush;
}else{ }else{
camera.Close(); camera->Close();
status = true; status = true;
cout << "Camera Closed" << endl << flush; cout << "Camera Closed" << endl << flush;
} }
@ -520,7 +534,7 @@ void Tasks::BatteryTask(void *arg) {
/**************************************************************************************/ /**************************************************************************************/
rt_task_set_periodic(NULL, TM_NOW, 500*1000*1000); rt_task_set_periodic(NULL, TM_NOW, 500*1000*1000);
while (1) { /*while (1) {
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted; rs = robotStarted;
@ -534,7 +548,7 @@ void Tasks::BatteryTask(void *arg) {
} }
rt_mutex_release(&mutex_robotStarted); rt_mutex_release(&mutex_robotStarted);
} }*/
} }
/** /**
@ -542,7 +556,11 @@ void Tasks::BatteryTask(void *arg) {
*/ */
void Tasks::CameraTask(void *arg){ void Tasks::CameraTask(void *arg){
int cam; int cam;
Img* image;
Arena arenaSaved ;
std::list<Position> robotPosition; std::list<Position> robotPosition;
MessageImg* imgToSend;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
@ -557,12 +575,15 @@ void Tasks::CameraTask(void *arg){
continue; continue;
} }
cout << "Traitement de l'image" << endl << flush ;
rt_mutex_acquire(&mutex_camera, TM_INFINITE); rt_mutex_acquire(&mutex_camera, TM_INFINITE);
// Lancer le traitement périodique // Lancer le traitement périodique
Img img = camera.Grab();
Arena arena= img.SearchArena(); // Mise a jour de l'arene tout le temps pour la position du robot mais draw si search arena = true Img img = camera->Grab();
image = img.Copy();
rt_mutex_release(&mutex_camera); rt_mutex_release(&mutex_camera);
rt_mutex_acquire(&mutex_search_arena, TM_INFINITE); rt_mutex_acquire(&mutex_search_arena, TM_INFINITE);
Arena arena = image->SearchArena(); // Mise a jour de l'arene tout le temps pour la position du robot mais draw si search arena = true
if(searchArena){ if(searchArena){
// chopper l'arene // chopper l'arene
if(arena.IsEmpty()){ if(arena.IsEmpty()){
@ -571,23 +592,22 @@ void Tasks::CameraTask(void *arg){
}else{ }else{
cout << "Draw Arena" << endl << flush; cout << "Draw Arena" << endl << flush;
img.DrawArena(arena); image->DrawArena(arena);
// envoi de l'arene pour vérif // envoi de l'arene pour vérif
} }
}else {
image->DrawArena(arenaSaved);
} }
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE); rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
if(robotPos){ if(robotPos){
// chopper le robot // chopper le robot
cout << "Pos du robot pls !" ; cout << "Pos du robot pls !" ;
robotPosition = img.SearchRobot(arena); robotPosition = image->SearchRobot(arena);
//Traitement du robot //Traitement du robot
if(!robotPosition.empty()){ // Robot position != null if(!robotPosition.empty()){ // Robot position != null
img.DrawAllRobots(robotPosition); image->DrawAllRobots(robotPosition);
} }
for (auto position : robotPosition) for (auto position : robotPosition)
{ {
@ -597,23 +617,23 @@ void Tasks::CameraTask(void *arg){
} }
rt_mutex_release(&mutex_robot_pos); rt_mutex_release(&mutex_robot_pos);
// Envoi de l'image // Envoi de l'image
WriteInQueue(&q_messageToMon, new MessageImg(MESSAGE_CAM_IMAGE,&img)); cout << "Envoi de l'image" << endl << flush ;
imgToSend = new MessageImg(MESSAGE_CAM_IMAGE,image);
WriteInQueue(&q_messageToMon, imgToSend);
rt_sem_p(&sem_answerSync, TM_INFINITE); rt_sem_p(&sem_answerSync, TM_INFINITE);
rt_mutex_acquire(&mutex_answer_arena, TM_INFINITE); rt_mutex_acquire(&mutex_answer_arena, TM_INFINITE);
if(arenaConfirm){ if(arenaConfirm){
// Arena OK // Arena OK
img.DrawArena(arena); // Comment save ou rejeter? arenaSaved = arena;
//searchArena = 0; searchArena = 0;
}else{ }else{
// Arena not OK // Arena not OK
searchArena = 0;
// Rien ? // Rien ?
} }
rt_mutex_release(&mutex_answer_arena); rt_mutex_release(&mutex_answer_arena);
rt_mutex_release(&mutex_search_arena); rt_mutex_release(&mutex_search_arena);
// Je sais pas si cette partie sert a qqc
} }
} }

2
software/raspberry/superviseur-robot/tasks.h
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@ -64,7 +64,7 @@ private:
/**********************************************************************/ /**********************************************************************/
ComMonitor monitor; ComMonitor monitor;
ComRobot robot; ComRobot robot;
Camera camera; Camera* camera;
int robotStarted = 0; int robotStarted = 0;
int robotPos = 0; int robotPos = 0;
int cameraStarted = 0; int cameraStarted = 0;