Camera almost finished: todo suppress tooggle, semaphore battery, fps count
This commit is contained in:
alejeune
parent
a9194dee2d
commit
670fff6a0a
7 changed files with 88 additions and 27 deletions
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@ -39,7 +39,7 @@ using namespace std;
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/**
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* Redefinition of cv::Mat type
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*/
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typedef cv::Mat ImageMat;
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typedef cv::Mat ImageMat;
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/**
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* Declaration of Jpg type
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@ -41,7 +41,7 @@
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</conf>
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<conf name="Debug__RPI_" type="1">
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<toolsSet>
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<developmentServer>xenomai@10.105.1.8:22</developmentServer>
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<developmentServer>xenomai@10.105.1.3:22</developmentServer>
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<platform>2</platform>
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</toolsSet>
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<dbx_gdbdebugger version="1">
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@ -9,8 +9,10 @@
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<group>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
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</group>
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@ -0,0 +1,39 @@
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#Fri Apr 07 11:52:43 CEST 2023
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1679401432930
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1680248859421
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1679401432864
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1679401432813
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1679401432832
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1679401457314
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1680861150700
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.dep.inc=c1679401432701
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1679401432922
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1679401457320
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1680518630237
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/README.md=c1679401432714
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1679401457337
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/Makefile=c1679401432709
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1679401432820
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/wrapper.c=c1679401457381
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h=c1680860665596
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp=c1679404095224
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1679401432983
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1679401457304
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1679401432851
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1679401432844
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1679401457346
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1679401432926
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1679401457377
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1679401432827
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1679401432918
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1679401432944
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1679401432993
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1679401432897
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1679401432840
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1679401432877
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.h=c1680855564574
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.gitignore=c1679401432706
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VERSION=1.3
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1679401432868
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1679401432836
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1679401432848
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@ -22,12 +22,12 @@
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#define PRIORITY_TSERVER 30
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#define PRIORITY_TOPENCOMROBOT 20
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#define PRIORITY_TMOVE 20
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#define PRIORITY_TSENDTOMON 22
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#define PRIORITY_TSENDTOMON 23
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#define PRIORITY_TRECEIVEFROMMON 25
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#define PRIORITY_TSTARTROBOT 20
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#define PRIORITY_TCAMERA 21
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#define PRIORITY_TBATTERY 25
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#define PRIORITY_TSTARTCAMERA 25
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#define PRIORITY_TBATTERY 19
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#define PRIORITY_TSTARTCAMERA 22
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/*
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@ -46,7 +46,19 @@
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*
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* 6- When you want to write something in terminal, use cout and terminate with endl and flush
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*
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* 7- Good luck !
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* 7- Good luck !#include <stdexcept>
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// Déclaration des priorités des taches
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#define PRIORITY_TSERVER 30
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#define PRIORITY_TOPENCOMROBOT 20
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#define PRIORITY_TMOVE 20
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#define PRIORITY_TSENDTOMON 23
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#define PRIORITY_TRECEIVEFROMMON 25
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#define PRIORITY_TSTARTROBOT 20
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#define PRIORITY_TCAMERA 21
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#define PRIORITY_TBATTERY 19
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#define PRIORITY_TSTARTCAMERA 22
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*/
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/**
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@ -164,12 +176,14 @@ void Tasks::Init() {
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/**************************************************************************************/
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/* Message queues creation */
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/**************************************************************************************/
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if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
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if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*100, Q_UNLIMITED, Q_FIFO)) < 0) {
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cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Queues created successfully" << endl << flush;
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camera = new Camera(sm,5);
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cout << "New camera ! " << endl << flush;
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}
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/**
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@ -329,7 +343,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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} else if(msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM) || msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)){
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rt_mutex_acquire(&mutex_answer_arena,TM_INFINITE);
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arenaConfirm = msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)? 1:0; // A vérifier que le ternaire est utile
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cout << "Staut de l'arene" << arenaConfirm << endl << flush;
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cout << "Statut de l'arene" << arenaConfirm << endl << flush;
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rt_mutex_release(&mutex_answer_arena);
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rt_sem_v(&sem_answerSync);
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}else if(msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)){
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@ -439,10 +453,10 @@ void Tasks::StartCameraTask(void *arg) {
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rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
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rt_mutex_acquire(&mutex_camera, TM_INFINITE);
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if(!cameraStarted){
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status = camera.Open();
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status = camera->Open();
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cout << "Camera Opened" << endl << flush;
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}else{
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camera.Close();
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camera->Close();
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status = true;
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cout << "Camera Closed" << endl << flush;
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}
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@ -520,7 +534,7 @@ void Tasks::BatteryTask(void *arg) {
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/**************************************************************************************/
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rt_task_set_periodic(NULL, TM_NOW, 500*1000*1000);
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while (1) {
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/*while (1) {
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rt_task_wait_period(NULL);
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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rs = robotStarted;
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@ -534,7 +548,7 @@ void Tasks::BatteryTask(void *arg) {
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}
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rt_mutex_release(&mutex_robotStarted);
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}
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}*/
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}
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/**
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@ -542,7 +556,11 @@ void Tasks::BatteryTask(void *arg) {
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*/
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void Tasks::CameraTask(void *arg){
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int cam;
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Img* image;
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Arena arenaSaved ;
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std::list<Position> robotPosition;
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MessageImg* imgToSend;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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@ -557,12 +575,15 @@ void Tasks::CameraTask(void *arg){
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continue;
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}
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cout << "Traitement de l'image" << endl << flush ;
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rt_mutex_acquire(&mutex_camera, TM_INFINITE);
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// Lancer le traitement périodique
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Img img = camera.Grab();
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Arena arena= img.SearchArena(); // Mise a jour de l'arene tout le temps pour la position du robot mais draw si search arena = true
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Img img = camera->Grab();
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image = img.Copy();
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rt_mutex_release(&mutex_camera);
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rt_mutex_acquire(&mutex_search_arena, TM_INFINITE);
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Arena arena = image->SearchArena(); // Mise a jour de l'arene tout le temps pour la position du robot mais draw si search arena = true
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if(searchArena){
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// chopper l'arene
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if(arena.IsEmpty()){
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@ -571,23 +592,22 @@ void Tasks::CameraTask(void *arg){
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}else{
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cout << "Draw Arena" << endl << flush;
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img.DrawArena(arena);
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image->DrawArena(arena);
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// envoi de l'arene pour vérif
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}
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}else {
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image->DrawArena(arenaSaved);
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}
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rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
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if(robotPos){
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// chopper le robot
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cout << "Pos du robot pls !" ;
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robotPosition = img.SearchRobot(arena);
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robotPosition = image->SearchRobot(arena);
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//Traitement du robot
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if(!robotPosition.empty()){ // Robot position != null
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img.DrawAllRobots(robotPosition);
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image->DrawAllRobots(robotPosition);
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}
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for (auto position : robotPosition)
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{
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@ -597,23 +617,23 @@ void Tasks::CameraTask(void *arg){
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}
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rt_mutex_release(&mutex_robot_pos);
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// Envoi de l'image
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WriteInQueue(&q_messageToMon, new MessageImg(MESSAGE_CAM_IMAGE,&img));
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cout << "Envoi de l'image" << endl << flush ;
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imgToSend = new MessageImg(MESSAGE_CAM_IMAGE,image);
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WriteInQueue(&q_messageToMon, imgToSend);
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rt_sem_p(&sem_answerSync, TM_INFINITE);
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rt_mutex_acquire(&mutex_answer_arena, TM_INFINITE);
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if(arenaConfirm){
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// Arena OK
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img.DrawArena(arena); // Comment save ou rejeter?
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//searchArena = 0;
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arenaSaved = arena;
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searchArena = 0;
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}else{
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// Arena not OK
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searchArena = 0;
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// Rien ?
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}
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rt_mutex_release(&mutex_answer_arena);
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rt_mutex_release(&mutex_search_arena);
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// Je sais pas si cette partie sert a qqc
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}
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}
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@ -64,7 +64,7 @@ private:
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/**********************************************************************/
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ComMonitor monitor;
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ComRobot robot;
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Camera camera;
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Camera* camera;
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int robotStarted = 0;
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int robotPos = 0;
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int cameraStarted = 0;
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