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images are now sent using base64. 40fps on localhost, test to be done on raspberry

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This commit is contained in:
Sébastien DI MERCURIO 2019-01-04 16:55:48 +01:00
parent 7f0be2d5fd
commit 8bf6c73dbb
40 changed files with 1021 additions and 1289 deletions
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16
.vscode/c_cpp_properties.json vendored
View file

@ -1,16 +0,0 @@
{
"configurations": [
{
"name": "Linux",
"includePath": [
"${workspaceFolder}/**"
],
"defines": [],
"compilerPath": "/usr/bin/clang",
"cStandard": "c11",
"cppStandard": "c++17",
"intelliSenseMode": "clang-x64"
}
],
"version": 4
}

16
.vscode/tasks.json vendored
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@ -1,16 +0,0 @@
{
// See https://go.microsoft.com/fwlink/?LinkId=733558
// for the documentation about the tasks.json format
"version": "2.0.0",
"tasks": [
{
"taskName": "Compile on raspberry",
"command": "rsync -az '${file}' 10.105.1.6:~ && ssh server.example.org 'chmod +x ./${fileBasename}; ./${fileBasename}'",
"type": "shell",
"group": {
"kind": "build",
"isDefault": true
}
}
]
}

168
software/monitor/monitor/Client.cs
View file

@ -23,6 +23,8 @@ using System;
using System.Net.Sockets; using System.Net.Sockets;
using System.Text; using System.Text;
using System.Threading;
namespace monitor namespace monitor
{ {
/// <summary> /// <summary>
@ -66,21 +68,26 @@ namespace monitor
/// </summary> /// </summary>
private static byte[] receiveBuffer; private static byte[] receiveBuffer;
private static int initialReceiveBufferIndex = 0; //private static int initialReceiveBufferIndex = 0;
/// <summary> /// <summary>
/// String containing received message from tcp server /// String containing received message from tcp server
/// </summary> /// </summary>
private static StringBuilder message = new StringBuilder(); private static StringBuilder message = new StringBuilder();
private static int newLength = 1; //private static int newLength = 1;
private static int packetCounter = 0; //private static int packetCounter = 0;
/// <summary> /// <summary>
/// Callback to send received message to upper level /// Callback to send received message to upper level
/// </summary> /// </summary>
public delegate void ReadEvent(string msg, byte[] buffer); public delegate void ReadEvent(string msg);
public static ReadEvent readEvent = null; public static ReadEvent readEvent = null;
/// <summary>
/// Thread used in reception
/// </summary>
private static Thread readThread;
/// <summary> /// <summary>
/// Open connection to server "host", on default port number. /// Open connection to server "host", on default port number.
/// </summary> /// </summary>
@ -114,7 +121,12 @@ namespace monitor
// received data are stored in buffer // received data are stored in buffer
// Next reading will be done in ReadCallback method // Next reading will be done in ReadCallback method
stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message); stream.BeginRead(buffer, 0, 1, new AsyncCallback(ReadCallback), message);
// Start reading thread
//message.Clear();
//readThread = new Thread(new ThreadStart(ReadCallback));
//readThread.Start();
} }
catch (ArgumentNullException e) catch (ArgumentNullException e)
{ {
@ -144,19 +156,142 @@ namespace monitor
if (client != null) client.Close(); if (client != null) client.Close();
} }
/// <summary>
/// Callback call by stream.BeginRead after reception of newLength data
/// </summary>
//private static void ReadCallback()
//{
// char character;
// int data;
// byte[] buffer=new byte[4096];
// int lengthRead;
// while (client.Connected)
// {
// try
// {
// //data = stream.ReadByte();
// lengthRead = stream.Read(buffer, 0, buffer.Length);
// }
// catch (ObjectDisposedException)
// {
// Console.WriteLine("Connection to server dropped (object disposed)!");
// return;
// }
// catch (System.IO.IOException)
// {
// Console.WriteLine("Connection to server dropped (other error)");
// return;
// }
// if (lengthRead > 0) // a data was read
// {
// //character = (char)data;
// var str = System.Text.Encoding.Default.GetString(buffer);
// int indexOf = str.IndexOf('\n');
// //if (character != '\n')
// if (indexOf == -1) // \n doesn't exists
// {
// message.Append(str);
// //if (receiveBuffer == null) receiveBuffer = new byte[1];
// //else Array.Resize<byte>(ref receiveBuffer, receiveBuffer.Length + 1); // resize currrent buffer
// //receiveBuffer[receiveBuffer.Length - 1] = (byte)data;
// }
// else // end of string found
// {
// message.Append((str.Substring(0,indexOf)));
// readEvent?.Invoke(message.ToString(), receiveBuffer);
// message.Clear();
// receiveBuffer = null;
// }
// }
// }
//}
/// <summary> /// <summary>
/// Callback call by stream.BeginRead after reception of newLength data /// Callback call by stream.BeginRead after reception of newLength data
/// </summary> /// </summary>
/// <param name="ar">Not sure of what is it, but needed for terminate reading</param> /// <param name="ar">Not sure of what is it, but needed for terminate reading</param>
//private static void ReadCallback(IAsyncResult ar)
//{
// if (client.Connected)
// {
// int bytesRead;
// try
// {
// // Termintae read operation, and get number of byte stored in buffer
// bytesRead = stream.EndRead(ar);
// }
// catch (ObjectDisposedException e)
// {
// Console.WriteLine("Connection to server dropped: " + e.ToString());
// return;
// }
// newLength = 1;
// // if number of byte read is not 0, concatenate string and buffer
// if (bytesRead > 0)
// {
// packetCounter++;
// if (packetCounter >= 3)
// {
// //Console.WriteLine("Supplementary packet " + packetCounter);
// }
// // Append new data to current string (expecting data are ascii)
// message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));
// // Similarly, append received bytes to current buffer
// if (receiveBuffer == null) receiveBuffer = new byte[bytesRead];
// else Array.Resize<byte>(ref receiveBuffer, initialReceiveBufferIndex + bytesRead); // resize currrent buffer
// System.Buffer.BlockCopy(buffer, 0, receiveBuffer, initialReceiveBufferIndex, bytesRead); // and add received data
// initialReceiveBufferIndex = receiveBuffer.Length; // move last index of current buffer
// }
// // if it remains received data, prepare for a new reading (get another buffer to append to current one)
// if (client.Available > 0)
// {
// newLength = client.Available;
// if (newLength > BufferMaxSize) newLength = BufferMaxSize;
// else newLength = client.Available;
// }
// else
// {
// // no more data to read, buffer and string can be send to upper level
// readEvent?.Invoke(message.ToString(), receiveBuffer);
// message.Clear();
// receiveBuffer = null;
// initialReceiveBufferIndex = 0;
// packetCounter = 0;
// }
// // Prepare for reading new data
// if (newLength> BufferMaxSize) newLength = BufferMaxSize;
// if (newLength <= 0) newLength = 1;
// stream.BeginRead(buffer, 0, newLength, new AsyncCallback(ReadCallback), message);
// }
//}
private static void ReadCallback(IAsyncResult ar) private static void ReadCallback(IAsyncResult ar)
{ {
int newLength = 1;
if (client.Connected) if (client.Connected)
{ {
int bytesRead; int bytesRead;
try try
{ {
// Termintae read operation, and get number of byte stored in buffer // Terminate read operation, and get number of byte stored in buffer
bytesRead = stream.EndRead(ar); bytesRead = stream.EndRead(ar);
} }
catch (ObjectDisposedException e) catch (ObjectDisposedException e)
@ -165,27 +300,13 @@ namespace monitor
return; return;
} }
newLength = 1; //newLength = 1;
// if number of byte read is not 0, concatenate string and buffer // if number of byte read is not 0, concatenate string and buffer
if (bytesRead > 0) if (bytesRead > 0)
{ {
packetCounter++;
if (packetCounter >= 3)
{
//Console.WriteLine("Supplementary packet " + packetCounter);
}
// Append new data to current string (expecting data are ascii) // Append new data to current string (expecting data are ascii)
message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead)); message.Append(Encoding.ASCII.GetString(buffer, 0, bytesRead));
// Similarly, append received bytes to current buffer
if (receiveBuffer == null) receiveBuffer = new byte[bytesRead];
else Array.Resize<byte>(ref receiveBuffer, initialReceiveBufferIndex + bytesRead); // resize currrent buffer
System.Buffer.BlockCopy(buffer, 0, receiveBuffer, initialReceiveBufferIndex, bytesRead); // and add received data
initialReceiveBufferIndex = receiveBuffer.Length; // move last index of current buffer
} }
// if it remains received data, prepare for a new reading (get another buffer to append to current one) // if it remains received data, prepare for a new reading (get another buffer to append to current one)
@ -198,12 +319,9 @@ namespace monitor
else else
{ {
// no more data to read, buffer and string can be send to upper level // no more data to read, buffer and string can be send to upper level
readEvent?.Invoke(message.ToString(), receiveBuffer); readEvent?.Invoke(message.ToString());
message.Clear(); message.Clear();
receiveBuffer = null;
initialReceiveBufferIndex = 0;
packetCounter = 0;
} }
// Prepare for reading new data // Prepare for reading new data

8
software/monitor/monitor/CommandManager.cs
View file

@ -33,7 +33,7 @@ namespace monitor
/// <summary> /// <summary>
/// Callback for sending received data to upper level /// Callback for sending received data to upper level
/// </summary> /// </summary>
public delegate void CommandReceivedEvent(string msg, byte[] buffer); public delegate void CommandReceivedEvent(string msg);
public CommandReceivedEvent commandReceivedEvent = null; public CommandReceivedEvent commandReceivedEvent = null;
/// <summary> /// <summary>
@ -122,7 +122,7 @@ namespace monitor
/// </summary> /// </summary>
/// <param name="message">Message received from server</param> /// <param name="message">Message received from server</param>
/// <param name="buffer">Raw buffer reived from server</param> /// <param name="buffer">Raw buffer reived from server</param>
private void OnMessageReception(string message, byte[] buffer) private void OnMessageReception(string message)
{ {
waitTimer.Stop(); // Stop timeout stopwatch waitTimer.Stop(); // Stop timeout stopwatch
@ -144,7 +144,7 @@ namespace monitor
waitForAcknowledge = false; waitForAcknowledge = false;
this.commandReceivedEvent?.Invoke(message, buffer); this.commandReceivedEvent?.Invoke(message);
} }
} }
@ -158,7 +158,7 @@ namespace monitor
messageReceived = null; messageReceived = null;
// set buffer and message as null to indicate that no message was received // set buffer and message as null to indicate that no message was received
// and call to OnMessagereception is due to timeout // and call to OnMessagereception is due to timeout
OnMessageReception(messageReceived, null); OnMessageReception(messageReceived);
} }
/// <summary> /// <summary>

305
software/monitor/monitor/DestijlCommandManager.cs
View file

@ -20,6 +20,7 @@
// along with this program. If not, see <http://www.gnu.org/licenses/>. // along with this program. If not, see <http://www.gnu.org/licenses/>.
using System; using System;
using System.Globalization;
namespace monitor namespace monitor
{ {
@ -28,47 +29,84 @@ namespace monitor
/// </summary> /// </summary>
public static class DestijlCommandList public static class DestijlCommandList
{ {
public const string HeaderMtsComDmb = "COM"; public const string ANSWER_ACK = "AACK";
public const string HeaderMtsDmbOrder = "DMB"; public const string ANSWER_NACK = "ANAK";
public const string HeaderMtsCamera = "CAM"; public const string ANSWER_COM_ERROR = "ACER";
public const string HeaderMtsMessage = "MSG"; public const string ANSWER_TIMEOUT = "ATIM";
public const string ANSWER_CMD_REJECTED = "ACRJ";
public const string MESSAGE = "MSSG";
public const string CAMERA_OPEN = "COPN";
public const string CAMERA_CLOSE = "CCLS";
public const string CAMERA_IMAGE = "CIMG";
public const string CAMERA_ARENA_ASK = "CASA";
public const string CAMERA_ARENA_INFIRM = "CAIN";
public const string CAMERA_ARENA_CONFIRM = "CACO";
public const string CAMERA_POSITION_COMPUTE = "CPCO";
public const string CAMERA_POSITION_STOP = "CPST";
public const string CAMERA_POSITION = "CPOS";
public const string ROBOT_COM_OPEN = "ROPN";
public const string ROBOT_COM_CLOSE = "RCLS";
public const string ROBOT_PING = "RPIN";
public const string ROBOT_RESET = "RRST";
public const string ROBOT_START_WITHOUT_WD = "RSOW";
public const string ROBOT_START_WITH_WD = "RSWW";
public const string ROBOT_RELOAD_WD = "RLDW";
public const string ROBOT_MOVE = "RMOV";
public const string ROBOT_TURN = "RTRN";
public const string ROBOT_GO_FORWARD = "RGFW";
public const string ROBOT_GO_BACKWARD = "RGBW";
public const string ROBOT_GO_LEFT = "RGLF";
public const string ROBOT_GO_RIGHT = "RGRI";
public const string ROBOT_STOP = "RSTP";
public const string ROBOT_POWEROFF = "RPOF";
public const string ROBOT_BATTERY_LEVEL = "RBLV";
public const string ROBOT_GET_BATTERY = "RGBT";
public const string ROBOT_GET_STATE = "RGST";
public const string ROBOT_CURRENT_STATE = "RCST";
public const string DataComOpen = "o"; public const char SEPARATOR_CHAR = ':';
public const string DataComClose = "C";
public const string DataCamOpen = "A"; //public const string HeaderMtsComDmb = "COM";
public const string DataCamClose = "I"; //public const string HeaderMtsDmbOrder = "DMB";
public const string DataCamAskArena = "y"; //public const string HeaderMtsCamera = "CAM";
public const string DataCamArenaConfirm = "x"; //public const string HeaderMtsMessage = "MSG";
public const string DataCamInfirm = "z";
public const string DataCamComputePosition = "p";
public const string DataCamStopComputePosition = "s";
public const string HeaderStmAck = "ACK"; //public const string DataComOpen = "o";
public const string HeaderStmNoAck = "NAK"; //public const string DataComClose = "C";
public const string HeaderStmLostDmb = "LCD";
public const string HeaderStmImage = "IMG"; //public const string DataCamOpen = "A";
public const string HeaderStmPos = "POS"; //public const string DataCamClose = "I";
public const string HeaderStmMes = "MSG"; //public const string DataCamAskArena = "y";
public const string HeaderStmBat = "BAT"; //public const string DataCamArenaConfirm = "x";
//public const string DataCamInfirm = "z";
//public const string DataCamComputePosition = "p";
//public const string DataCamStopComputePosition = "s";
//public const string HeaderStmAck = "ACK";
//public const string HeaderStmNoAck = "NAK";
//public const string HeaderStmLostDmb = "LCD";
//public const string HeaderStmImage = "IMG";
//public const string HeaderStmPos = "POS";
//public const string HeaderStmMes = "MSG";
//public const string HeaderStmBat = "BAT";
} }
/// <summary> /// <summary>
/// Commands used for robot messages /// Commands used for robot messages
/// </summary> /// </summary>
public static class RobotCommandList //public static class RobotCommandList
{ //{
public const string RobotPing = "p"; // public const string RobotPing = "p";
public const string RobotReset = "r"; // public const string RobotReset = "r";
public const string RobotStartWithoutWatchdog = "u"; // public const string RobotStartWithoutWatchdog = "u";
public const string RobotStartWithWatchdog = "W"; // public const string RobotStartWithWatchdog = "W";
public const string RobotGetBattery = "v"; // public const string RobotGetBattery = "v";
public const string RobotGetBusyState = "b"; // public const string RobotGetBusyState = "b";
public const string RobotMove = "M"; // public const string RobotMove = "M";
public const string RobotTurn = "T"; // public const string RobotTurn = "T";
public const string RobotGetVersion = "V"; // public const string RobotGetVersion = "V";
public const string RobotPowerOff = "z"; // public const string RobotPowerOff = "z";
} //}
/// <summary> /// <summary>
/// Specialization class for command manager, which implemnent destijl protocol between monitor and server /// Specialization class for command manager, which implemnent destijl protocol between monitor and server
@ -93,7 +131,7 @@ namespace monitor
/// <summary> /// <summary>
/// Callback for sending received data to application level /// Callback for sending received data to application level
/// </summary> /// </summary>
public delegate void CommandReceivedEvent(string header, string data, byte[] buffer); public delegate void CommandReceivedEvent(string header, string data);
public CommandReceivedEvent commandReceivedEvent = null; public CommandReceivedEvent commandReceivedEvent = null;
/// <summary> /// <summary>
@ -114,6 +152,34 @@ namespace monitor
CommunicationLostWithServer CommunicationLostWithServer
} }
public struct Point {
public double x;
public double y;
}
public class Position {
public int robotID;
public double angle;
public Point centre;
public Point direction;
public Position() {
robotID = 0;
angle = 0.0;
centre.x = 0.0;
centre.y = 0.0;
direction.x = 0.0;
direction.y = 0.0;
}
public override string ToString() {
string s = "ID: " + robotID + ", Angle: " + angle +
", Centre (x: " + centre.x + ", y: " + centre.y +
"), Direction (x: " + direction.x + ", y: " + direction.y + ")";
return s;
}
}
/// <summary> /// <summary>
/// Initializes a new instance of the <see cref="monitor.DestijlCommandManager"/> class. /// Initializes a new instance of the <see cref="monitor.DestijlCommandManager"/> class.
/// </summary> /// </summary>
@ -138,10 +204,13 @@ namespace monitor
/// </summary> /// </summary>
/// <param name="msg">String containing received message</param> /// <param name="msg">String containing received message</param>
/// <param name="buffer">Raw buffer to be used when data are not in ascii format (image for example)</param> /// <param name="buffer">Raw buffer to be used when data are not in ascii format (image for example)</param>
private void OnCommandReceived(string msg, byte[] buffer) private void OnCommandReceived(string msg)
{ {
// Firstly, split message in (at least) two part : header, and data // Firstly, remove ending \n and everything after
string[] msgs = msg.Split(':'); string[] msgsCarriageReturn = msg.Split('\n');
// Second, split message in (at least) two part : header, and data
string[] msgs = msgsCarriageReturn[0].Split(DestijlCommandList.SEPARATOR_CHAR);
// If it exist at least on element in string array, it should be command header // If it exist at least on element in string array, it should be command header
if (msgs.Length >= 1) receivedHeader = msgs[0]; if (msgs.Length >= 1) receivedHeader = msgs[0];
@ -152,7 +221,7 @@ namespace monitor
else receivedData = null; else receivedData = null;
// when split is done, provide data to application // when split is done, provide data to application
this.commandReceivedEvent?.Invoke(receivedHeader, receivedData, buffer); this.commandReceivedEvent?.Invoke(receivedHeader, receivedData);
} }
/// <summary> /// <summary>
@ -193,7 +262,17 @@ namespace monitor
/// <param name="data">Data part of the command</param> /// <param name="data">Data part of the command</param>
private string CreateCommand(string header, string data) private string CreateCommand(string header, string data)
{ {
return header + ":" + data; return header + DestijlCommandList.SEPARATOR_CHAR + data+"\n";
}
/// <summary>
/// Creates the command to send to server, based on header
/// </summary>
/// <returns>The command string</returns>
/// <param name="header">Header part of the command</param>
private string CreateCommand(string header)
{
return header + DestijlCommandList.SEPARATOR_CHAR+"\n";
} }
/// <summary> /// <summary>
@ -215,9 +294,9 @@ namespace monitor
if (answer != null) if (answer != null)
{ {
// if command is not acknowledged, return Rejected // if command is not acknowledged, return Rejected
if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmNoAck)) status = CommandStatus.Rejected; if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_NACK)) status = CommandStatus.Rejected;
// if communication is lost with robot, return CommunicationLostWithRobot // if communication is lost with robot, return CommunicationLostWithRobot
else if (answer.ToUpper().Contains(DestijlCommandList.HeaderStmLostDmb)) status = CommandStatus.CommunicationLostWithRobot; else if (answer.ToUpper().Contains(DestijlCommandList.ANSWER_TIMEOUT)) status = CommandStatus.CommunicationLostWithRobot;
// if answer is empty, communication with robot is lost // if answer is empty, communication with robot is lost
else if (answer.Length == 0) status = CommandStatus.CommunicationLostWithServer; else if (answer.Length == 0) status = CommandStatus.CommunicationLostWithServer;
//else status = CommandStatus.InvalidAnswer; //else status = CommandStatus.InvalidAnswer;
@ -237,7 +316,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsComDmb, DestijlCommandList.DataComOpen), CreateCommand(DestijlCommandList.ROBOT_COM_OPEN),
out answer, out answer,
this.timeout); this.timeout);
@ -254,7 +333,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsComDmb, DestijlCommandList.DataComClose), CreateCommand(DestijlCommandList.ROBOT_COM_CLOSE),
out answer, out answer,
this.timeout); this.timeout);
@ -271,7 +350,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotPing), CreateCommand(DestijlCommandList.ROBOT_PING),
out answer, out answer,
this.timeout); this.timeout);
@ -288,7 +367,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotReset), CreateCommand(DestijlCommandList.ROBOT_RESET),
out answer, out answer,
0); 0);
@ -305,7 +384,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotStartWithWatchdog), CreateCommand(DestijlCommandList.ROBOT_START_WITH_WD),
out answer, out answer,
this.timeout); this.timeout);
@ -322,7 +401,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotStartWithoutWatchdog), CreateCommand(DestijlCommandList.ROBOT_START_WITHOUT_WD),
out answer, out answer,
this.timeout); this.timeout);
@ -340,7 +419,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotMove + "=" + distance), CreateCommand(DestijlCommandList.ROBOT_MOVE, Convert.ToString(distance)),
out answer, out answer,
0); 0);
@ -358,7 +437,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotTurn + "=" + angle), CreateCommand(DestijlCommandList.ROBOT_TURN, Convert.ToString(angle)),
out answer, out answer,
0); 0);
@ -375,48 +454,13 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotGetBattery), CreateCommand(DestijlCommandList.ROBOT_GET_BATTERY),
out answer, out answer,
0); 0);
return DecodeStatus(localStatus, answer); return DecodeStatus(localStatus, answer);
} }
/// <summary>
/// Request robot firmware version
/// </summary>
/// <returns>Command status (see DecodeStatus)</returns>
/// <param name="version">todo</param>
public CommandStatus RobotGetVersion(out string version)
{
CommandManager.CommandManagerStatus localStatus;
CommandStatus status = CommandStatus.Success;
version = "";
string answer;
localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotGetVersion),
out answer,
this.timeout);
if (localStatus == CommandManager.CommandManagerStatus.AnswerReceived)
{
string[] msg = answer.Split(':');
if (msg.Length > 1)
{
version = msg[1];
}
}
else if (localStatus == CommandManager.CommandManagerStatus.Timeout)
{
status = CommandStatus.CommunicationLostWithServer;
}
return status;
}
/// <summary> /// <summary>
/// Power off robot /// Power off robot
/// </summary> /// </summary>
@ -427,7 +471,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsDmbOrder, RobotCommandList.RobotPowerOff), CreateCommand(DestijlCommandList.ROBOT_POWEROFF),
out answer, out answer,
0); 0);
@ -444,7 +488,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamOpen), CreateCommand(DestijlCommandList.CAMERA_OPEN),
out answer, out answer,
this.timeout); this.timeout);
@ -461,7 +505,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamClose), CreateCommand(DestijlCommandList.CAMERA_CLOSE),
out answer, out answer,
0); 0);
@ -478,7 +522,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamAskArena), CreateCommand(DestijlCommandList.CAMERA_ARENA_ASK),
out answer, out answer,
0); 0);
@ -495,7 +539,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamArenaConfirm), CreateCommand(DestijlCommandList.CAMERA_ARENA_CONFIRM),
out answer, out answer,
0); 0);
@ -512,7 +556,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamInfirm), CreateCommand(DestijlCommandList.CAMERA_ARENA_INFIRM),
out answer, out answer,
0); 0);
@ -529,7 +573,7 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamComputePosition), CreateCommand(DestijlCommandList.CAMERA_POSITION_COMPUTE),
out answer, out answer,
0); 0);
@ -546,11 +590,86 @@ namespace monitor
string answer; string answer;
localStatus = commandManager.SendCommand( localStatus = commandManager.SendCommand(
CreateCommand(DestijlCommandList.HeaderMtsCamera, DestijlCommandList.DataCamStopComputePosition), CreateCommand(DestijlCommandList.CAMERA_POSITION_STOP),
out answer, out answer,
0); 0);
return DecodeStatus(localStatus, answer); return DecodeStatus(localStatus, answer);
} }
public static Position DecodePosition(string data) {
Position pos = new Position();
pos.robotID = 0;
pos.angle = 0.0;
pos.centre.x = 0.0;
pos.centre.y=0.0;
pos.direction.x = 0.0;
pos.direction.y = 0.0;
string[] parts = data.Split(';');
//for (int i = 0; i < parts.Length; i++) {
// Console.WriteLine(parts[i]);
//}
NumberFormatInfo provider = new NumberFormatInfo();
provider.NumberDecimalSeparator = ".";
provider.NumberGroupSeparator = ",";
provider.NumberGroupSizes = new int[] { 3 };
if (parts.Length == 6) {
pos.robotID = Convert.ToInt32(parts[0]);
try
{
pos.angle = Convert.ToDouble(parts[1]);
} catch (FormatException)
{
pos.angle = Convert.ToDouble(parts[1],provider);
}
try
{
pos.centre.x = Convert.ToDouble(parts[2]);
} catch (FormatException)
{
pos.centre.x = Convert.ToDouble(parts[2], provider);
}
try
{
pos.centre.y = Convert.ToDouble(parts[3]);
}
catch (FormatException)
{
pos.centre.y = Convert.ToDouble(parts[3], provider);
}
try
{
pos.direction.x = Convert.ToDouble(parts[4]);
}
catch (FormatException)
{
pos.direction.x = Convert.ToDouble(parts[4], provider);
}
try
{
pos.direction.y = Convert.ToDouble(parts[5]);
}
catch (FormatException)
{
pos.direction.y = Convert.ToDouble(parts[5], provider);
}
} else {
// misformatted data, return 0 filled position
Console.WriteLine("Misformated position");
}
return pos;
}
} }
} }

161
software/monitor/monitor/MonitorUI.cs
View file

@ -23,6 +23,7 @@
using System; using System;
using Gtk; using Gtk;
using Gdk; using Gdk;
using Cairo;
using monitor; using monitor;
@ -41,6 +42,11 @@ public partial class MainWindow : Gtk.Window
/// </summary> /// </summary>
private Pixbuf drawingareaCameraPixbuf; private Pixbuf drawingareaCameraPixbuf;
/// <summary>
/// Position used for displaying position
/// </summary>
private DestijlCommandManager.Position position=new DestijlCommandManager.Position();
/// <summary> /// <summary>
/// List of availble state for the application /// List of availble state for the application
/// </summary> /// </summary>
@ -200,8 +206,8 @@ public partial class MainWindow : Gtk.Window
a.RetVal = true; a.RetVal = true;
} }
private byte[] imageComplete; //private byte[] imageComplete;
private byte[] imageInProgress; //private byte[] imageInProgress;
/// <summary> /// <summary>
/// Callback called when new message is received from server /// Callback called when new message is received from server
@ -209,17 +215,20 @@ public partial class MainWindow : Gtk.Window
/// <param name="header">Header of message</param> /// <param name="header">Header of message</param>
/// <param name="data">Data of message</param> /// <param name="data">Data of message</param>
/// <param name="buffer">Raw buffer corresponding of received message</param> /// <param name="buffer">Raw buffer corresponding of received message</param>
public void OnCommandReceivedEvent(string header, string data, byte[] buffer) public void OnCommandReceivedEvent(string header, string data)
{ {
if (buffer==null) if (header == null)
{ {
// we have lost server // we have lost server
ChangeState(SystemState.NotConnected); ChangeState(SystemState.NotConnected);
Gtk.Application.Invoke(delegate
{
MessagePopup(MessageType.Error, MessagePopup(MessageType.Error,
ButtonsType.Ok, "Server lost", ButtonsType.Ok, "Server lost",
"Server is down: disconnecting"); "Server is down: disconnecting");
cmdManager.Close(); cmdManager.Close();
});
} }
// if we have received a valid message // if we have received a valid message
@ -228,64 +237,81 @@ public partial class MainWindow : Gtk.Window
#if DEBUG #if DEBUG
// print message content // print message content
if (header.Length > 4) if (header.Length > 4)
Console.WriteLine("Bad header(" + buffer.Length + ")"); Console.WriteLine("Bad header(" + header.Length + ")");
else //else
Console.WriteLine("Received header (" + header.Length + "): " + header); // Console.WriteLine("Received header (" + header.Length + "): " + header);
//if (header.ToUpper() != DestijlCommandList.HeaderStmImage) //if (header.ToUpper() != DestijlCommandList.HeaderStmImage)
//{ //{
// if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data); // if (data != null) Console.WriteLine("Received data (" + data.Length + "): " + data);
//} //}
#endif #endif
// Image management // Image management
if (header == DestijlCommandList.HeaderStmImage) //if (header == DestijlCommandList.CAMERA_IMAGE)
{ //{
imageComplete = imageInProgress; // imageComplete = imageInProgress;
imageInProgress = buffer; // //TODO: Decoder le base64 pour recuperer le JPG
} // imageInProgress = buffer;
else //}
{ //else
if (imageInProgress == null) imageInProgress = buffer; //{
else // if (imageInProgress == null) imageInProgress = buffer;
{ // else
Array.Resize<byte>(ref imageInProgress, imageInProgress.Length + buffer.Length); // {
System.Buffer.BlockCopy(buffer, 0, imageInProgress, imageInProgress.Length - buffer.Length, buffer.Length); // Array.Resize<byte>(ref imageInProgress, imageInProgress.Length + buffer.Length);
} // System.Buffer.BlockCopy(buffer, 0, imageInProgress, imageInProgress.Length - buffer.Length, buffer.Length);
} // }
//}
// depending on message received (based on header) // depending on message received (based on header)
// launch correponding action // launch correponding action
if (header.ToUpper() == DestijlCommandList.HeaderStmBat) header = header.ToUpper();
if (header == DestijlCommandList.ROBOT_BATTERY_LEVEL)
{ {
string batLevel = "";
switch (data[0]) switch (data[0])
{ {
case '2': case '2':
labelBatteryLevel.Text = "High"; batLevel = "High";
break; break;
case '1': case '1':
labelBatteryLevel.Text = "Low"; batLevel = "Low";
break; break;
case '0': case '0':
labelBatteryLevel.Text = "Empty"; batLevel = "Empty";
break; break;
default: default:
labelBatteryLevel.Text = "Invalid value"; batLevel = "Invalid value";
break; break;
} }
Gtk.Application.Invoke(delegate
{
labelBatteryLevel.Text = batLevel;
});
} }
else if (header.ToUpper() == DestijlCommandList.HeaderStmImage) else if (header == DestijlCommandList.CAMERA_IMAGE)
{ {
// if message is an image, convert it to a pixbuf // if message is an image, convert it to a pixbuf
// that can be displayed // that can be displayed
if (imageComplete != null) //if (imageComplete != null)
{ //{
byte[] image = new byte[imageComplete.Length - 4]; //TODO: Decoder le base64 et convertir en JPG
System.Buffer.BlockCopy(imageComplete, 4, image, 0, image.Length); byte[] image = Convert.FromBase64String(data);
//byte[] image = new byte[imageComplete.Length - 4];
//System.Buffer.BlockCopy(imageComplete, 4, image, 0, image.Length);
imageReceivedCounter++; imageReceivedCounter++;
try try
{ {
drawingareaCameraPixbuf = new Pixbuf(image); drawingareaCameraPixbuf = new Pixbuf(image);
Gtk.Application.Invoke(delegate
{
drawingAreaCamera.QueueDraw(); drawingAreaCamera.QueueDraw();
});
} }
catch (GLib.GException) catch (GLib.GException)
{ {
@ -296,7 +322,19 @@ public partial class MainWindow : Gtk.Window
" (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)"); " (" + badImageReceivedCounter * 100 / imageReceivedCounter + "%)");
#endif #endif
} }
//}
} }
else if (header == DestijlCommandList.CAMERA_POSITION)
{
//Console.WriteLine("Pos data: " + data);
position = DestijlCommandManager.DecodePosition(data);
//Console.WriteLine("decoded position: " + position.ToString());
Gtk.Application.Invoke(delegate
{
drawingAreaCamera.QueueDraw();
});
} }
} }
} }
@ -557,9 +595,7 @@ public partial class MainWindow : Gtk.Window
{ {
if (cmdManager.CameraClose() != DestijlCommandManager.CommandStatus.Success) if (cmdManager.CameraClose() != DestijlCommandManager.CommandStatus.Success)
{ {
MessagePopup(MessageType.Error, Console.WriteLine("Error when closing camera: bad answer for supervisor or timeout");
ButtonsType.Ok, "Error",
"Error when closing camera: bad answer for supervisor or timeout");
} }
} }
else // camera is not active, switch it on else // camera is not active, switch it on
@ -569,10 +605,8 @@ public partial class MainWindow : Gtk.Window
if (cmdManager.CameraOpen() != DestijlCommandManager.CommandStatus.Success) if (cmdManager.CameraOpen() != DestijlCommandManager.CommandStatus.Success)
{ {
MessagePopup(MessageType.Error, Console.WriteLine("Error when opening camera: bad answer for supervisor or timeout");
ButtonsType.Ok, "Error", //checkButtonCameraOn.Active = false;
"Error when opening camera: bad answer for supervisor or timeout");
checkButtonCameraOn.Active = false;
} }
} }
} }
@ -589,20 +623,16 @@ public partial class MainWindow : Gtk.Window
{ {
if (cmdManager.CameraStopComputePosition() != DestijlCommandManager.CommandStatus.Success) if (cmdManager.CameraStopComputePosition() != DestijlCommandManager.CommandStatus.Success)
{ {
MessagePopup(MessageType.Error, Console.WriteLine("Error when stopping position reception: bad answer for supervisor or timeout");
ButtonsType.Ok, "Error",
"Error when stopping position reception: bad answer for supervisor or timeout");
} }
} }
else // start reception of robot position else // start reception of robot position
{ {
if (cmdManager.CameraComputePosition() != DestijlCommandManager.CommandStatus.Success) if (cmdManager.CameraComputePosition() != DestijlCommandManager.CommandStatus.Success)
{ {
MessagePopup(MessageType.Error, Console.WriteLine("Error when starting getting robot position: bad answer for supervisor or timeout");
ButtonsType.Ok, "Error",
"Error when starting getting robot position: bad answer for supervisor or timeout");
checkButtonRobotPosition.Active = false; //checkButtonRobotPosition.Active = false;
} }
} }
} }
@ -657,6 +687,47 @@ public partial class MainWindow : Gtk.Window
(areaHeight - displayPixbuf.Height) / 2, (areaHeight - displayPixbuf.Height) / 2,
displayPixbuf.Width, displayPixbuf.Height, displayPixbuf.Width, displayPixbuf.Height,
RgbDither.Normal, 0, 0); RgbDither.Normal, 0, 0);
if (checkButtonRobotPosition.Active) {
Cairo.Context cr = Gdk.CairoHelper.Create(area.GdkWindow);
Cairo.Color textFontColor = new Cairo.Color(0.8, 0, 0);
cr.SelectFontFace("Cantarell", FontSlant.Normal, FontWeight.Bold);
cr.SetSourceColor(textFontColor);
cr.SetFontSize(16);
double space = 0.0;
string text = "Direction (" + position.direction.x.ToString("0.##") + " ; " + position.direction.y.ToString("0.##") +")";
TextExtents te = cr.TextExtents(text);
cr.MoveTo(areaWidth - te.Width-5,
areaHeight - te.Height -5);
space = te.Height;
cr.ShowText(text);
text = "Centre (" + position.centre.x.ToString("0.##") + " ; " + position.centre.y.ToString("0.##") + ")";
te = cr.TextExtents(text);
cr.MoveTo(areaWidth - te.Width - 5,
areaHeight - te.Height - 5 - space-5);
space = space+ te.Height+5;
cr.ShowText(text);
text = "Angle: " + position.angle.ToString("0.##");
te = cr.TextExtents(text);
cr.MoveTo(areaWidth - te.Width - 5,
areaHeight - te.Height - 5 - space - 5);
space = space+ te.Height+5;
cr.ShowText(text);
text = "ID: " + position.robotID;
te = cr.TextExtents(text);
cr.MoveTo(areaWidth - te.Width - 5,
areaHeight - te.Height - 5 - space-5);
cr.ShowText(text);
((IDisposable)cr.GetTarget()).Dispose();
((IDisposable)cr).Dispose();
}
} }
/// <summary> /// <summary>

BIN
software/monitor/monitor/monitor
View file

Binary file not shown.

5
software/raspberry/superviseur-robot/.dep.inc
View file

@ -1,5 +0,0 @@
# This code depends on make tool being used
DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES} ${TESTOBJECTFILES}))
ifneq (${DEPFILES},)
include ${DEPFILES}
endif

1
software/raspberry/superviseur-robot/.idea/.name
View file

@ -1 +0,0 @@
ProjDestijl

29
software/raspberry/superviseur-robot/.idea/codeStyles/Project.xml
View file

@ -1,29 +0,0 @@
<component name="ProjectCodeStyleConfiguration">
<code_scheme name="Project" version="173">
<Objective-C-extensions>
<file>
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Import" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Macro" />
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<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Enum" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Constant" />
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<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Struct" />
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<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Function" />
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<class>
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Property" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Synthesize" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InitMethod" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="StaticMethod" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InstanceMethod" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="DeallocMethod" />
</class>
<extensions>
<pair source="cpp" header="h" fileNamingConvention="NONE" />
<pair source="c" header="h" fileNamingConvention="NONE" />
</extensions>
</Objective-C-extensions>
</code_scheme>
</component>

7
software/raspberry/superviseur-robot/.idea/misc.xml
View file

@ -1,7 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
<component name="JavaScriptSettings">
<option name="languageLevel" value="ES6" />
</component>
</project>

8
software/raspberry/superviseur-robot/.idea/modules.xml
View file

@ -1,8 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ProjectModuleManager">
<modules>
<module fileurl="file://$PROJECT_DIR$/.idea/superviseur-robot.iml" filepath="$PROJECT_DIR$/.idea/superviseur-robot.iml" />
</modules>
</component>
</project>

2
software/raspberry/superviseur-robot/.idea/superviseur-robot.iml
View file

@ -1,2 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<module classpath="CMake" type="CPP_MODULE" version="4" />

6
software/raspberry/superviseur-robot/.idea/vcs.xml
View file

@ -1,6 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="VcsDirectoryMappings">
<mapping directory="$PROJECT_DIR$/../../.." vcs="Git" />
</component>
</project>

864
software/raspberry/superviseur-robot/.idea/workspace.xml
View file

@ -1,864 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CMakeRunConfigurationManager" shouldGenerate="true" shouldDeleteObsolete="true" buildAllGenerated="true">
<generated>
<config projectName="ProjDestijl" targetName="superviseur" />
<config projectName="ProjDestijl" targetName="destijl" />
</generated>
</component>
<component name="CMakeSettings" AUTO_RELOAD="true">
<configurations>
<configuration PROFILE_NAME="Debug" CONFIG_NAME="Debug" />
</configurations>
</component>
<component name="ChangeListManager">
<list default="true" id="4c044020-a391-4234-8366-64abd3f0f464" name="Default Changelist" comment="">
<change afterPath="$PROJECT_DIR$/.idea/codeStyles/Project.xml" afterDir="false" />
<change afterPath="$PROJECT_DIR$/.idea/vcs.xml" afterDir="false" />
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BIN
software/raspberry/superviseur-robot/dist/Debug__Pthread_/GNU-Linux/superviseur-robot vendored
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2
software/raspberry/superviseur-robot/lib/base64/.gitignore vendored Normal file
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@ -0,0 +1,2 @@
*.swp
test-base64

19
software/raspberry/superviseur-robot/lib/base64/LICENSE Normal file
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@ -0,0 +1,19 @@
Copyright © 2004-2017 by René Nyffenegger
This source code is provided 'as-is', without any express or implied
warranty. In no event will the author be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this source code must not be misrepresented; you must not
claim that you wrote the original source code. If you use this source code
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original source code.
3. This notice may not be removed or altered from any source distribution.

7
software/raspberry/superviseur-robot/lib/base64/README.md Normal file
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@ -0,0 +1,7 @@
# base64 (C++)
Base64 encoding and decoding with c++
## See also
https://renenyffenegger.ch/notes/development/Base64/Encoding-and-decoding-base-64-with-cpp

122
software/raspberry/superviseur-robot/lib/base64/base64.cpp Normal file
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@ -0,0 +1,122 @@
/*
base64.cpp and base64.h
base64 encoding and decoding with C++.
Version: 1.01.00
Copyright (C) 2004-2017 René Nyffenegger
This source code is provided 'as-is', without any express or implied
warranty. In no event will the author be held liable for any damages
arising from the use of this software.
Permission is granted to anyone to use this software for any purpose,
including commercial applications, and to alter it and redistribute it
freely, subject to the following restrictions:
1. The origin of this source code must not be misrepresented; you must not
claim that you wrote the original source code. If you use this source code
in a product, an acknowledgment in the product documentation would be
appreciated but is not required.
2. Altered source versions must be plainly marked as such, and must not be
misrepresented as being the original source code.
3. This notice may not be removed or altered from any source distribution.
René Nyffenegger rene.nyffenegger@adp-gmbh.ch
*/
#include "base64.h"
#include <iostream>
static const std::string base64_chars =
"ABCDEFGHIJKLMNOPQRSTUVWXYZ"
"abcdefghijklmnopqrstuvwxyz"
"0123456789+/";
static inline bool is_base64(unsigned char c) {
return (isalnum(c) || (c == '+') || (c == '/'));
}
std::string base64_encode(unsigned char const* bytes_to_encode, unsigned int in_len) {
std::string ret;
int i = 0;
int j = 0;
unsigned char char_array_3[3];
unsigned char char_array_4[4];
while (in_len--) {
char_array_3[i++] = *(bytes_to_encode++);
if (i == 3) {
char_array_4[0] = (char_array_3[0] & 0xfc) >> 2;
char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
char_array_4[3] = char_array_3[2] & 0x3f;
for(i = 0; (i <4) ; i++)
ret += base64_chars[char_array_4[i]];
i = 0;
}
}
if (i)
{
for(j = i; j < 3; j++)
char_array_3[j] = '\0';
char_array_4[0] = ( char_array_3[0] & 0xfc) >> 2;
char_array_4[1] = ((char_array_3[0] & 0x03) << 4) + ((char_array_3[1] & 0xf0) >> 4);
char_array_4[2] = ((char_array_3[1] & 0x0f) << 2) + ((char_array_3[2] & 0xc0) >> 6);
for (j = 0; (j < i + 1); j++)
ret += base64_chars[char_array_4[j]];
while((i++ < 3))
ret += '=';
}
return ret;
}
std::string base64_decode(std::string const& encoded_string) {
int in_len = encoded_string.size();
int i = 0;
int j = 0;
int in_ = 0;
unsigned char char_array_4[4], char_array_3[3];
std::string ret;
while (in_len-- && ( encoded_string[in_] != '=') && is_base64(encoded_string[in_])) {
char_array_4[i++] = encoded_string[in_]; in_++;
if (i ==4) {
for (i = 0; i <4; i++)
char_array_4[i] = base64_chars.find(char_array_4[i]);
char_array_3[0] = ( char_array_4[0] << 2 ) + ((char_array_4[1] & 0x30) >> 4);
char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
char_array_3[2] = ((char_array_4[2] & 0x3) << 6) + char_array_4[3];
for (i = 0; (i < 3); i++)
ret += char_array_3[i];
i = 0;
}
}
if (i) {
for (j = 0; j < i; j++)
char_array_4[j] = base64_chars.find(char_array_4[j]);
char_array_3[0] = (char_array_4[0] << 2) + ((char_array_4[1] & 0x30) >> 4);
char_array_3[1] = ((char_array_4[1] & 0xf) << 4) + ((char_array_4[2] & 0x3c) >> 2);
for (j = 0; (j < i - 1); j++) ret += char_array_3[j];
}
return ret;
}

14
software/raspberry/superviseur-robot/lib/base64/base64.h Normal file
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@ -0,0 +1,14 @@
//
// base64 encoding and decoding with C++.
// Version: 1.01.00
//
#ifndef BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A
#define BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A
#include <string>
std::string base64_encode(unsigned char const* , unsigned int len);
std::string base64_decode(std::string const& s);
#endif /* BASE64_H_C0CE2A47_D10E_42C9_A27C_C883944E704A */

2
software/raspberry/superviseur-robot/lib/base64/compile-and-run-test Executable file
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@ -0,0 +1,2 @@
g++ test.cpp base64.cpp -o test-base64
./test-base64

56
software/raspberry/superviseur-robot/lib/base64/test.cpp Normal file
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@ -0,0 +1,56 @@
#include "base64.h"
#include <iostream>
int main() {
const std::string s =
"René Nyffenegger\n"
"http://www.renenyffenegger.ch\n"
"passion for data\n";
std::string encoded = base64_encode(reinterpret_cast<const unsigned char*>(s.c_str()), s.length());
std::string decoded = base64_decode(encoded);
std::cout << "encoded: " << std::endl << encoded << std::endl << std::endl;
std::cout << "decoded: " << std::endl << decoded << std::endl;
// Test all possibilites of fill bytes (none, one =, two ==)
// References calculated with: https://www.base64encode.org/
std::string rest0_original = "abc";
std::string rest0_reference = "YWJj";
std::string rest0_encoded = base64_encode(reinterpret_cast<const unsigned char*>(rest0_original.c_str()),
rest0_original.length());
std::string rest0_decoded = base64_decode(rest0_encoded);
std::cout << "encoded: " << rest0_encoded << std::endl;
std::cout << "reference: " << rest0_reference << std::endl;
std::cout << "decoded: " << rest0_decoded << std::endl << std::endl;
std::string rest1_original = "abcd";
std::string rest1_reference = "YWJjZA==";
std::string rest1_encoded = base64_encode(reinterpret_cast<const unsigned char*>(rest1_original.c_str()),
rest1_original.length());
std::string rest1_decoded = base64_decode(rest1_encoded);
std::cout << "encoded: " << rest1_encoded << std::endl;
std::cout << "reference: " << rest1_reference << std::endl;
std::cout << "decoded: " << rest1_decoded << std::endl << std::endl;
std::string rest2_original = "abcde";
std::string rest2_reference = "YWJjZGU=";
std::string rest2_encoded = base64_encode(reinterpret_cast<const unsigned char*>(rest2_original.c_str()),
rest2_original.length());
std::string rest2_decoded = base64_decode(rest2_encoded);
std::cout << "encoded: " << rest2_encoded << std::endl;
std::cout << "reference: " << rest2_reference << std::endl;
std::cout << "decoded: " << rest2_decoded << std::endl << std::endl;
return 0;
}

46
software/raspberry/superviseur-robot/lib/camera.cpp
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@ -20,8 +20,24 @@
using namespace cv; using namespace cv;
void Camera::setSize(int size) { Camera::Camera(int size) {
this->SetSize(size);
this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3);
this->cap.set(CV_CAP_PROP_FRAME_WIDTH,width);
this->cap.set(CV_CAP_PROP_FRAME_HEIGHT,height);
}
bool Camera::Open() {
this->cap.open(0);
}
void Camera::Close() {
this->cap.release();
}
void Camera::SetSize(int size) {
this->size = size; this->size = size;
switch (size){ switch (size){
case xs: case xs:
this->width = 480; this->width = 480;
@ -46,40 +62,24 @@ void Camera::setSize(int size) {
} }
} }
Img Camera::Grab() {
int Camera::open_camera() {
this->cap.open(0);
}
Camera::Camera(int size) {
this->setSize(size);
this->cap.set(CV_CAP_PROP_FORMAT, CV_8UC3);
this->cap.set(CV_CAP_PROP_FRAME_WIDTH,width);
this->cap.set(CV_CAP_PROP_FRAME_HEIGHT,height);
}
int Camera::close_camera() {
cap.release();
return 0;
}
Img Camera::grab_image() {
ImageMat frame; ImageMat frame;
cap >> frame; cap >> frame;
Img capture = Img(frame); Img capture = Img(frame);
return capture; return capture;
} }
bool Camera::IsOpen() {
bool Camera::isOpen() {
return cap.isOpened(); return cap.isOpened();
} }
int Camera::getWidth() const { int Camera::GetWidth() const {
return width; return width;
} }
int Camera::getHeight() const { int Camera::GetHeight() const {
return height; return height;
} }

16
software/raspberry/superviseur-robot/lib/camera.h
View file

@ -27,20 +27,18 @@ enum captureSize {xs, sm, md, lg};
class Camera { class Camera {
public: public:
Camera(int size); Camera(int size);
int open_camera(); bool Open();
void Close();
int getWidth() const; int GetWidth() const;
int GetHeight() const;
int getHeight() const; bool IsOpen();
void SetSize(int size);
bool isOpen(); Img Grab();
void setSize(int size);
int close_camera();
Img grab_image();
private: private:
cv::VideoCapture cap; cv::VideoCapture cap;

44
software/raspberry/superviseur-robot/lib/commonitor.cpp
View file

@ -28,6 +28,8 @@
#include <stdexcept> #include <stdexcept>
#include <string> #include <string>
#include "base64/base64.h"
/* /*
* @brief Constants used for sending commands to monitor * @brief Constants used for sending commands to monitor
*/ */
@ -41,7 +43,7 @@ const string LABEL_MONITOR_CAMERA_OPEN = "COPN";
const string LABEL_MONITOR_CAMERA_CLOSE = "CCLS"; const string LABEL_MONITOR_CAMERA_CLOSE = "CCLS";
const string LABEL_MONITOR_CAMERA_IMAGE = "CIMG"; const string LABEL_MONITOR_CAMERA_IMAGE = "CIMG";
const string LABEL_MONITOR_CAMERA_ARENA_ASK = "CASA"; const string LABEL_MONITOR_CAMERA_ARENA_ASK = "CASA";
const string LABEL_MONITOR_CAMERA_ARENA_INFIRME = "CAIN"; const string LABEL_MONITOR_CAMERA_ARENA_INFIRM = "CAIN";
const string LABEL_MONITOR_CAMERA_ARENA_CONFIRM = "CACO"; const string LABEL_MONITOR_CAMERA_ARENA_CONFIRM = "CACO";
const string LABEL_MONITOR_CAMERA_POSITION_COMPUTE = "CPCO"; const string LABEL_MONITOR_CAMERA_POSITION_COMPUTE = "CPCO";
const string LABEL_MONITOR_CAMERA_POSITION_STOP = "CPST"; const string LABEL_MONITOR_CAMERA_POSITION_STOP = "CPST";
@ -83,6 +85,12 @@ int ComMonitor::Open(int port) {
throw std::runtime_error{"Can not create socket"}; throw std::runtime_error{"Can not create socket"};
} }
int enable = 1;
if (setsockopt(socketFD, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof(int)) < 0) {
cerr<<"setsockopt(SO_REUSEADDR) failed"<<endl<<flush;
}
bzero((char *) &server, sizeof(server));
server.sin_addr.s_addr = INADDR_ANY; server.sin_addr.s_addr = INADDR_ANY;
server.sin_family = AF_INET; server.sin_family = AF_INET;
server.sin_port = htons(port); server.sin_port = htons(port);
@ -130,7 +138,7 @@ int ComMonitor::AcceptClient() {
* @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that. * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
* @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously
*/ */
void ComMonitor::Write(Message &msg) { void ComMonitor::Write(Message *msg) {
string str; string str;
// Call user method before Write // Call user method before Write
@ -142,7 +150,9 @@ void ComMonitor::Write(Message &msg) {
//cout << "Message sent to monitor: " << str->c_str() << endl; //cout << "Message sent to monitor: " << str->c_str() << endl;
write(clientID, str.c_str(), str.length()); write(clientID, str.c_str(), str.length());
delete(&msg); if (!msg->CompareID(MESSAGE_CAM_IMAGE)) {
delete(msg);
}
// Call user method after write // Call user method after write
Write_Post(); Write_Post();
@ -191,13 +201,17 @@ Message *ComMonitor::Read() {
* @param msg Message to be converted * @param msg Message to be converted
* @return A string, image of the message * @return A string, image of the message
*/ */
string ComMonitor::MessageToString(Message &msg) { string ComMonitor::MessageToString(Message *msg) {
int id; int id;
string str; string str;
Message *localMsg = &msg; //Message *localMsg = msg;
Position pos; Position pos;
id = msg.GetID(); Img *image;
Jpg jpeg ;
string s;
id = msg->GetID();
switch (id) { switch (id) {
case MESSAGE_ANSWER_ACK : case MESSAGE_ANSWER_ACK :
@ -219,17 +233,23 @@ string ComMonitor::MessageToString(Message &msg) {
str.append(LABEL_MONITOR_ANSWER_COM_ERROR); str.append(LABEL_MONITOR_ANSWER_COM_ERROR);
break; break;
case MESSAGE_CAM_POSITION: case MESSAGE_CAM_POSITION:
pos = ((MessagePosition*) & msg)->GetPosition(); pos = ((MessagePosition*) msg)->GetPosition();
str.append(LABEL_MONITOR_CAMERA_POSITION + LABEL_SEPARATOR_CHAR + to_string(pos.robotId) + ";" + str.append(LABEL_MONITOR_CAMERA_POSITION + LABEL_SEPARATOR_CHAR + to_string(pos.robotId) + ";" +
to_string(pos.angle) + ";" + to_string(pos.center.x) + ";" + to_string(pos.center.y) + ";" + to_string(pos.angle) + ";" + to_string(pos.center.x) + ";" + to_string(pos.center.y) + ";" +
to_string(pos.direction.x) + ";" + to_string(pos.direction.y)); to_string(pos.direction.x) + ";" + to_string(pos.direction.y));
break; break;
case MESSAGE_CAM_IMAGE: case MESSAGE_CAM_IMAGE:
str.append(LABEL_MONITOR_CAMERA_IMAGE + LABEL_SEPARATOR_CHAR + ((MessageImg*) & msg)->GetImage()->ToBase64()); image=((MessageImg*) msg)->GetImage();
jpeg = image->ToJpg();
cout << "Jpeg size: " << to_string(jpeg.size())<<endl<<flush;
s = base64_encode(jpeg.data(), jpeg.size());
str.append(LABEL_MONITOR_CAMERA_IMAGE + LABEL_SEPARATOR_CHAR + s);
break; break;
case MESSAGE_ROBOT_BATTERY_LEVEL: case MESSAGE_ROBOT_BATTERY_LEVEL:
str.append(LABEL_MONITOR_ROBOT_BATTERY_LEVEL + LABEL_SEPARATOR_CHAR + to_string(((MessageBattery*) & msg)->GetLevel())); str.append(LABEL_MONITOR_ROBOT_BATTERY_LEVEL + LABEL_SEPARATOR_CHAR + to_string(((MessageBattery*) msg)->GetLevel()));
break; break;
case MESSAGE_ROBOT_STATE_BUSY: case MESSAGE_ROBOT_STATE_BUSY:
str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "1"); str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "1");
@ -238,13 +258,13 @@ string ComMonitor::MessageToString(Message &msg) {
str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "0"); str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "0");
break; break;
case MESSAGE_LOG: case MESSAGE_LOG:
str.append(LABEL_MONITOR_MESSAGE + LABEL_SEPARATOR_CHAR + ((MessageString*) & msg)->GetString()); str.append(LABEL_MONITOR_MESSAGE + LABEL_SEPARATOR_CHAR + ((MessageString*) msg)->GetString());
break; break;
case MESSAGE_EMPTY: case MESSAGE_EMPTY:
str.append(""); //empty string str.append(""); //empty string
break; break;
default: default:
cerr<<"["<<__PRETTY_FUNCTION__<<"] (from ComMonitor::Write): Invalid message to send ("<<msg.ToString()<<")"<<endl<<flush; cerr<<"["<<__PRETTY_FUNCTION__<<"] (from ComMonitor::Write): Invalid message to send ("<<msg->ToString()<<")"<<endl<<flush;
throw std::runtime_error {"Invalid message to send"}; throw std::runtime_error {"Invalid message to send"};
} }
@ -291,7 +311,7 @@ Message *ComMonitor::StringToMessage(string &s) {
msg = new Message(MESSAGE_CAM_ASK_ARENA); msg = new Message(MESSAGE_CAM_ASK_ARENA);
} else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_CONFIRM) != string::npos) { } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_CONFIRM) != string::npos) {
msg = new Message(MESSAGE_CAM_ARENA_CONFIRM); msg = new Message(MESSAGE_CAM_ARENA_CONFIRM);
} else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_INFIRME) != string::npos) { } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_INFIRM) != string::npos) {
msg = new Message(MESSAGE_CAM_ARENA_INFIRM); msg = new Message(MESSAGE_CAM_ARENA_INFIRM);
} else if (tokenCmd.find(LABEL_MONITOR_CAMERA_CLOSE) != string::npos) { } else if (tokenCmd.find(LABEL_MONITOR_CAMERA_CLOSE) != string::npos) {
msg = new Message(MESSAGE_CAM_CLOSE); msg = new Message(MESSAGE_CAM_CLOSE);

6
software/raspberry/superviseur-robot/lib/commonitor.h
View file

@ -23,7 +23,7 @@
using namespace std; using namespace std;
#define SERVER_PORT 1234 #define SERVER_PORT 5544
/** /**
* Class used for generating a server and communicating through it with monitor * Class used for generating a server and communicating through it with monitor
@ -71,7 +71,7 @@ public:
* @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that. * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
* @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously
*/ */
void Write(Message &msg); void Write(Message *msg);
/** /**
* Function called at beginning of Write method * Function called at beginning of Write method
@ -121,7 +121,7 @@ protected:
* @param msg Message to be converted * @param msg Message to be converted
* @return A string, image of the message * @return A string, image of the message
*/ */
string MessageToString(Message &msg); string MessageToString(Message *msg);
/** /**
* Method used internally to convert a string received over TCP to a message * Method used internally to convert a string received over TCP to a message

64
software/raspberry/superviseur-robot/lib/img.cpp
View file

@ -17,8 +17,8 @@
#include "img.h" #include "img.h"
bool Arene::empty() { bool Arena::IsEmpty() {
if ((this->arene.height==0) || (this->arene.width==0)) return true; if ((this->arena.height==0) || (this->arena.width==0)) return true;
else return false; else return false;
} }
@ -30,22 +30,18 @@ string Img::ToString() {
return "Image size: "+to_string(this->img.cols)+"x"+to_string(this->img.rows)+" (dim="+to_string(this->img.dims)+")"; return "Image size: "+to_string(this->img.cols)+"x"+to_string(this->img.rows)+" (dim="+to_string(this->img.dims)+")";
} }
string Img::ToBase64() {
return "";
}
Img* Img::Copy() { Img* Img::Copy() {
return new Img(this->img); return new Img(this->img);
} }
float Img::calculAngle(Position robot) { float Img::CalculAngle(Position robot) {
float a = robot.direction.x - robot.center.x; float a = robot.direction.x - robot.center.x;
float b = robot.direction.y - robot.center.y ; float b = robot.direction.y - robot.center.y ;
float angle = atan2(b,a); float angle = atan2(b,a);
return angle * 180.f/M_PI; return angle * 180.f/M_PI;
} }
float Img::calculAngle2(cv::Point2f pt1, cv::Point2f pt2) { float Img::CalculAngle2(cv::Point2f pt1, cv::Point2f pt2) {
float a = pt1.x - pt2.x; float a = pt1.x - pt2.x;
float b = pt1.y - pt2.y ; float b = pt1.y - pt2.y ;
float angle = atan2(b,a); float angle = atan2(b,a);
@ -61,7 +57,7 @@ cv::Point2f Img::find_aruco_direction(std::vector<cv::Point2f> aruco) {
return ((aruco[0]+aruco[1])/2);; return ((aruco[0]+aruco[1])/2);;
} }
std::list<Position> Img::search_aruco(Arene monArene) { std::list<Position> Img::search_aruco(Arena monArene) {
ImageMat imgTraitment; ImageMat imgTraitment;
std::list<Position> positionList; std::list<Position> positionList;
cv::Point2f areneCoor; cv::Point2f areneCoor;
@ -93,12 +89,12 @@ std::list<Position> Img::search_aruco(Arene monArene) {
} }
#endif // __WITH_ARUCO__ #endif // __WITH_ARUCO__
float Img::euclideanDist(cv::Point2f p, cv::Point2f q) { float Img::EuclideanDistance(cv::Point2f p, cv::Point2f q) {
cv::Point diff = p - q; cv::Point diff = p - q;
return cv::sqrt(diff.x*diff.x + diff.y*diff.y); return cv::sqrt(diff.x*diff.x + diff.y*diff.y);
} }
Jpg Img::toJpg() { Jpg Img::ToJpg() {
Jpg imgJpg; Jpg imgJpg;
cv::imencode(".jpg",this->img,imgJpg); cv::imencode(".jpg",this->img,imgJpg);
return imgJpg; return imgJpg;
@ -112,7 +108,7 @@ Jpg Img::toJpg() {
// return imgBase64; // return imgBase64;
//} //}
std::list<Position> Img::search_robot(Arene monArene) { std::list<Position> Img::SearchRobot(Arena monArene) {
std::list<Position> robotsFind; std::list<Position> robotsFind;
std::vector<std::vector<cv::Point2f> > contours; std::vector<std::vector<cv::Point2f> > contours;
@ -121,10 +117,10 @@ std::list<Position> Img::search_robot(Arene monArene) {
ImageMat imgTraitment; ImageMat imgTraitment;
if(monArene.empty()) if(monArene.IsEmpty())
imgTraitment=this->img.clone(); imgTraitment=this->img.clone();
else else
imgTraitment = cropArena(monArene); imgTraitment = CropArena(monArene);
cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY); cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY);
threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY); threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY);
@ -145,14 +141,14 @@ std::list<Position> Img::search_robot(Arene monArene) {
c = approx[2]; c = approx[2];
if(!monArene.empty()) // ajout de l'offset de l'arène if(!monArene.IsEmpty()) // ajout de l'offset de l'arène
{ {
a.x += monArene.arene.x; a.x += monArene.arena.x;
a.y += monArene.arene.y; a.y += monArene.arena.y;
b.x += monArene.arene.x; b.x += monArene.arena.x;
b.y += monArene.arene.y; b.y += monArene.arena.y;
c.x += monArene.arene.x; c.x += monArene.arena.x;
c.y += monArene.arene.y; c.y += monArene.arena.y;
} }
center.x = (a.x + b.x + c.x)/3; center.x = (a.x + b.x + c.x)/3;
@ -160,13 +156,13 @@ std::list<Position> Img::search_robot(Arene monArene) {
Position newPos; Position newPos;
newPos.center=center; newPos.center=center;
if(euclideanDist(center,b) > euclideanDist(center,a) && euclideanDist(center,b) > euclideanDist(center,c) ) if(EuclideanDistance(center,b) > EuclideanDistance(center,a) && EuclideanDistance(center,b) > EuclideanDistance(center,c) )
{ {
newPos.direction=b; newPos.direction=b;
//line(img,center,b,Scalar(0,125,0),2,8,0); //line(img,center,b,Scalar(0,125,0),2,8,0);
} }
else if(euclideanDist(center,a) > euclideanDist(center,c)) else if(EuclideanDistance(center,a) > EuclideanDistance(center,c))
{ {
newPos.direction=a; newPos.direction=a;
//line(img,center,a,Scalar(0,125,0),2,8,0); //line(img,center,a,Scalar(0,125,0),2,8,0);
@ -177,14 +173,14 @@ std::list<Position> Img::search_robot(Arene monArene) {
newPos.direction=c; newPos.direction=c;
//line(img,center,c,Scalar(0,125,0),2,8,0); //line(img,center,c,Scalar(0,125,0),2,8,0);
} }
newPos.angle=calculAngle(newPos); newPos.angle=CalculAngle(newPos);
robotsFind.push_back(newPos); robotsFind.push_back(newPos);
} }
} }
return robotsFind; return robotsFind;
} }
Arene Img::search_arena() { Arena Img::SearchArena() {
std::vector<std::vector<cv::Point> > contours; std::vector<std::vector<cv::Point> > contours;
std::vector<cv::Point> approx; std::vector<cv::Point> approx;
std::vector<cv::Vec4i> hierarchy; std::vector<cv::Vec4i> hierarchy;
@ -200,31 +196,31 @@ Arene Img::search_arena() {
approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.1, true); approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.1, true);
if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000) if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000)
{ {
Arene rectangle; Arena rectangle;
rectangle.arene = cv::boundingRect(ImageMat(contours[i])); rectangle.arena = cv::boundingRect(ImageMat(contours[i]));
return rectangle; return rectangle;
} }
} }
return Arene(); return Arena();
} }
int Img::draw_robot(Position robot) { int Img::DrawRobot(Position robot) {
cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0); cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0);
return 0; return 0;
} }
int Img::draw_all_robots(std::list<Position> robots) { int Img::DrawAllRobots(std::list<Position> robots) {
for(Position robot : robots){ for(Position robot : robots){
cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0); cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0,0,255),3,8,0);
} }
return robots.size(); return robots.size();
} }
int Img::draw_arena(Arene areneToDraw) { int Img::DrawArena(Arena areneToDraw) {
cv::rectangle(this->img,areneToDraw.arene.tl(),areneToDraw.arene.br(),cv::Scalar(0,0,125),2,8,0); cv::rectangle(this->img,areneToDraw.arena.tl(),areneToDraw.arena.br(),cv::Scalar(0,0,125),2,8,0);
return 0; return 0;
} }
ImageMat Img::cropArena(Arene arene) { ImageMat Img::CropArena(Arena arene) {
return this->img(arene.arene); return this->img(arene.arena);
} }

31
software/raspberry/superviseur-robot/lib/img.h
View file

@ -47,12 +47,12 @@ typedef struct {
int robotId; int robotId;
} Position; } Position;
class Arene { class Arena {
public: public:
Arene() {} Arena() {}
cv::Rect arene; cv::Rect arena;
bool empty(); bool IsEmpty();
}; };
class Img { class Img {
@ -62,18 +62,17 @@ public:
string ToString(); string ToString();
Img* Copy(); Img* Copy();
Jpg toJpg(); Jpg ToJpg();
string ToBase64(); Arena SearchArena();
Arene search_arena();
int draw_robot(Position robot); int DrawRobot(Position robot);
int draw_all_robots(std::list<Position> robots); int DrawAllRobots(std::list<Position> robots);
int draw_arena(Arene areneToDraw); int DrawArena(Arena areneToDraw);
std::list<Position> search_robot(Arene monArene); std::list<Position> SearchRobot(Arena myArena);
#ifdef __WITH_ARUCO__ #ifdef __WITH_ARUCO__
list<Position> search_aruco(Arene monArene = NULL); list<Position> search_aruco(Arena monArene = NULL);
#endif // __WITH_ARUCO__ #endif // __WITH_ARUCO__
private: private:
ImageMat img; ImageMat img;
@ -84,10 +83,10 @@ private:
cv::Point2f find_aruco_direction(std::vector<cv::Point2f> aruco); cv::Point2f find_aruco_direction(std::vector<cv::Point2f> aruco);
#endif // __WITH_ARUCO__ #endif // __WITH_ARUCO__
float calculAngle(Position robots); float CalculAngle(Position robots);
float calculAngle2(cv::Point2f pt1, cv::Point2f pt2); float CalculAngle2(cv::Point2f pt1, cv::Point2f pt2);
float euclideanDist(cv::Point2f p, cv::Point2f q); float EuclideanDistance(cv::Point2f p, cv::Point2f q);
ImageMat cropArena(Arene arene); ImageMat CropArena(Arena arene);
}; };
#endif //__IMG_H__ #endif //__IMG_H__

6
software/raspberry/superviseur-robot/lib/messages.cpp
View file

@ -291,7 +291,7 @@ MessageImg::MessageImg() {
* @param image Image * @param image Image
* @throw std::runtime_error if message ID is incompatible with image * @throw std::runtime_error if message ID is incompatible with image
*/ */
MessageImg::MessageImg(MessageID id, Img* image) { MessageImg::MessageImg(MessageID id, Img *image) {
MessageImg::SetID(id); MessageImg::SetID(id);
MessageImg::SetImage(image); MessageImg::SetImage(image);
} }
@ -322,7 +322,8 @@ void MessageImg::SetID(MessageID id) {
* @param image Reference to image object * @param image Reference to image object
*/ */
void MessageImg::SetImage(Img* image) { void MessageImg::SetImage(Img* image) {
this->image = image->Copy(); //this->image = image->Copy();
this->image = image;
} }
/** /**
@ -341,7 +342,6 @@ string MessageImg::ToString() {
* @return A message, copy of current * @return A message, copy of current
*/ */
Message* MessageImg::Copy() { Message* MessageImg::Copy() {
return new MessageImg(this->messageID, this->image->Copy()); return new MessageImg(this->messageID, this->image->Copy());
} }

8
software/raspberry/superviseur-robot/lib/messages.h
View file

@ -40,13 +40,13 @@ typedef enum {
MESSAGE_ANSWER_ROBOT_ERROR, MESSAGE_ANSWER_ROBOT_ERROR,
MESSAGE_ANSWER_COM_ERROR, MESSAGE_ANSWER_COM_ERROR,
// Messages specific to server
MESSAGE_MONITOR_LOST,
// messages for serial communication with robot // messages for serial communication with robot
MESSAGE_ROBOT_COM_OPEN, MESSAGE_ROBOT_COM_OPEN,
MESSAGE_ROBOT_COM_CLOSE, MESSAGE_ROBOT_COM_CLOSE,
// Messages specific to server
MESSAGE_MONITOR_LOST,
// Messages for camera // Messages for camera
MESSAGE_CAM_OPEN, MESSAGE_CAM_OPEN,
MESSAGE_CAM_CLOSE, MESSAGE_CAM_CLOSE,
@ -373,7 +373,7 @@ public:
* @param image Pointer to image * @param image Pointer to image
* @throw std::runtime_error if message ID is incompatible with image message * @throw std::runtime_error if message ID is incompatible with image message
*/ */
MessageImg(MessageID id, Img* image); MessageImg(MessageID id, Img *image);
/** /**
* Destroy Image message * Destroy Image message

7
software/raspberry/superviseur-robot/main.cpp
View file

@ -38,15 +38,16 @@ int main(int argc, char **argv) {
tasks.Init(); tasks.Init();
/*if (tasks.AcceptClient()) { if (tasks.AcceptClient()) {
cout << "Rock'n'Roll baby, client accepted!"<<endl<<flush;
tasks.Run(); tasks.Run();
tasks.Join(); tasks.Join();
} }
tasks.Stop();*/ tasks.Stop();
tasks.Run(); //tasks.Run();
return 0; return 0;
} }

6
software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk
View file

@ -42,6 +42,7 @@ OBJECTFILES= \
${OBJECTDIR}/lib/server.o \ ${OBJECTDIR}/lib/server.o \
${OBJECTDIR}/main.o \ ${OBJECTDIR}/main.o \
${OBJECTDIR}/tasks.o \ ${OBJECTDIR}/tasks.o \
${OBJECTDIR}/_ext/a7f31ab4/base64.o \
${OBJECTDIR}/_ext/6cc0dc4a/camera.o \ ${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \ ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \ ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
@ -108,6 +109,11 @@ ${OBJECTDIR}/tasks.o: tasks.cpp
${RM} "$@.d" ${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp ${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
${RM} "$@.d" ${RM} "$@.d"

6
software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk
View file

@ -37,6 +37,7 @@ OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
OBJECTFILES= \ OBJECTFILES= \
${OBJECTDIR}/lib/messages.o \ ${OBJECTDIR}/lib/messages.o \
${OBJECTDIR}/main.o \ ${OBJECTDIR}/main.o \
${OBJECTDIR}/_ext/a7f31ab4/base64.o \
${OBJECTDIR}/_ext/6cc0dc4a/camera.o \ ${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \ ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \ ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
@ -78,6 +79,11 @@ ${OBJECTDIR}/main.o: main.cpp
${RM} "$@.d" ${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp ${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
${RM} "$@.d" ${RM} "$@.d"

6
software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk
View file

@ -43,6 +43,7 @@ OBJECTFILES= \
${OBJECTDIR}/lib/server.o \ ${OBJECTDIR}/lib/server.o \
${OBJECTDIR}/main.o \ ${OBJECTDIR}/main.o \
${OBJECTDIR}/tasks.o \ ${OBJECTDIR}/tasks.o \
${OBJECTDIR}/_ext/a7f31ab4/base64.o \
${OBJECTDIR}/_ext/6cc0dc4a/camera.o \ ${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \ ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \ ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
@ -114,6 +115,11 @@ ${OBJECTDIR}/tasks.o: tasks.cpp
${RM} "$@.d" ${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp ${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
${RM} "$@.d" ${RM} "$@.d"

6
software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk
View file

@ -43,6 +43,7 @@ OBJECTFILES= \
${OBJECTDIR}/lib/server.o \ ${OBJECTDIR}/lib/server.o \
${OBJECTDIR}/main.o \ ${OBJECTDIR}/main.o \
${OBJECTDIR}/tasks.o \ ${OBJECTDIR}/tasks.o \
${OBJECTDIR}/_ext/a7f31ab4/base64.o \
${OBJECTDIR}/_ext/6cc0dc4a/camera.o \ ${OBJECTDIR}/_ext/6cc0dc4a/camera.o \
${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \ ${OBJECTDIR}/_ext/6cc0dc4a/commonitor.o \
${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \ ${OBJECTDIR}/_ext/6cc0dc4a/comrobot.o \
@ -114,6 +115,11 @@ ${OBJECTDIR}/tasks.o: tasks.cpp
${RM} "$@.d" ${RM} "$@.d"
$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
${OBJECTDIR}/_ext/a7f31ab4/base64.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/a7f31ab4
${RM} "$@.d"
$(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/_ext/a7f31ab4/base64.o /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp
${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp ${OBJECTDIR}/_ext/6cc0dc4a/camera.o: /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp
${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a ${MKDIR} -p ${OBJECTDIR}/_ext/6cc0dc4a
${RM} "$@.d" ${RM} "$@.d"

42
software/raspberry/superviseur-robot/nbproject/configurations.xml
View file

@ -4,6 +4,7 @@
<logicalFolder name="HeaderFiles" <logicalFolder name="HeaderFiles"
displayName="Header Files" displayName="Header Files"
projectFiles="true"> projectFiles="true">
<itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h</itemPath>
<itemPath>./lib/camera.h</itemPath> <itemPath>./lib/camera.h</itemPath>
<itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</itemPath> <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</itemPath>
<itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</itemPath> <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</itemPath>
@ -26,6 +27,7 @@
<logicalFolder name="SourceFiles" <logicalFolder name="SourceFiles"
displayName="Source Files" displayName="Source Files"
projectFiles="true"> projectFiles="true">
<itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp</itemPath>
<itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</itemPath> <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</itemPath>
<itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</itemPath> <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</itemPath>
<itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</itemPath> <itemPath>/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</itemPath>
@ -127,6 +129,16 @@
</item> </item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0"> <item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item> </item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp"
ex="false"
tool="1"
flavor2="0">
</item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h"
ex="false"
tool="3"
flavor2="0">
</item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp" <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp"
ex="false" ex="false"
tool="1" tool="1"
@ -220,6 +232,16 @@
</item> </item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0"> <item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item> </item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp"
ex="false"
tool="1"
flavor2="0">
</item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h"
ex="false"
tool="3"
flavor2="0">
</item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp" <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp"
ex="false" ex="false"
tool="1" tool="1"
@ -330,6 +352,16 @@
</item> </item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0"> <item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item> </item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp"
ex="false"
tool="1"
flavor2="0">
</item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h"
ex="false"
tool="3"
flavor2="0">
</item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp" <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp"
ex="false" ex="false"
tool="1" tool="1"
@ -434,6 +466,16 @@
</item> </item>
<item path="./tasks.cpp" ex="true" tool="1" flavor2="9"> <item path="./tasks.cpp" ex="true" tool="1" flavor2="9">
</item> </item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp"
ex="false"
tool="1"
flavor2="0">
</item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h"
ex="false"
tool="3"
flavor2="0">
</item>
<item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp" <item path="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp"
ex="false" ex="false"
tool="1" tool="1"

3
software/raspberry/superviseur-robot/nbproject/private/private.xml
View file

@ -7,10 +7,9 @@
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/> <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2"> <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group> <group>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h</file> <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file> <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file> <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h</file> <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
<file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file> <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>

146
software/raspberry/superviseur-robot/tasks_pthread.cpp
View file

@ -52,7 +52,7 @@ void Tasks::Init() {
/* Open com port with STM32 */ /* Open com port with STM32 */
cout << "Open serial com ("; cout << "Open serial com (";
status = robot.Open("/dev/ttyUSB1"); status = robot.Open("/dev/ttyUSB0");
cout << status; cout << status;
cout << ")" << endl; cout << ")" << endl;
@ -72,41 +72,40 @@ void Tasks::Init() {
} }
void Tasks::Run() { void Tasks::Run() {
Message *msgRcv;
Message *msgSend;
int counter = 3;
// threadServer=new thread((void (*)(void*)) &Tasks::ServerTask,this); threadTimer=new thread((void (*)(void*)) &Tasks::TimerTask,this);
threadServer=new thread((void (*)(void*)) &Tasks::ServerTask,this);
// threadSendToMon=new thread((void (*)(void*)) &Tasks::SendToMonTask,this); // threadSendToMon=new thread((void (*)(void*)) &Tasks::SendToMonTask,this);
// threadTimer=new thread((void (*)(void*)) &Tasks::TimerTask,this);
msgSend = ComRobot::Ping();
cout << "Send => " << msgSend->ToString() << endl << flush;
msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
delete(msgRcv); // msgSend = ComRobot::Ping();
// cout << "Send => " << msgSend->ToString() << endl << flush;
msgSend = ComRobot::StartWithoutWD(); // msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
cout << "Send => " << msgSend->ToString() << endl << flush; // cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3); //
cout << "Rcv <= " << msgRcv->ToString() << endl << flush; // delete(msgRcv);
//
delete(msgRcv); // msgSend = ComRobot::StartWithoutWD();
// cout << "Send => " << msgSend->ToString() << endl << flush;
msgSend = ComRobot::Move(1000); // msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
cout << "Send => " << msgSend->ToString() << endl << flush; // cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3); //
cout << "Rcv <= " << msgRcv->ToString() << endl << flush; // delete(msgRcv);
//
delete(msgRcv); // msgSend = ComRobot::Move(1000);
// cout << "Send => " << msgSend->ToString() << endl << flush;
msgSend = ComRobot::GetBattery(); // msgRcv = robot.SendCommand(msgSend, MESSAGE_ANSWER_ACK, 3);
cout << "Send => " << msgSend->ToString() << endl << flush; // cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
msgRcv = robot.SendCommand(msgSend, MESSAGE_ROBOT_BATTERY_LEVEL, 3); //
cout << "Rcv <= " << msgRcv->ToString() << endl << flush; // delete(msgRcv);
//
delete(msgRcv); // msgSend = ComRobot::GetBattery();
// cout << "Send => " << msgSend->ToString() << endl << flush;
// msgRcv = robot.SendCommand(msgSend, MESSAGE_ROBOT_BATTERY_LEVEL, 3);
// cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
//
// delete(msgRcv);
cout<<"Tasks launched"<<endl<<flush;
} }
void Tasks::Stop() { void Tasks::Stop() {
@ -115,20 +114,69 @@ void Tasks::Stop() {
} }
void Tasks::ServerTask(void *arg) { void Tasks::ServerTask(void *arg) {
int err; Message *msgRcv;
Message *msgSend;
bool isActive=true;
cout << "Start " << __PRETTY_FUNCTION__ <<endl<<flush; cout << "Start " << __PRETTY_FUNCTION__ <<endl<<flush;
while (1) { while (isActive) {
msgRcv=NULL;
msgSend=NULL;
msgRcv = monitor.Read();
cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) msgSend = new Message(MESSAGE_ANSWER_ACK);
if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) msgSend = new Message(MESSAGE_ANSWER_ACK);
if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) msgSend = new Message(MESSAGE_ANSWER_ACK);
if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) msgSend = new Message(MESSAGE_ANSWER_ACK);
if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) isActive = false;
if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
sendImage=true;
msgSend = new Message(MESSAGE_ANSWER_ACK);
}
if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
sendImage=false;
msgSend = new Message(MESSAGE_ANSWER_ACK);
}
if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
sendPosition=true;
msgSend = new Message(MESSAGE_ANSWER_ACK);
}
if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
sendPosition=false;
msgSend = new Message(MESSAGE_ANSWER_ACK);
}
if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL,BATTERY_FULL);
if (msgSend != NULL) monitor.Write(msgSend);
delete(msgRcv);
} }
} }
void Tasks::TimerTask(void* arg) { void Tasks::TimerTask(void* arg) {
struct timespec tim, tim2; struct timespec tim, tim2;
Message *msgSend;
int counter;
tim.tv_sec = 0; tim.tv_sec = 0;
tim.tv_nsec = 100000000; tim.tv_nsec = 50000000; // 50ms (20fps)
cout << "Start " << __PRETTY_FUNCTION__ <<endl<<flush; cout << "Start " << __PRETTY_FUNCTION__ <<endl<<flush;
Camera camera=Camera(sm);
cout << "Try opening camera"<<endl<<flush;
if (camera.Open()) cout<<"Camera opened successfully"<<endl<<flush;
else cout<<"Failed to open camera"<<endl<<flush;
while (1) { while (1) {
//std::this_thread::sleep_for(std::chrono::seconds ) //std::this_thread::sleep_for(std::chrono::seconds )
//sleep(1); //sleep(1);
@ -137,7 +185,33 @@ void Tasks::TimerTask(void* arg) {
return; return;
} }
mutexTimer.unlock(); //mutexTimer.unlock();
if (sendImage==true) {
counter++;
if (counter>=1) {
counter=0;
Img image=camera.Grab();
cout << image.ToString()<<endl<<flush;
MessageImg *msg=new MessageImg(MESSAGE_CAM_IMAGE, &image);
monitor.Write(msg);
cout << "Image sent"<<endl<<flush;
}
}
if (sendPosition==true) {
Position pos;
pos.angle=0.0;
pos.robotId=1;
pos.center=cv::Point2f(0.5,0.5);
pos.direction=cv::Point2f(1.0,2.5);
MessagePosition *msgp=new MessagePosition(MESSAGE_CAM_POSITION, pos);
monitor.Write(msgp);
cout << "Position sent"<<endl<<flush;
}
} }
} }

3
software/raspberry/superviseur-robot/tasks_pthread.h
View file

@ -90,6 +90,9 @@ private:
ComMonitor monitor; ComMonitor monitor;
ComRobot robot; ComRobot robot;
bool sendImage=false;
bool sendPosition=false;
thread *threadServer; thread *threadServer;
thread *threadSendToMon; thread *threadSendToMon;
thread *threadTimer; thread *threadTimer;