maybe ca marche maybe pas
This commit is contained in:
Lacroix Raphael
parent
cac70c70df
commit
95f1cacc5e
5 changed files with 130 additions and 23 deletions
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@ -41,7 +41,7 @@
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</conf>
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<conf name="Debug__RPI_" type="1">
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<toolsSet>
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<developmentServer>xenomai@10.105.1.3:22</developmentServer>
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<developmentServer>xenomai@10.105.1.8:22</developmentServer>
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<platform>2</platform>
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</toolsSet>
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<dbx_gdbdebugger version="1">
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@ -0,0 +1,39 @@
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#Fri Apr 07 12:13:15 CEST 2023
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp=c1680524819149
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.cpp=c1680524985794
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp=c1680862388297
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/Makefile=c1680524818973
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/wrapper.c=c1680524985856
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/README.md=c1680524819097
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1680524819108
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.gitignore=c1680524818971
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1680853007538
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/superviseur.doxygen=c1680524819223
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1680524819176
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1680524819187
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp=c1680524819156
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1680524819095
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1680524819101
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.dep.inc=c1680524818965
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1680524985812
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1680524985801
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/project.properties=c1680524819214
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.h=c1680524985797
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.h=c1680524985807
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/README.md=c1680524818978
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.cpp=c1680524985804
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/.gitignore=c1680524819087
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1680524819092
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1680853007485
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/commonitor.h=c1680524819130
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/gdbsudo.sh=c1680524819082
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1680524819127
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1680853007515
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/base64.h=c1680524819103
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1680524819116
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h=c1680524819138
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/project.xml=c1680524985847
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h=c1680524819153
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VERSION=1.3
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1680524819168
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h=c1680862388302
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@ -27,8 +27,8 @@
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#define PRIORITY_TSTARTROBOT 20
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#define PRIORITY_TCAMERA 21
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#define PRIORITY_TBATTERY 25
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#define PRIORITY_TLOSSCOUNTER 25
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#define PRIORITY_TSTARTCAMERA 25
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#define PRIORITY_TROBOTRELOADMESSAGE 25
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/*
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* Some remarks:
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@ -52,7 +52,6 @@
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/**
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* @brief Initialisation des structures de l'application (tâches, mutex,
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* semaphore, etc.)
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*/
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void Tasks::RobotLossCounter(void* arg){
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int state;
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@ -75,6 +74,10 @@ void Tasks::RobotLossCounter(void* arg){
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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state = robot.Close();
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rt_mutex_release(&mutex_robot);
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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robotStarted = 0;
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rt_mutex_release(&mutex_robotStarted);
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// send info to monitor
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if (state < 0) {
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@ -87,10 +90,11 @@ void Tasks::RobotLossCounter(void* arg){
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}
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}
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*/
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MessageID Tasks::parseMessage(MessageID msg){
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if (msg == MESSAGE_ANSWER_COM_ERROR){
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Message* Tasks::parseMessage(Message* msg){
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int state;
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if (msg->CompareID(MESSAGE_ANSWER_NACK) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_TIMEOUT) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_ERROR) ||msg->CompareID(MESSAGE_ANSWER_COM_ERROR)){
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// increment
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rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
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compteurRobotLoss ++;
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@ -102,6 +106,31 @@ MessageID Tasks::parseMessage(MessageID msg){
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compteurRobotLoss = 0;
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rt_mutex_release(&mutex_compteurRobotLoss);
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}
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rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
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if(compteurRobotLoss >= 3){
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// send info to monitor
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WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_COM_ERROR)); // TODO : c'est probablement faux mais on a suivi la doc *sig*
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// close robot
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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state = robot.Close();
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rt_mutex_release(&mutex_robot);
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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robotStarted = 0;
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rt_mutex_release(&mutex_robotStarted);
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// send info to monitor
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if (state < 0) {
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WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
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} else {
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WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
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}
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}
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rt_mutex_release(&mutex_compteurRobotLoss);
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return msg;
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}
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@ -183,6 +212,10 @@ void Tasks::Init() {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_reloadMessages, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Semaphores created successfully" << endl << flush;
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/**************************************************************************************/
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@ -220,14 +253,23 @@ void Tasks::Init() {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_lossCounter, "th_lossCounter", 0, PRIORITY_TLOSSCOUNTER, 0)) {
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/*if (err = rt_task_create(&th_lossCounter, "th_lossCounter", 0, PRIORITY_TLOSSCOUNTER, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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}*/
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if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_startRobotWithWatchdog, "th_startRobotWithWatchdog", 0, PRIORITY_TSTARTROBOT, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_robotReloadMessage, "th_robotReloadMessage", 0, PRIORITY_TROBOTRELOADMESSAGE, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Tasks created successfully" << endl << flush;
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/**************************************************************************************/
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@ -285,7 +327,15 @@ void Tasks::Run() {
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_lossCounter, (void(*)(void*)) & Tasks::RobotLossCounter, this)) {
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/*if (err = rt_task_start(&th_lossCounter, (void(*)(void*)) & Tasks::RobotLossCounter, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}*/
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if (err = rt_task_start(&th_robotReloadMessage, (void(*)(void*)) & Tasks::RobotReloadMessage, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_startRobotWithWatchdog, (void(*)(void*)) & Tasks::StartRobotWithWatchDogTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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@ -489,7 +539,7 @@ void Tasks::StartRobotTask(void *arg) {
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*/
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// TODO : refactor with the previous : if (watchdog) {call with; start the watchdog messages tasks} else {call without}
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void Tasks::StartRobotWithWatchDogTask(void *arg) {
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void Tasks::StartRobotWithWatchDogTask(void *arg) {
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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@ -500,8 +550,8 @@ void Tasks::StartRobotTask(void *arg) {
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while (1) {
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Message * msgSend;
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rt_sem_p(&sem_startRobot, TM_INFINITE);
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cout << "Start robot without watchdog (";
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rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
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cout << "Start robot with watchdog (";
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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msgSend = parseMessage(robot.Write(robot.StartWithWD())); // TODO : convert Message MessageID
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rt_mutex_release(&mutex_robot);
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@ -513,11 +563,12 @@ void Tasks::StartRobotTask(void *arg) {
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if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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cout << "Ca a strat avec watchdog" << endl;
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robotStarted = 1;
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rt_mutex_release(&mutex_robotStarted);
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}
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rt_sem_v(&sem_reloadMessages, TM_INFINITE);
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rt_sem_v(&sem_reloadMessages);
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}
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}
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@ -531,14 +582,16 @@ void Tasks::RobotReloadMessage(void *arg) {
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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rt_sem_p(&sem_reloadMessages);
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rt_sem_p(&sem_reloadMessages, TM_INFINITE);
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cout << "Starting to monitor packet losses " << endl << flush;
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rt_task_set_periodic(NULL, TM_NOW, 500*1000*1000);
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rt_task_set_periodic(NULL, TM_NOW, 1000*1000*1000);
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while(1) {
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rt_task_wait_period(NULL);
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status = parseMessage(robot.Write(robot.reloadWD())); // TODO : convert Message MessageID
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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status = parseMessage(robot.Write(robot.ReloadWD()))->GetID();
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rt_mutex_release(&mutex_robot);
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// send info to monitor
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if (state < 0) {
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if (status < 0) {
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WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
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} else {
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WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
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@ -603,7 +656,13 @@ void Tasks::MoveTask(void *arg) {
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/*********************************************************/
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/**************************************************************************************/
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/* The task starts here */
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/**************************************************************************************/
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rt_task_set_periodic(NULL, TM_NOW, 100000000);
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while (1) {
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rt_task_wait_period(NULL);
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//cout << "Periodic movement update";
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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rs = robotStarted;
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@ -621,6 +680,7 @@ void Tasks::MoveTask(void *arg) {
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rt_mutex_release(&mutex_robotStarted);
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//cout << endl << flush;
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}
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}
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/**
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* @brief task in charge of the battery status.
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@ -642,6 +702,7 @@ void Tasks::BatteryTask(void *arg) {
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rt_task_wait_period(NULL);
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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rs = robotStarted;
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rt_mutex_release(&mutex_robotStarted);
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if (rs == 1) {
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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Message* batteryReply = parseMessage(robot.Write(robot.GetBattery())); // TODO : convert Message MessageID
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@ -650,7 +711,7 @@ void Tasks::BatteryTask(void *arg) {
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WriteInQueue(&q_messageToMon, batteryReply);
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}
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rt_mutex_release(&mutex_robotStarted);
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}
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}
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@ -83,8 +83,11 @@ private:
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RT_TASK th_startCamera;
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RT_TASK th_move;
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RT_TASK th_battery;
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RT_TASK th_lossCounter;
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/*RT_TASK th_lossCounter;*/
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RT_TASK th_camera;
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RT_TASK th_startRobotWithWatchdog;
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RT_TASK th_robotReloadMessage;
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/**********************************************************************/
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/* Mutex */
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/**********************************************************************/
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@ -108,6 +111,7 @@ private:
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RT_SEM sem_startRobotWithWatchdog;
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RT_SEM sem_startCamera;
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RT_SEM sem_connexionEstablished;
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RT_SEM sem_reloadMessages;
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/**********************************************************************/
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/* Message queues */
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@ -166,9 +170,8 @@ private:
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/**
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* @brief task in charge of counting packet losses.
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*/
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void RobotLossCounter(void *arg);
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*/
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/**
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* @brief task in charge of managing the camera.
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@ -197,8 +200,12 @@ private:
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* @param Message
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* @return Message
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*/
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MessageID parseMessage(MessageID msg);
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Message* parseMessage(Message* msg);
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/**
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* Reloads a message
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*/
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void RobotReloadMessage(void *arg);
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};
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#endif // __TASKS_H__
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