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draft Gwen camera jusqu'aux robot

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This commit is contained in:
Newglear 2023-04-03 14:41:39 +02:00
parent 2981e6b0a4
commit 96a3c8fe08
5 changed files with 108 additions and 13 deletions
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8
.idea/.gitignore vendored Normal file
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@ -0,0 +1,8 @@
# Default ignored files
/shelf/
/workspace.xml
# Editor-based HTTP Client requests
/httpRequests/
# Datasource local storage ignored files
/dataSources/
/dataSources.local.xml

20
.idea/misc.xml Normal file
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@ -0,0 +1,20 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="ExternalStorageConfigurationManager" enabled="true" />
<component name="MakefileSettings">
<option name="linkedExternalProjectsSettings">
<MakefileProjectSettings>
<option name="externalProjectPath" value="$PROJECT_DIR$/software/raspberry/superviseur-robot" />
<option name="modules">
<set>
<option value="$PROJECT_DIR$/software/raspberry/superviseur-robot" />
</set>
</option>
<option name="version" value="2" />
</MakefileProjectSettings>
</option>
</component>
<component name="MakefileWorkspace" PROJECT_DIR="$PROJECT_DIR$/software/raspberry/superviseur-robot">
<contentRoot DIR="$PROJECT_DIR$" />
</component>
</project>

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

72
software/raspberry/superviseur-robot/tasks.cpp
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@ -285,6 +285,11 @@ void Tasks::ReceiveFromMonTask(void *arg) {
rt_mutex_release(&mutex_move);
} else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)){
rt_sem_v(&sem_startCamera);
} else if(msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM) || msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)){
rt_mutex_acquire(&mutex_answer_arena);
msg_arena = msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM? 1:0; // A vérifier que le ternaire est utile
rt_mutex_release(&mutex_answer_arena);
rt_sem_v(&sem_answerSync);
}
delete(msgRcv); // must be deleted manually, no consumer
}
@ -365,7 +370,7 @@ void Tasks::StartCameraTask(void *arg) {
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task startRobot starts here */
/* The task Camera Task starts here */
/**************************************************************************************/
while (1) {
@ -467,26 +472,79 @@ void Tasks::BatteryTask(void *arg) {
*/
void CameraTask(void *arg){
int cam;
std::list<Position> robotPosition;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
rt_task_set_periodic(NULL, TM_NOW, 100*1000*1000);
while(1){
rt_task_wait_period(NULL);
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
cam = cameraStarted;
rt_mutex_release(&mutex_cameraStarted);
if(cam){
if(!cam){
continue;
}
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
// Lancer le traitement périodique
Img img = camera.Grab();
Arena arena= img.SearchArena(); // Mise a jour de l'arene tout le temps pour la position du robot mais draw si search arena = true
rt_mutex_release(&mutex_camera);
}else{
rt_mutex_release(&mutex_camera);
rt_mutex_acquire(&mutex_search_arena, TM_INFINITE);
if(searchArena){
// chopper l'arene
cout << "Search arena pls ! " << endl << flush;
if(arena.IsEmpty()){
cout << "Arena empty" << endl << flush;
// envoi d'un no ack au moniteur
rt_mutex_acquire(&mutex, TM_INFINITE);
rt_mutex_release(&mutex_camera);
}else{
cout << "Draw Arena" << endl << flush;
img.DrawArena(arena);
// envoi de l'arene pour vérif
cout << "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAARENE" << endl << flush;
}
}
rt_mutex_release(&mutex_search_arena);
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
if(robotPos){
// chopper le robot
cout << "Pos du robot pls !" ;
robotPosition = img.SearchRobot(arena);
}
rt_mutex_release(&mutex_robot_pos);
//Traitement du robot
if(){ // Robot position != null
img.DrawAllRobots(robotPosition);
}
for (auto position : robotPosition)
{
WriteInQueue(&q_messageToMon, position); // Envoi de toutes les positions
}
// Envoi de l'image
WriteInQueue(&q_messageToMon, new MessageImg(MESSAGE_CAM_IMAGE,&img));
rt_sem_p(&sem_answerSync, TM_INFINITE);
rt_mutex_acquire(&mutex_anwer_arena, TM_INFINITE);
if(arenaConfirm){
// Arena OK
img.DrawArena(arena); // Comment save ou rejeter?
}else{
// Arena not OK
// Rien ?
}
rt_mutex_release(&mutex_answer_arena);
// Je sais pas si cette partie sert a qqc
}
}

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

@ -67,6 +67,7 @@ private:
Camera camera;
int robotStarted = 0;
int cameraStarted = 0;
int arenaConfirm = 0;
int move = MESSAGE_ROBOT_STOP;
/**********************************************************************/
@ -90,6 +91,7 @@ private:
RT_MUTEX mutex_cameraStarted;
RT_MUTEX mutex_move;
RT_MUTEX mutex_camera;
RT_MUTEX mutex_answer_arena;
/**********************************************************************/
/* Semaphores */
@ -99,6 +101,7 @@ private:
RT_SEM sem_serverOk;
RT_SEM sem_startRobot;
RT_SEM sem_startCamera;
RT_SEM sem_answerSync;
/**********************************************************************/
/* Message queues */