finished
This commit is contained in:
Lacroix Raphael
parent
95f1cacc5e
commit
c81b6379fe
5 changed files with 150 additions and 66 deletions
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@ -119,7 +119,7 @@
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</conf>
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<conf name="Debug__RPI_" type="1">
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<toolsSet>
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<compilerSet>default</compilerSet>
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<compilerSet>GNU|GNU</compilerSet>
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<dependencyChecking>true</dependencyChecking>
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<rebuildPropChanged>false</rebuildPropChanged>
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</toolsSet>
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@ -41,7 +41,7 @@
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</conf>
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<conf name="Debug__RPI_" type="1">
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<toolsSet>
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<developmentServer>xenomai@10.105.1.8:22</developmentServer>
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<developmentServer>xenomai@10.105.1.10:22</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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@ -7,9 +7,12 @@
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<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
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<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
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<group>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
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</group>
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</open-files>
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</project-private>
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@ -1,39 +1,76 @@
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#Fri Mar 31 12:07:07 CEST 2023
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1680248859421
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#Tue Apr 11 12:36:14 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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1679401432930
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||||
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/Makefile=c1680524818973
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1679401432864
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||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1679401432813
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||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1679401432832
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||||
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/README.md=c1680524819097
|
||||
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1681203554260
|
||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1679401457314
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||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1680257220969
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||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.dep.inc=c1679401432701
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1679401432922
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1679401457320
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/home/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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1680256228274
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/README.md=c1679401432714
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1679401457337
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/Makefile=c1679401432709
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1679401432820
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h=c1680253954166
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/wrapper.c=c1679401457381
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp=c1679404095224
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1679401432983
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.h=c1680524985797
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1679401457304
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1679401432851
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1679401432844
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/home/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=c1681203554238
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1679401457346
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1679401432926
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||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1679401457377
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1679401432827
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||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1679401432918
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||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1679401432944
|
||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1679401432993
|
||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1679401432897
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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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1679401432840
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1679401432877
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/home/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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.h=c1679401457331
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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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1679401432836
|
||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1679401432848
|
||||
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp=c1681209371364
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||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1680248859421
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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/.gitignore=c1680524818971
|
||||
/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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1679401432832
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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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1680257220969
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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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.dep.inc=c1679401432701
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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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1679401432922
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||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1679401457320
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||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/README.md=c1679401432714
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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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1679401432820
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/wrapper.c=c1679401457381
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp=c1679404095224
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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/img.h=c1680524985807
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1679401432851
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1679401432844
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/commonitor.h=c1680524819130
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1679401432926
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/gdbsudo.sh=c1680524819082
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1679401457377
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1679401432918
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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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1679401432993
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1681203554249
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1679401432897
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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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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.gitignore=c1679401432706
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VERSION=1.3
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1679401432868
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1679401432836
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1679401432848
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h=c1680862388302
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@ -94,15 +94,26 @@ void Tasks::RobotLossCounter(void* arg){
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Message* Tasks::parseMessage(Message* msg){
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int state;
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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int tempRobotStarted = robotStarted ;
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rt_mutex_release(&mutex_robotStarted);
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if (tempRobotStarted != 0) {
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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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cout << "Current loss value " << compteurRobotLoss << endl << flush;
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rt_mutex_release(&mutex_compteurRobotLoss);
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} else {
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// reset
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rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
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if (compteurRobotLoss > 0){
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cout << "Loss value reset" << endl << flush;
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}
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compteurRobotLoss = 0;
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rt_mutex_release(&mutex_compteurRobotLoss);
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}
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@ -111,6 +122,7 @@ Message* Tasks::parseMessage(Message* msg){
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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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cout << "Lost communication with robot " << endl << flush;
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// close robot
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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@ -129,8 +141,7 @@ Message* Tasks::parseMessage(Message* msg){
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}
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}
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rt_mutex_release(&mutex_compteurRobotLoss);
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}
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return msg;
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}
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@ -462,6 +473,23 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
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robotPos = 0;
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rt_mutex_release(&mutex_robot_pos);
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}else if(msgRcv->CompareID(MESSAGE_MONITOR_LOST)){
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cout << "MONITOR LOST" << endl << flush;
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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robot.Close();
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rt_mutex_release(&mutex_robot);
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rt_mutex_acquire(&mutex_camera, TM_INFINITE);
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camera.Close();
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rt_mutex_release(&mutex_camera);
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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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}
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delete(msgRcv); // must be deleted manually, no consumer
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}
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@ -497,6 +525,8 @@ void Tasks::OpenComRobot(void *arg) {
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rt_sem_v(&sem_connexionEstablished);
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msgSend = new Message(MESSAGE_ANSWER_ACK);
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}
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cout << "Open serial com (";
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WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
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}
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}
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@ -580,13 +610,26 @@ void Tasks::RobotReloadMessage(void *arg) {
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int status;
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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, TM_INFINITE);
|
||||
|
||||
|
||||
|
||||
cout << "Starting to monitor packet losses " << endl << flush;
|
||||
rt_task_set_periodic(NULL, TM_NOW, 1000*1000*1000);
|
||||
while(1) {
|
||||
rt_task_wait_period(NULL);
|
||||
|
||||
|
||||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||
int tempRobotStarted = robotStarted ;
|
||||
rt_mutex_release(&mutex_robotStarted);
|
||||
|
||||
if (tempRobotStarted != 0) {
|
||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||
status = parseMessage(robot.Write(robot.ReloadWD()))->GetID();
|
||||
rt_mutex_release(&mutex_robot);
|
||||
|
|
@ -597,6 +640,7 @@ void Tasks::RobotReloadMessage(void *arg) {
|
|||
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
|
||||
}
|
||||
}
|
||||
}
|
||||
|
||||
}
|
||||
|
||||
|
|
@ -666,18 +710,18 @@ void Tasks::MoveTask(void *arg) {
|
|||
//cout << "Periodic movement update";
|
||||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||
rs = robotStarted;
|
||||
rt_mutex_release(&mutex_robotStarted);
|
||||
if (rs == 1) {
|
||||
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
||||
cpMove = move;
|
||||
rt_mutex_release(&mutex_move);
|
||||
|
||||
cout << " move: " << cpMove;
|
||||
cout << " move: " << cpMove << endl << flush;
|
||||
|
||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||
parseMessage(robot.Write(new Message((MessageID)cpMove)));
|
||||
rt_mutex_release(&mutex_robot);
|
||||
}
|
||||
rt_mutex_release(&mutex_robotStarted);
|
||||
//cout << endl << flush;
|
||||
}
|
||||
}
|
||||
|
|
|
|||
Loading…
Reference in a new issue