temp not working
This commit is contained in:
parent
6da7c4091b
commit
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7 changed files with 61 additions and 18 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>GNU|GNU</compilerSet>
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<compilerSet>default</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@10.105.1.10:22</developmentServer>
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<developmentServer>xenomai@10.105.1.3:22</developmentServer>
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<platform>2</platform>
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</toolsSet>
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<dbx_gdbdebugger version="1">
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@ -7,12 +7,9 @@
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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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
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<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/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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</group>
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</open-files>
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</project-private>
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@ -0,0 +1,39 @@
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#Mon Apr 03 15:16:34 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=c1680527791011
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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/.gitignore=c1680524818971
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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/nbproject/Makefile-variables.mk=c1680526563389
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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=c1680526563363
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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=c1680526563376
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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=c1680527667578
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@ -53,14 +53,14 @@
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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(){
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int status;
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void Tasks::RobotLossCounter(void* arg){
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int state;
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// wait for connexion establishement
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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_connexionEstablished);
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rt_sem_p(&sem_connexionEstablished, 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, 100*1000*1000);
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while(1){
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}
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MessageID traitementMessage(MessageID msg){
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MessageID Tasks::parseMessage(MessageID msg){
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if (msg == MESSAGE_ANSWER_COM_ERROR){
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// increment
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compteurRobotLoss = 0;
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rt_mutex_release(&mutex_compteurRobotLoss);
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}
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return msg
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return msg;
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}
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@ -468,7 +468,7 @@ void Tasks::StartRobotTask(void *arg) {
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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_mutex_acquire(&mutex_robot, TM_INFINITE);
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msgSend = call(robot.Write(robot.StartWithoutWD()));
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msgSend = parseMessage(robot.Write(robot.StartWithoutWD())); // TODO : convert Message MessageID
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rt_mutex_release(&mutex_robot);
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cout << msgSend->GetID();
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cout << ")" << endl;
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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_mutex_acquire(&mutex_robot, TM_INFINITE);
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msgSend = call(robot.Write(robot.StartWithWD()));
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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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cout << msgSend->GetID();
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cout << ")" << endl;
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rt_task_set_periodic(NULL, TM_NOW, 500*1000*1000);
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while(1) {
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rt_task_wait_period(NULL);
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status = (robot.Write(robot.reloadWD()));
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status = parseMessage(robot.Write(robot.reloadWD())); // TODO : convert Message MessageID
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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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cout << " move: " << cpMove;
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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robot.Write(new Message((MessageID)cpMove));
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parseMessage(robot.Write(new Message((MessageID)cpMove)));
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rt_mutex_release(&mutex_robot);
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}
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rt_mutex_release(&mutex_robotStarted);
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rs = 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 = robot.Write(robot.GetBattery());
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Message* batteryReply = parseMessage(robot.Write(robot.GetBattery())); // TODO : convert Message MessageID
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string batteryLevel = batteryReply->ToString();
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rt_mutex_release(&mutex_robot);
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WriteInQueue(&q_messageToMon, batteryReply);
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@ -192,6 +192,13 @@ private:
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*/
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Message *ReadInQueue(RT_QUEUE *queue);
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/**
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* Read a message from the robot, returns it while editing the counter of packet losses
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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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};
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#endif // __TASKS_H__
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