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Ajout d'un projet en pthread + ajout support des images sur moniteur

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This commit is contained in:
vezde 2022-10-19 18:33:42 +02:00
parent b687bc01ef
commit e33b24b0fd
59 changed files with 11068 additions and 329 deletions
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54
software/monitor/monitor-python-qt/main_window.py
View file

@ -13,35 +13,54 @@ from PyQt5 import QtCore, QtGui, QtWidgets
class Ui_MainWindow(object):
def setupUi(self, MainWindow):
MainWindow.setObjectName("MainWindow")
MainWindow.resize(928, 629)
MainWindow.resize(973, 635)
MainWindow.setMinimumSize(QtCore.QSize(973, 635))
self.centralwidget = QtWidgets.QWidget(MainWindow)
self.centralwidget.setObjectName("centralwidget")
self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.centralwidget)
self.widget = QtWidgets.QWidget(self.centralwidget)
self.widget.setGeometry(QtCore.QRect(14, 13, 947, 574))
self.widget.setObjectName("widget")
self.horizontalLayout_6 = QtWidgets.QHBoxLayout(self.widget)
self.horizontalLayout_6.setContentsMargins(0, 0, 0, 0)
self.horizontalLayout_6.setObjectName("horizontalLayout_6")
self.verticalLayout_4 = QtWidgets.QVBoxLayout()
self.verticalLayout_4.setObjectName("verticalLayout_4")
self.checkBox_enableCamera = QtWidgets.QCheckBox(self.centralwidget)
self.checkBox_enableCamera = QtWidgets.QCheckBox(self.widget)
self.checkBox_enableCamera.setObjectName("checkBox_enableCamera")
self.verticalLayout_4.addWidget(self.checkBox_enableCamera)
self.graphicsView_Image = QtWidgets.QGraphicsView(self.centralwidget)
self.graphicsView_Image.setObjectName("graphicsView_Image")
self.verticalLayout_4.addWidget(self.graphicsView_Image)
self.pushButton_confirmArena = QtWidgets.QPushButton(self.centralwidget)
self.label_Image = QtWidgets.QLabel(self.widget)
sizePolicy = QtWidgets.QSizePolicy(QtWidgets.QSizePolicy.Expanding, QtWidgets.QSizePolicy.Expanding)
sizePolicy.setHorizontalStretch(0)
sizePolicy.setVerticalStretch(0)
sizePolicy.setHeightForWidth(self.label_Image.sizePolicy().hasHeightForWidth())
self.label_Image.setSizePolicy(sizePolicy)
self.label_Image.setMinimumSize(QtCore.QSize(640, 480))
self.label_Image.setSizeIncrement(QtCore.QSize(1, 1))
self.label_Image.setFrameShape(QtWidgets.QFrame.Box)
self.label_Image.setText("")
self.label_Image.setObjectName("label_Image")
self.verticalLayout_4.addWidget(self.label_Image)
self.pushButton_confirmArena = QtWidgets.QPushButton(self.widget)
self.pushButton_confirmArena.setObjectName("pushButton_confirmArena")
self.verticalLayout_4.addWidget(self.pushButton_confirmArena)
self.horizontalLayout_3 = QtWidgets.QHBoxLayout()
self.horizontalLayout_3.setObjectName("horizontalLayout_3")
self.checkBox_enableFPS = QtWidgets.QCheckBox(self.centralwidget)
self.checkBox_enableFPS = QtWidgets.QCheckBox(self.widget)
self.checkBox_enableFPS.setObjectName("checkBox_enableFPS")
self.horizontalLayout_3.addWidget(self.checkBox_enableFPS)
self.checkBox_enablePosition = QtWidgets.QCheckBox(self.centralwidget)
self.checkBox_enablePosition = QtWidgets.QCheckBox(self.widget)
self.checkBox_enablePosition.setObjectName("checkBox_enablePosition")
self.horizontalLayout_3.addWidget(self.checkBox_enablePosition)
self.verticalLayout_4.addLayout(self.horizontalLayout_3)
self.horizontalLayout_6.addLayout(self.verticalLayout_4)
self.verticalLayout_6 = QtWidgets.QVBoxLayout()
self.verticalLayout_6.setObjectName("verticalLayout_6")
self.groupBox_connection = QtWidgets.QGroupBox(self.centralwidget)
self.groupBox_activation = QtWidgets.QGroupBox(self.widget)
self.groupBox_activation.setAlignment(QtCore.Qt.AlignCenter)
self.groupBox_activation.setObjectName("groupBox_activation")
self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.groupBox_activation)
self.verticalLayout_2.setObjectName("verticalLayout_2")
self.groupBox_connection = QtWidgets.QGroupBox(self.groupBox_activation)
self.groupBox_connection.setAlignment(QtCore.Qt.AlignCenter)
self.groupBox_connection.setFlat(False)
self.groupBox_connection.setCheckable(False)
@ -102,12 +121,7 @@ class Ui_MainWindow(object):
self.line.setFrameShadow(QtWidgets.QFrame.Sunken)
self.line.setObjectName("line")
self.verticalLayout.addWidget(self.line)
self.verticalLayout_6.addWidget(self.groupBox_connection)
self.groupBox_activation = QtWidgets.QGroupBox(self.centralwidget)
self.groupBox_activation.setAlignment(QtCore.Qt.AlignCenter)
self.groupBox_activation.setObjectName("groupBox_activation")
self.verticalLayout_2 = QtWidgets.QVBoxLayout(self.groupBox_activation)
self.verticalLayout_2.setObjectName("verticalLayout_2")
self.verticalLayout_2.addWidget(self.groupBox_connection)
self.checkBox_watchdog = QtWidgets.QCheckBox(self.groupBox_activation)
self.checkBox_watchdog.setObjectName("checkBox_watchdog")
self.verticalLayout_2.addWidget(self.checkBox_watchdog)
@ -120,7 +134,7 @@ class Ui_MainWindow(object):
self.line_2.setObjectName("line_2")
self.verticalLayout_2.addWidget(self.line_2)
self.verticalLayout_6.addWidget(self.groupBox_activation)
self.groupBox_mouvments = QtWidgets.QGroupBox(self.centralwidget)
self.groupBox_mouvments = QtWidgets.QGroupBox(self.widget)
self.groupBox_mouvments.setAlignment(QtCore.Qt.AlignCenter)
self.groupBox_mouvments.setObjectName("groupBox_mouvments")
self.verticalLayout_3 = QtWidgets.QVBoxLayout(self.groupBox_mouvments)
@ -149,7 +163,7 @@ class Ui_MainWindow(object):
self.line_3.setObjectName("line_3")
self.verticalLayout_3.addWidget(self.line_3)
self.verticalLayout_6.addWidget(self.groupBox_mouvments)
self.groupBox_AnswerandBattery = QtWidgets.QGroupBox(self.centralwidget)
self.groupBox_AnswerandBattery = QtWidgets.QGroupBox(self.widget)
self.groupBox_AnswerandBattery.setObjectName("groupBox_AnswerandBattery")
self.verticalLayout_5 = QtWidgets.QVBoxLayout(self.groupBox_AnswerandBattery)
self.verticalLayout_5.setObjectName("verticalLayout_5")
@ -171,7 +185,7 @@ class Ui_MainWindow(object):
self.horizontalLayout_6.addLayout(self.verticalLayout_6)
MainWindow.setCentralWidget(self.centralwidget)
self.menubar = QtWidgets.QMenuBar(MainWindow)
self.menubar.setGeometry(QtCore.QRect(0, 0, 928, 22))
self.menubar.setGeometry(QtCore.QRect(0, 0, 973, 22))
self.menubar.setObjectName("menubar")
self.menu_Quitter = QtWidgets.QMenu(self.menubar)
self.menu_Quitter.setObjectName("menu_Quitter")
@ -198,12 +212,12 @@ class Ui_MainWindow(object):
self.pushButton_confirmArena.setText(_translate("MainWindow", "Co&nfirme arena border..."))
self.checkBox_enableFPS.setText(_translate("MainWindow", "Enable &FPS"))
self.checkBox_enablePosition.setText(_translate("MainWindow", "Enable Pos&ition"))
self.groupBox_activation.setTitle(_translate("MainWindow", "Robot Activation"))
self.groupBox_connection.setTitle(_translate("MainWindow", "Connection"))
self.label.setText(_translate("MainWindow", "Address:"))
self.label_2.setText(_translate("MainWindow", "Port:"))
self.label_3.setText(_translate("MainWindow", "Status:"))
self.label_connectionStatus.setText(_translate("MainWindow", "Not connected"))
self.groupBox_activation.setTitle(_translate("MainWindow", "Robot Activation"))
self.checkBox_watchdog.setText(_translate("MainWindow", "Start with &watchdog"))
self.pushButton_start.setText(_translate("MainWindow", "Start r&obot"))
self.groupBox_mouvments.setTitle(_translate("MainWindow", "Mouvments"))

78
software/monitor/monitor-python-qt/monitor-python.py
View file

@ -1,27 +1,34 @@
#!/usr/bin/env python3
from email.message import Message
from email.policy import Policy
import os
import time
import sys
from tkinter import Image
from PyQt5 import (QtCore, QtWidgets)
from PyQt5 import (QtCore, QtWidgets, QtGui)
from main_window import Ui_MainWindow
from log_dialog import Ui_Dialog
from network import *
from globvar import GlobVar
import base64
class Window(QtWidgets.QMainWindow, Ui_MainWindow):
_msg_dialog= None
_batteryTimer=None
_FPSTimer=None
fps=0
def __init__(self, parent=None):
super().__init__(parent)
self.setupUi(self)
self.DisableUIWidgets("Network")
#self.DisableUIWidgets("Network")
self.lineEdit_address.setText(GlobVar.address)
self.lineEdit_port.setText(str(GlobVar.port))
@ -30,6 +37,8 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
self._msg_dialog.ui= Ui_Dialog()
self._msg_dialog.ui.setupUi(self._msg_dialog)
self.fps=0
self.networkThread = Network()
self.connectSignalSlots()
@ -41,6 +50,10 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
self._batteryTimer = QtCore.QTimer()
self._batteryTimer.timeout.connect(self.OnBatteryTimeout)
# Create fps timer
self._FPSTimer = QtCore.QTimer()
self._FPSTimer.timeout.connect(self.OnFPSTimeout)
def connectSignalSlots(self):
# Buttons
self.pushButton_start.pressed.connect(self.OnButtonPress_Start)
@ -78,7 +91,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
def EnableUIWidgets(self, area):
if area == "Network":
self.groupBox_activation.setDisabled(False)
self.graphicsView_Image.setDisabled(False)
self.label_Image.setDisabled(False)
self.pushButton_confirmArena.setDisabled(False)
self.checkBox_enableCamera.setDisabled(False)
self.checkBox_enableFPS.setDisabled(False)
@ -90,7 +103,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
def DisableUIWidgets(self, area):
if area == "Network":
self.groupBox_activation.setDisabled(True)
self.graphicsView_Image.setDisabled(True)
self.label_Image.setDisabled(True)
self.pushButton_confirmArena.setDisabled(True)
self.checkBox_enableCamera.setDisabled(True)
self.checkBox_enableFPS.setDisabled(True)
@ -131,16 +144,19 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
msg.warning(self,'Invalid answer', 'Server answer was not acknowledged. Maybe robot is still running', msg.Ok)
self.pushButton_start.setText("Start r&obot")
self.DisableUIWidgets("Robot")
#self.DisableUIWidgets("Robot")
@QtCore.pyqtSlot()
def OnButtonPress_ConfirmArena(self):
self.networkThread.cameraAskArena()
msg= QtWidgets.QMessageBox
ret = msg.question(self, '', 'Arena boundaries are correctly detected ?',msg.Yes| msg.No)
if ret == msg.Yes:
self.networkThread.cameraConfirmArena()
print ("Answer is YES")
else:
self.networkThread.cameraInfirmArena()
print ("Answer is NO")
@QtCore.pyqtSlot()
@ -165,21 +181,26 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
@QtCore.pyqtSlot(int)
def OnCheckBoxChanged_EnableCamera(self, state):
msg= QtWidgets.QMessageBox
msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok)
self.checkBox_enableCamera.setChecked(False)
if self.checkBox_enableCamera.isChecked():
self.networkThread.cameraOpen()
else:
self.networkThread.cameraClose()
@QtCore.pyqtSlot(int)
def OnCheckBoxChanged_EnableFPS(self, state):
msg= QtWidgets.QMessageBox
msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok)
self.checkBox_enableFPS.setChecked(False)
if state !=0:
self._FPSTimer.start(1000)
self.checkBox_enableFPS.setText("FPS (0)")
else:
self._FPSTimer.stop()
self.checkBox_enableFPS.setText("Enable FPS")
@QtCore.pyqtSlot(int)
def OnCheckBoxChanged_EnablePosition(self, state):
msg= QtWidgets.QMessageBox
msg.information(self, 'Feature not ready', 'Feature not yet available', msg.Ok)
self.checkBox_enablePosition.setChecked(False)
if self.checkBox_enablePosition.isChecked():
self.networkThread.cameraGetPosition()
else:
self.networkThread.cameraStopPosition()
@QtCore.pyqtSlot(int)
def OnCheckBoxChanged_GetBattery(self, state):
@ -229,13 +250,38 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
self.checkBox_getBattery.setText ("Get battery (2 = full)")
else:
self.checkBox_getBattery.setText ("Get battery (invalid value)")
elif Network.CAMERA_IMAGE in s:
#print ("Image received")
#print ("Date received: " + s)
self.fps=self.fps+1
str_split = s.split(':')
image_jpg= base64.b64decode(str_split[1])
img = QtGui.QImage.fromData(image_jpg, "jpg")
im_pixmap = QtGui.QPixmap(QtGui.QPixmap.fromImage(img))
#print ("Image size: " + str(im_pixmap.width()) + "x" + str(im_pixmap.height()))
self.label_Image.setPixmap(im_pixmap)
self.label_Image.setScaledContents(True)
self.label_Image.setSizePolicy(QtWidgets.QSizePolicy.Ignored,QtWidgets.QSizePolicy.Ignored)
elif Network.CAMERA_POSITION in s:
print ("position received")
print (s)
# Callback for battery timeout
@QtCore.pyqtSlot()
def OnBatteryTimeout(self) -> None:
# Send a request for battery level. Answer will be done in OnReceptionEvent callback
self.networkThread.robotGetBattery()
# Callback for FPS timeout
@QtCore.pyqtSlot()
def OnFPSTimeout(self) -> None:
# Display current FPS
self.checkBox_enableFPS.setText("FPS (" + str(self.fps)+")")
self.fps=0
# Callback for connection/deconnection event from network manager
@QtCore.pyqtSlot(int)
def OnConnectionEvent(self, event) -> None:
@ -251,7 +297,7 @@ class Window(QtWidgets.QMainWindow, Ui_MainWindow):
self.label_connectionStatus.setText("Not connected")
self.pushButton_start.setText("Start r&obot")
self.DisableUIWidgets("Network")
#self.DisableUIWidgets("Network")
# Callback for answer event from network manager
@QtCore.pyqtSlot(int)

51
software/monitor/monitor-python-qt/network.py
View file

@ -116,8 +116,8 @@ class Network(QtCore.QThread):
# Private method for connecting to server
def __connect(self) -> None:
#self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
self.sock = socket.socket(socket.AF_INET, socket.SOCK_STREAM)
#self.sock = socket.socket(socket.AF_INET, socket.SOCK_DGRAM)
try:
self.sock.connect((GlobVar.address, GlobVar.port))
@ -126,7 +126,7 @@ class Network(QtCore.QThread):
# In UDP, no way to know if server is running (connect is always successfull).
# So, send a single line feed to ping the server
self.sock.send(str.encode("\n"))
#self.sock.send(str.encode("\n"))
self.waitForAnswer=False
# Private method for receiving data from server.
@ -147,6 +147,11 @@ class Network(QtCore.QThread):
bytes_recd = bytes_recd + len(chunk)
last_char=chunk[-1]
#print ("")
#print ("Data: ")
#print (b''.join(chunks))
#print ("")
self.__receiveHandler(b''.join(chunks).decode("utf-8"))
chunks = []
bytes_recd =0
@ -315,6 +320,46 @@ class Network(QtCore.QThread):
def robotGetBattery(self) -> None:
ans = self.__sendCommand(self.ROBOT_GET_BATTERY,False)
# Send OpenCamera command to server
def cameraOpen(self) -> int:
ans = self.__sendCommand(self.CAMERA_OPEN, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send CloseCamera command to server
def cameraClose(self) -> int:
ans = self.__sendCommand(self.CAMERA_CLOSE, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send GetPosition command to server
def cameraGetPosition(self) -> int:
ans = self.__sendCommand(self.CAMERA_POSITION_COMPUTE, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send StopPosition command to server
def cameraStopPosition(self) -> int:
ans = self.__sendCommand(self.CAMERA_POSITION_STOP, True)
decodedAns = self.__decodeAnswer(ans)
self.answerEvent.emit(decodedAns)
return decodedAns
# Send AskArena command to server
def cameraAskArena(self) -> None:
ans = self.__sendCommand(self.CAMERA_ARENA_ASK,False)
# Send ConfirmArena command to server
def cameraConfirmArena(self) -> None:
ans = self.__sendCommand(self.CAMERA_ARENA_CONFIRM,False)
# Send InfirmArena command to server
def cameraInfirmArena(self) -> None:
ans = self.__sendCommand(self.CAMERA_ARENA_INFIRM,False)
# Function for decoding battery level
def batterylevelToStr(batlvl: int) -> str:
switcher = {

609
software/monitor/monitor-python-qt/ui/main_window.ui
View file

@ -6,313 +6,354 @@
<rect>
<x>0</x>
<y>0</y>
<width>928</width>
<height>629</height>
<width>973</width>
<height>635</height>
</rect>
</property>
<property name="minimumSize">
<size>
<width>973</width>
<height>635</height>
</size>
</property>
<property name="windowTitle">
<string>Robot Monitor</string>
</property>
<widget class="QWidget" name="centralwidget">
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QCheckBox" name="checkBox_enableCamera">
<property name="text">
<string>Enable Ca&amp;mera</string>
</property>
</widget>
</item>
<item>
<widget class="QGraphicsView" name="graphicsView_Image"/>
</item>
<item>
<widget class="QPushButton" name="pushButton_confirmArena">
<property name="text">
<string>Co&amp;nfirme arena border...</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<widget class="QCheckBox" name="checkBox_enableFPS">
<property name="text">
<string>Enable &amp;FPS</string>
</property>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBox_enablePosition">
<property name="text">
<string>Enable Pos&amp;ition</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QGroupBox" name="groupBox_connection">
<property name="title">
<string>Connection</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<widget class="QWidget" name="">
<property name="geometry">
<rect>
<x>14</x>
<y>13</y>
<width>947</width>
<height>574</height>
</rect>
</property>
<layout class="QHBoxLayout" name="horizontalLayout_6">
<item>
<layout class="QVBoxLayout" name="verticalLayout_4">
<item>
<widget class="QCheckBox" name="checkBox_enableCamera">
<property name="text">
<string>Enable Ca&amp;mera</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_Image">
<property name="sizePolicy">
<sizepolicy hsizetype="Expanding" vsizetype="Expanding">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="minimumSize">
<size>
<width>640</width>
<height>480</height>
</size>
</property>
<property name="sizeIncrement">
<size>
<width>1</width>
<height>1</height>
</size>
</property>
<property name="frameShape">
<enum>QFrame::Box</enum>
</property>
<property name="text">
<string/>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_confirmArena">
<property name="text">
<string>Co&amp;nfirme arena border...</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_3">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Address:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_address">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>300</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Port:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_port">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>300</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>Status:</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_connectionStatus">
<property name="text">
<string>Not connected</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_activation">
<property name="title">
<string>Robot Activation</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QCheckBox" name="checkBox_watchdog">
<widget class="QCheckBox" name="checkBox_enableFPS">
<property name="text">
<string>Start with &amp;watchdog</string>
<string>Enable &amp;FPS</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_start">
<widget class="QCheckBox" name="checkBox_enablePosition">
<property name="text">
<string>Start r&amp;obot</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
<string>Enable Pos&amp;ition</string>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_mouvments">
<property name="title">
<string>Mouvments</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_up">
<property name="text">
<string>&amp;Up</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="pushButton_left">
<property name="text">
<string>&amp;Left</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="pushButton_stop">
<property name="text">
<string>&amp;Stop</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pushButton_right">
<property name="text">
<string>&amp;Right</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QPushButton" name="pushButton_down">
<property name="text">
<string>&amp;Down</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_AnswerandBattery">
<property name="title">
<string>Others</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<widget class="QCheckBox" name="checkBox_getBattery">
<property name="text">
<string>Get &amp;Battery</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Last answer:</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_lastAnswer">
<property name="text">
<string>None</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</item>
</layout>
</item>
<item>
<layout class="QVBoxLayout" name="verticalLayout_6">
<item>
<widget class="QGroupBox" name="groupBox_activation">
<property name="title">
<string>Robot Activation</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_2">
<item>
<widget class="QGroupBox" name="groupBox_connection">
<property name="title">
<string>Connection</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<property name="flat">
<bool>false</bool>
</property>
<property name="checkable">
<bool>false</bool>
</property>
<layout class="QVBoxLayout" name="verticalLayout">
<item>
<layout class="QHBoxLayout" name="horizontalLayout">
<item>
<widget class="QLabel" name="label">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Address:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_address">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>300</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_2">
<item>
<widget class="QLabel" name="label_2">
<property name="sizePolicy">
<sizepolicy hsizetype="Minimum" vsizetype="Preferred">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="text">
<string>Port:</string>
</property>
</widget>
</item>
<item>
<widget class="QLineEdit" name="lineEdit_port">
<property name="sizePolicy">
<sizepolicy hsizetype="Maximum" vsizetype="Fixed">
<horstretch>0</horstretch>
<verstretch>0</verstretch>
</sizepolicy>
</property>
<property name="maximumSize">
<size>
<width>300</width>
<height>16777215</height>
</size>
</property>
</widget>
</item>
</layout>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_4">
<item>
<widget class="QLabel" name="label_3">
<property name="text">
<string>Status:</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_connectionStatus">
<property name="text">
<string>Not connected</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QCheckBox" name="checkBox_watchdog">
<property name="text">
<string>Start with &amp;watchdog</string>
</property>
</widget>
</item>
<item>
<widget class="QPushButton" name="pushButton_start">
<property name="text">
<string>Start r&amp;obot</string>
</property>
</widget>
</item>
<item>
<widget class="Line" name="line_2">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_mouvments">
<property name="title">
<string>Mouvments</string>
</property>
<property name="alignment">
<set>Qt::AlignCenter</set>
</property>
<layout class="QVBoxLayout" name="verticalLayout_3">
<item>
<layout class="QGridLayout" name="gridLayout">
<item row="0" column="1">
<widget class="QPushButton" name="pushButton_up">
<property name="text">
<string>&amp;Up</string>
</property>
</widget>
</item>
<item row="1" column="0">
<widget class="QPushButton" name="pushButton_left">
<property name="text">
<string>&amp;Left</string>
</property>
</widget>
</item>
<item row="1" column="1">
<widget class="QPushButton" name="pushButton_stop">
<property name="text">
<string>&amp;Stop</string>
</property>
</widget>
</item>
<item row="1" column="2">
<widget class="QPushButton" name="pushButton_right">
<property name="text">
<string>&amp;Right</string>
</property>
</widget>
</item>
<item row="2" column="1">
<widget class="QPushButton" name="pushButton_down">
<property name="text">
<string>&amp;Down</string>
</property>
</widget>
</item>
</layout>
</item>
<item>
<widget class="Line" name="line_3">
<property name="orientation">
<enum>Qt::Horizontal</enum>
</property>
</widget>
</item>
</layout>
</widget>
</item>
<item>
<widget class="QGroupBox" name="groupBox_AnswerandBattery">
<property name="title">
<string>Others</string>
</property>
<layout class="QVBoxLayout" name="verticalLayout_5">
<item>
<widget class="QCheckBox" name="checkBox_getBattery">
<property name="text">
<string>Get &amp;Battery</string>
</property>
</widget>
</item>
<item>
<layout class="QHBoxLayout" name="horizontalLayout_5">
<item>
<widget class="QLabel" name="label_4">
<property name="text">
<string>Last answer:</string>
</property>
</widget>
</item>
<item>
<widget class="QLabel" name="label_lastAnswer">
<property name="text">
<string>None</string>
</property>
</widget>
</item>
</layout>
</item>
</layout>
</widget>
</item>
<item>
<spacer name="verticalSpacer">
<property name="orientation">
<enum>Qt::Vertical</enum>
</property>
<property name="sizeHint" stdset="0">
<size>
<width>20</width>
<height>40</height>
</size>
</property>
</spacer>
</item>
</layout>
</item>
</layout>
</widget>
</widget>
<widget class="QMenuBar" name="menubar">
<property name="geometry">
<rect>
<x>0</x>
<y>0</y>
<width>928</width>
<width>973</width>
<height>22</height>
</rect>
</property>

5
software/raspberry/superviseur-robot-dumber-pthread/.dep.inc Normal file
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# This code depends on make tool being used
DEPFILES=$(wildcard $(addsuffix .d, ${OBJECTFILES} ${TESTOBJECTFILES}))
ifneq (${DEPFILES},)
include ${DEPFILES}
endif

17
software/raspberry/superviseur-robot-dumber-pthread/.gitignore vendored Normal file
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build/
src.sav/
cmake-build-debug/
futur/
CMakeFiles/
*.cmake
CMakeCache.txt
docs/
doc/
workspace/
dist/
not_for_students/

128
software/raspberry/superviseur-robot-dumber-pthread/Makefile Normal file
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#
# There exist several targets which are by default empty and which can be
# used for execution of your targets. These targets are usually executed
# before and after some main targets. They are:
#
# .build-pre: called before 'build' target
# .build-post: called after 'build' target
# .clean-pre: called before 'clean' target
# .clean-post: called after 'clean' target
# .clobber-pre: called before 'clobber' target
# .clobber-post: called after 'clobber' target
# .all-pre: called before 'all' target
# .all-post: called after 'all' target
# .help-pre: called before 'help' target
# .help-post: called after 'help' target
#
# Targets beginning with '.' are not intended to be called on their own.
#
# Main targets can be executed directly, and they are:
#
# build build a specific configuration
# clean remove built files from a configuration
# clobber remove all built files
# all build all configurations
# help print help mesage
#
# Targets .build-impl, .clean-impl, .clobber-impl, .all-impl, and
# .help-impl are implemented in nbproject/makefile-impl.mk.
#
# Available make variables:
#
# CND_BASEDIR base directory for relative paths
# CND_DISTDIR default top distribution directory (build artifacts)
# CND_BUILDDIR default top build directory (object files, ...)
# CONF name of current configuration
# CND_PLATFORM_${CONF} platform name (current configuration)
# CND_ARTIFACT_DIR_${CONF} directory of build artifact (current configuration)
# CND_ARTIFACT_NAME_${CONF} name of build artifact (current configuration)
# CND_ARTIFACT_PATH_${CONF} path to build artifact (current configuration)
# CND_PACKAGE_DIR_${CONF} directory of package (current configuration)
# CND_PACKAGE_NAME_${CONF} name of package (current configuration)
# CND_PACKAGE_PATH_${CONF} path to package (current configuration)
#
# NOCDDL
# Environment
MKDIR=mkdir
CP=cp
CCADMIN=CCadmin
# build
build: .build-post
.build-pre:
# Add your pre 'build' code here...
.build-post: .build-impl
# Add your post 'build' code here...
# clean
clean: .clean-post
.clean-pre:
# Add your pre 'clean' code here...
.clean-post: .clean-impl
# Add your post 'clean' code here...
# clobber
clobber: .clobber-post
.clobber-pre:
# Add your pre 'clobber' code here...
.clobber-post: .clobber-impl
# Add your post 'clobber' code here...
# all
all: .all-post
.all-pre:
# Add your pre 'all' code here...
.all-post: .all-impl
# Add your post 'all' code here...
# build tests
build-tests: .build-tests-post
.build-tests-pre:
# Add your pre 'build-tests' code here...
.build-tests-post: .build-tests-impl
# Add your post 'build-tests' code here...
# run tests
test: .test-post
.test-pre: build-tests
# Add your pre 'test' code here...
.test-post: .test-impl
# Add your post 'test' code here...
# help
help: .help-post
.help-pre:
# Add your pre 'help' code here...
.help-post: .help-impl
# Add your post 'help' code here...
# include project implementation makefile
include nbproject/Makefile-impl.mk
# include project make variables
include nbproject/Makefile-variables.mk

1
software/raspberry/superviseur-robot-dumber-pthread/README.md Normal file
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# TP-RT_C

2
software/raspberry/superviseur-robot-dumber-pthread/gdbsudo.sh Executable file
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#!/bin/bash
pkexec /usr/bin/gdb $*

6
software/raspberry/superviseur-robot-dumber-pthread/lib/.gitignore vendored Normal file
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CMakeFiles/
libdestjil.a
Makefile
*.cmake

2
software/raspberry/superviseur-robot-dumber-pthread/lib/base64/.gitignore vendored Normal file
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@ -0,0 +1,2 @@
*.swp
test-base64

19
software/raspberry/superviseur-robot-dumber-pthread/lib/base64/LICENSE Normal file
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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-dumber-pthread/lib/base64/README.md Normal file
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# base64 (C++)
Base64 encoding and decoding with c++
## See also
https://renenyffenegger.ch/notes/development/Base64/Encoding-and-decoding-base-64-with-cpp

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software/raspberry/superviseur-robot-dumber-pthread/lib/base64/base64.cpp Normal file
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/*
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-dumber-pthread/lib/base64/base64.h Normal file
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//
// 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-dumber-pthread/lib/base64/compile-and-run-test Executable file
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g++ test.cpp base64.cpp -o test-base64
./test-base64

56
software/raspberry/superviseur-robot-dumber-pthread/lib/base64/test.cpp Normal file
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#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;
}

159
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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "camera.h"
#include "img.h"
#include <unistd.h>
using namespace cv;
/**
* Create an object for accessing camera
* @param size Size of picture to grab (@see captureSize)
* @param fps speed of sampling
*/
Camera::Camera(int size, int fps) {
this->SetSize(size);
this->fps = fps;
#ifndef __FOR_PC__
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);
this->cap.set(CV_CAP_PROP_FPS, fps);
#endif /* __FOR_PC__ */
}
/**
* Open camera
* @return True if camera is open, false otherwise
*/
bool Camera::Open() {
bool status = false;
#ifdef __FOR_PC__
if (this->cap.open(0)) {
//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);
status = true;
}
#else
if (this->cap.open()) {
cout << "Camera warmup 2sec" << endl << flush;
sleep(2);
cout << "Start capture" << endl << flush;
status = true;
}
#endif /* __FOR_PC__ */
return status;
}
/**
* Close and release camera
*/
void Camera::Close() {
this->cap.release();
}
/**
* Define size for sampled picture
* @param size Size of picture (@see captureSize)
*/
void Camera::SetSize(int size) {
this->size = size;
switch (size) {
case xs:
this->width = 320;
this->height = 240;
break;
case sm:
this->width = 640;
this->height = 480;
break;
case md:
this->width = 800;
this->height = 600;
break;
case lg:
this->width = 1024;
this->height = 768;
break;
default:
this->width = 480;
this->height = 360;
}
}
/**
* Grab next image from camera
* @return Image taken from camera
*/
Img Camera::Grab() {
ImageMat frame;
#ifdef __FOR_PC__
cap >> frame;
Img capture = Img(frame);
#else
cap.grab();
cap.retrieve(frame);
#ifdef __INVERSE_COLOR__
cvtColor(frame, frame, CV_BGR2RGB);
#endif // __INVERSE_COLOR__
Img capture = Img(frame);
#endif /* __FOR_PC__ */
return capture;
}
/**
* Get opening status for camera
* @return true if camera is open, false otherwise
*/
bool Camera::IsOpen() {
return cap.isOpened();
}
/**
* Get width of sampled image
* @return Width of sampled picture
*/
int Camera::GetWidth() const {
return width;
}
/**
* Get height of sampled image
* @return height of sampled picture
*/
int Camera::GetHeight() const {
return height;
}
/**
* Get fps of sampled image
* @return fps of sampled picture
*/
int Camera::GetFPS() const {
return fps;
}

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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __CAMERA_H__
#define __CAMERA_H__
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/videoio/legacy/constants_c.h>
#ifndef __FOR_PC__
#include "raspicam/raspicam_cv.h"
#endif /* __FOR_PC__ */
#include "img.h"
/**
* Enumerate for picture size
*/
enum captureSize {xs, sm, md, lg};
/**
* Class for camera (image grab)
*
* @brief Class for camera (image grab)
*/
class Camera {
public:
/**
* Create an object for accessing camera
* @param size Size of picture to grab (@see captureSize)
* @param fps speed of sampling
*/
Camera(int size, int fps);
/**
* Open camera
* @return True if camera is open, false otherwise
*/
bool Open();
/**
* Close and release camera
*/
void Close();
/**
* Get width of sampled image
* @return Width of sampled picture
*/
int GetWidth() const;
/**
* Get height of sampled image
* @return height of sampled picture
*/
int GetHeight() const;
/**
* Get fps of sampled image
* @return fps of sampled picture
*/
int GetFPS() const;
/**
* Get opening status for camera
* @return true if camera is open, false otherwise
*/
bool IsOpen();
/**
* Define size for sampled picture
* @param size Size of picture (@see captureSize)
*/
void SetSize(int size);
/**
* Grab next image from camera
* @return Image taken from camera
*/
Img Grab();
private:
#ifdef __FOR_PC__
/**
* Camera descriptor
*/
cv::VideoCapture cap;
#else
raspicam::RaspiCam_Cv cap;
#endif /* __FOR_PC__ */
/**
* Size for image (default= small)
*/
int size = sm;
/**
* Width of image
*/
int width;
/**
* Height of image
*/
int height;
/**
* fps of image
*/
int fps;
};
#endif //__CAMERA_H__

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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "commonitor.h"
#include <iostream>
#include <sys/socket.h>
#include <netdb.h>
#include <unistd.h>
#include <arpa/inet.h>
#include <netinet/in.h>
#include <algorithm>
#include <stdexcept>
#include <string>
#include "base64/base64.h"
/*
* @brief Constants used for sending commands to monitor
*/
const string LABEL_MONITOR_ANSWER_ACK = "AACK";
const string LABEL_MONITOR_ANSWER_NACK = "ANAK";
const string LABEL_MONITOR_ANSWER_COM_ERROR = "ACER";
const string LABEL_MONITOR_ANSWER_TIMEOUT = "ATIM";
const string LABEL_MONITOR_ANSWER_CMD_REJECTED = "ACRJ";
const string LABEL_MONITOR_MESSAGE = "MSSG";
const string LABEL_MONITOR_CAMERA_OPEN = "COPN";
const string LABEL_MONITOR_CAMERA_CLOSE = "CCLS";
const string LABEL_MONITOR_CAMERA_IMAGE = "CIMG";
const string LABEL_MONITOR_CAMERA_ARENA_ASK = "CASA";
const string LABEL_MONITOR_CAMERA_ARENA_INFIRM = "CAIN";
const string LABEL_MONITOR_CAMERA_ARENA_CONFIRM = "CACO";
const string LABEL_MONITOR_CAMERA_POSITION_COMPUTE = "CPCO";
const string LABEL_MONITOR_CAMERA_POSITION_STOP = "CPST";
const string LABEL_MONITOR_CAMERA_POSITION = "CPOS";
const string LABEL_MONITOR_ROBOT_COM_OPEN = "ROPN";
const string LABEL_MONITOR_ROBOT_COM_CLOSE = "RCLS";
const string LABEL_MONITOR_ROBOT_PING = "RPIN";
const string LABEL_MONITOR_ROBOT_RESET = "RRST";
const string LABEL_MONITOR_ROBOT_START_WITHOUT_WD = "RSOW";
const string LABEL_MONITOR_ROBOT_START_WITH_WD = "RSWW";
const string LABEL_MONITOR_ROBOT_RELOAD_WD = "RLDW";
const string LABEL_MONITOR_ROBOT_MOVE = "RMOV";
const string LABEL_MONITOR_ROBOT_TURN = "RTRN";
const string LABEL_MONITOR_ROBOT_GO_FORWARD = "RGFW";
const string LABEL_MONITOR_ROBOT_GO_BACKWARD = "RGBW";
const string LABEL_MONITOR_ROBOT_GO_LEFT = "RGLF";
const string LABEL_MONITOR_ROBOT_GO_RIGHT = "RGRI";
const string LABEL_MONITOR_ROBOT_STOP = "RSTP";
const string LABEL_MONITOR_ROBOT_POWEROFF = "RPOF";
const string LABEL_MONITOR_ROBOT_BATTERY_LEVEL = "RBLV";
const string LABEL_MONITOR_ROBOT_GET_BATTERY = "RGBT";
const string LABEL_MONITOR_ROBOT_GET_STATE = "RGST";
const string LABEL_MONITOR_ROBOT_CURRENT_STATE = "RCST";
const string LABEL_SEPARATOR_CHAR = ":";
/**
* Create a server and open a socket over TCP
*
* @param port Port used for communication
* @return Socket number
* @throw std::runtime_error if it fails
*/
int ComMonitor::Open(int port) {
struct sockaddr_in server;
socketFD = socket(AF_INET, SOCK_STREAM, 0);
if (socketFD < 0) {
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_family = AF_INET;
server.sin_port = htons(port);
if (bind(socketFD, (struct sockaddr *) &server, sizeof (server)) < 0) {
cerr<<"["<<__PRETTY_FUNCTION__<<"] Can not bind socket ("<<to_string(port)<<")"<<endl<<flush;
throw std::runtime_error{"Can not bind socket"};
}
listen(socketFD, 1);
return socketFD;
}
/**
* Close socket and server
*/
void ComMonitor::Close() {
close(socketFD);
socketFD = -1;
}
/**
* Wait for a client to connect
* @return Client number
* @throw std::runtime_error if it fails
*/
int ComMonitor::AcceptClient() {
struct sockaddr_in client;
int c = sizeof (struct sockaddr_in);
clientID = accept(socketFD, (struct sockaddr *) &client, (socklen_t*) & c);
if (clientID < 0)
throw std::runtime_error {"Accept failed"};
return clientID;
}
/**
* Send a message to monitor
*
* @param msg Message to send to monitor
* @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
*/
void ComMonitor::Write(Message *msg) {
string str;
// Call user method before Write
Write_Pre();
/* Convert message to string to send to monitor */
str = MessageToString(msg);
//cout << "Message sent to monitor: " << str->c_str() << endl;
write(clientID, str.c_str(), str.length());
if (!msg->CompareID(MESSAGE_CAM_IMAGE)) {
delete(msg);
}
// Call user method after write
Write_Post();
}
/**
* Receive a message from monitor
*
* @return Message received from monitor
* @attention Message provided is produced by the method. You must delete it when you are done using it
* @warning Read is not thread safe : check that multiple tasks can't access this method simultaneously
*/
Message *ComMonitor::Read() {
char length = 0;
string s;
char data;
bool endReception = false;
Message *msg;
// Call user method before read
Read_Pre();
if (clientID > 0) {
while (!endReception) {
if ((length = recv(clientID, (void*) &data, 1, MSG_WAITALL)) > 0) {
if (data != '\n') {
s += data;
} else endReception = true;
}
}
if (length <= 0) msg = new Message(MESSAGE_MONITOR_LOST);
else {
msg = StringToMessage(s);
}
}
// Call user method after read
Read_Post();
return msg;
}
/**
* Method used internally to convert a message content to a string that can be sent over TCP
* @param msg Message to be converted
* @return A string, image of the message
*/
string ComMonitor::MessageToString(Message *msg) {
int id;
string str;
//Message *localMsg = msg;
Position pos;
Img *image;
Jpg jpeg ;
string s;
id = msg->GetID();
switch (id) {
case MESSAGE_ANSWER_ACK :
str.append(LABEL_MONITOR_ANSWER_ACK);
break;
case MESSAGE_ANSWER_NACK:
str.append(LABEL_MONITOR_ANSWER_NACK);
break;
case MESSAGE_ANSWER_ROBOT_TIMEOUT:
str.append(LABEL_MONITOR_ANSWER_TIMEOUT);
break;
case MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND:
str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED);
break;
case MESSAGE_ANSWER_ROBOT_ERROR:
str.append(LABEL_MONITOR_ANSWER_CMD_REJECTED);
break;
case MESSAGE_ANSWER_COM_ERROR:
str.append(LABEL_MONITOR_ANSWER_COM_ERROR);
break;
case MESSAGE_CAM_POSITION:
pos = ((MessagePosition*) msg)->GetPosition();
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.direction.x) + ";" + to_string(pos.direction.y));
break;
case MESSAGE_CAM_IMAGE:
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;
case MESSAGE_ROBOT_BATTERY_LEVEL:
str.append(LABEL_MONITOR_ROBOT_BATTERY_LEVEL + LABEL_SEPARATOR_CHAR + to_string(((MessageBattery*) msg)->GetLevel()));
break;
case MESSAGE_ROBOT_STATE_BUSY:
str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "1");
break;
case MESSAGE_ROBOT_STATE_NOT_BUSY:
str.append(LABEL_MONITOR_ROBOT_CURRENT_STATE + LABEL_SEPARATOR_CHAR + "0");
break;
case MESSAGE_LOG:
str.append(LABEL_MONITOR_MESSAGE + LABEL_SEPARATOR_CHAR + ((MessageString*) msg)->GetString());
break;
case MESSAGE_EMPTY:
str.append(""); //empty string
break;
default:
cerr<<"["<<__PRETTY_FUNCTION__<<"] (from ComMonitor::Write): Invalid message to send ("<<msg->ToString()<<")"<<endl<<flush;
throw std::runtime_error {"Invalid message to send"};
}
str.append("\n");
return str;
}
/**
* Method used internally to convert a string received over TCP to a message
* @param s String containing message
* @return A message, image of the string
*/
Message *ComMonitor::StringToMessage(string &s) {
Message *msg;
size_t pos;
string org = s;
string tokenCmd;
string tokenData;
/* Separate command from data if string contains a ':' */
if ((pos = org.find(LABEL_SEPARATOR_CHAR)) != string::npos) {
tokenCmd = org.substr(0, pos);
org.erase(0, pos + 1);
tokenData = org;
} else tokenCmd = org;
/* Convert command to message */
if (tokenCmd.find(LABEL_MONITOR_ROBOT_MOVE) != string::npos) {
msg = new MessageInt(MESSAGE_ROBOT_MOVE, stoi(tokenData));
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_TURN) != string::npos) {
msg = new MessageInt(MESSAGE_ROBOT_TURN, stoi(tokenData));
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_START_WITHOUT_WD) != string::npos) {
msg = new Message(MESSAGE_ROBOT_START_WITHOUT_WD);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_START_WITH_WD) != string::npos) {
msg = new Message(MESSAGE_ROBOT_START_WITH_WD);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_RELOAD_WD) != string::npos) {
msg = new Message(MESSAGE_ROBOT_RELOAD_WD);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_PING) != string::npos) {
msg = new Message(MESSAGE_ROBOT_PING);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_RESET) != string::npos) {
msg = new Message(MESSAGE_ROBOT_RESET);
} else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_ASK) != string::npos) {
msg = new Message(MESSAGE_CAM_ASK_ARENA);
} else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_CONFIRM) != string::npos) {
msg = new Message(MESSAGE_CAM_ARENA_CONFIRM);
} else if (tokenCmd.find(LABEL_MONITOR_CAMERA_ARENA_INFIRM) != string::npos) {
msg = new Message(MESSAGE_CAM_ARENA_INFIRM);
} else if (tokenCmd.find(LABEL_MONITOR_CAMERA_CLOSE) != string::npos) {
msg = new Message(MESSAGE_CAM_CLOSE);
} else if (tokenCmd.find(LABEL_MONITOR_CAMERA_OPEN) != string::npos) {
msg = new Message(MESSAGE_CAM_OPEN);
} else if (tokenCmd.find(LABEL_MONITOR_CAMERA_POSITION_COMPUTE) != string::npos) {
msg = new Message(MESSAGE_CAM_POSITION_COMPUTE_START);
} else if (tokenCmd.find(LABEL_MONITOR_CAMERA_POSITION_STOP) != string::npos) {
msg = new Message(MESSAGE_CAM_POSITION_COMPUTE_STOP);
} else if (tokenCmd.find(LABEL_MONITOR_MESSAGE) != string::npos) {
msg = new MessageString(MESSAGE_LOG, tokenData);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_COM_CLOSE) != string::npos) {
msg = new Message(MESSAGE_ROBOT_COM_CLOSE);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_COM_OPEN) != string::npos) {
msg = new Message(MESSAGE_ROBOT_COM_OPEN);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GET_BATTERY) != string::npos) {
msg = new Message(MESSAGE_ROBOT_BATTERY_GET);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GET_STATE) != string::npos) {
msg = new Message(MESSAGE_ROBOT_STATE_GET);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_FORWARD) != string::npos) {
msg = new Message(MESSAGE_ROBOT_GO_FORWARD);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_BACKWARD) != string::npos) {
msg = new Message(MESSAGE_ROBOT_GO_BACKWARD);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_LEFT) != string::npos) {
msg = new Message(MESSAGE_ROBOT_GO_LEFT);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_GO_RIGHT) != string::npos) {
msg = new Message(MESSAGE_ROBOT_GO_RIGHT);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_STOP) != string::npos) {
msg = new Message(MESSAGE_ROBOT_STOP);
} else if (tokenCmd.find(LABEL_MONITOR_ROBOT_POWEROFF) != string::npos) {
msg = new Message(MESSAGE_ROBOT_POWEROFF);
} else {
msg = new Message(MESSAGE_EMPTY);
}
return msg;
}

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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __COMMONITOR_H__
#define __COMMONITOR_H__
#include "messages.h"
#include <string>
using namespace std;
#define SERVER_PORT 5544
/**
* Class used for generating a server and communicating through it with monitor
*
* @brief Communication class with monitor (server)
*
*/
class ComMonitor {
public:
/**
* Constructor
*/
ComMonitor() {}
/**
* Destructor
*/
virtual ~ComMonitor() {}
/**
* Create a server and open a socket over TCP
*
* @param port Port used for communication
* @return Socket number
* @throw std::runtime_error if it fails
*/
int Open(int port);
/**
* Close socket and server
*/
void Close();
/**
* Wait for a client to connect
* @return Client number
* @throw std::runtime_error if it fails
*/
int AcceptClient();
/**
* Send a message to monitor
*
* @param msg Message to send to monitor
* @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
*/
void Write(Message *msg);
/**
* Function called at beginning of Write method
* Use it to do some synchronization (call of mutex, for example)
*/
virtual void Write_Pre() {}
/**
* Function called at end of Write method
* Use it to do some synchronization (release of mutex, for example)
*/
virtual void Write_Post() {}
/**
* Receive a message from monitor
*
* @return Message received from monitor
* @attention Message provided is produced by the method. You must delete it when you are done using it
* @warning Read is not thread safe : check that multiple tasks can't access this method simultaneously
*/
Message *Read();
/**
* Function called at beginning of Read method
* Use it to do some synchronization (call of mutex, for example)
*/
virtual void Read_Pre() {}
/**
* Function called at end of Read method
* Use it to do some synchronization (release of mutex, for example)
*/
virtual void Read_Post() {}
protected:
/**
* Socket descriptor
*/
int socketFD = -1;
/**
* Socket descriptor
*/
int clientID = -1;
/**
* Method used internally to convert a message content to a string that can be sent over TCP
* @param msg Message to be converted
* @return A string, image of the message
*/
string MessageToString(Message *msg);
/**
* Method used internally to convert a string received over TCP to a message
* @param s String containing message
* @return A message, image of the string
*/
Message *StringToMessage(string &s);
};
#endif /* __COMMONITOR_H__ */

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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "comrobot.h"
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <string>
#include <stdexcept>
#ifdef __FOR_PC__
// #define USART_FILENAME "/dev/ttyUSB0"
#define USART_FILENAME "/dev/ttyS0"
#else
#define USART_FILENAME "/dev/ttyS0"
#endif /* __FOR_PC__ */
/*
* Constants to be used for communicating with robot. Contains command tag
*/
const char LABEL_ROBOT_PING = 'p';
const char LABEL_ROBOT_RESET = 'r';
const char LABEL_ROBOT_START_WITH_WD = 'W';
const char LABEL_ROBOT_START_WITHOUT_WD = 'u';
const char LABEL_ROBOT_RELOAD_WD = 'w';
const char LABEL_ROBOT_MOVE = 'M';
const char LABEL_ROBOT_TURN = 'T';
const char LABEL_ROBOT_GET_BATTERY = 'v';
const char LABEL_ROBOT_GET_STATE = 'b';
const char LABEL_ROBOT_POWEROFF = 'z';
const char LABEL_ROBOT_OK = 'O';
const char LABEL_ROBOT_ERROR = 'E';
const char LABEL_ROBOT_UNKNOWN_COMMAND = 'C';
const char LABEL_ROBOT_SEPARATOR_CHAR = '=';
const char LABEL_ROBOT_ENDING_CHAR = 0x0D; // carriage return (\\r)
/**
* Open serial link with robot
* @return File descriptor
* @throw std::runtime_error if it fails
*/
int ComRobot::Open() {
return this->Open(USART_FILENAME);
}
/**
* Open serial link with robot
* @param usart Filename of usart to open
* @return File descriptor
* @throw std::runtime_error if it fails
*/
int ComRobot::Open(string usart) {
struct termios options;
fd = open(usart.c_str(), O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode
if (fd == -1) {
cerr << "[" << __PRETTY_FUNCTION__ << "] Unable to open UART (" << usart << "). Ensure it is not in use by another application" << endl << flush;
throw std::runtime_error{"Unable to open UART"};
exit(EXIT_FAILURE);
} else {
fcntl(fd, F_SETFL, 0);
tcgetattr(fd, &options);
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
cfsetospeed(&options, B9600);
cfsetispeed(&options, B9600);
options.c_cc[VMIN] = 0;
options.c_cc[VTIME] = 1; /* Timeout of 100 ms per character */
tcsetattr(fd, TCSANOW, &options);
}
return fd;
}
/**
* Close serial link
* @return Success if above 0, failure if below 0
*/
int ComRobot::Close() {
return close(fd);
}
/**
* Send a message to robot
* @param msg Message to send to robot
* @return 1 if success, 0 otherwise
* @attention Message is destroyed (delete) after being sent. You do not need to delete it yourself
* @attention Write is blocking until message is written into buffer (linux side)
* @warning Write is not thread save : check that multiple tasks can't access this method simultaneously
*/
Message *ComRobot::Write(Message* msg) {
Message *msgAnswer;
string s;
if (this->fd != -1) {
Write_Pre();
s = MessageToString(msg);
AddChecksum(s);
//cout << "[" <<__PRETTY_FUNCTION__<<"] Send command: "<<s<<endl<<flush;
int count = write(this->fd, s.c_str(), s.length()); //Filestream, bytes to write, number of bytes to write
if (count < 0) {
cerr << "[" << __PRETTY_FUNCTION__ << "] UART TX error (" << to_string(count) << ")" << endl << flush;
msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
} else { /* write successfull, read answer from robot */
try {
s = Read();
//cout << "Answer = "<<s<<endl<<flush;
if (VerifyChecksum(s)) {
msgAnswer = StringToMessage(s);
} else msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND);
} catch (std::runtime_error &e) {
s = string(e.what());
if (s.find("imeout")) { // timeout detecté
msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
} else {
msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
}
}
}
} else {
cerr << __PRETTY_FUNCTION__ << ": Com port not open" << endl << flush;
throw std::runtime_error{"Com port not open"};
}
// deallocation of msg
delete(msg);
return msgAnswer;
}
/**
* Get a message from robot
* @return Message currently received
* @attention A message object is created (new) when receiving data from robot. You MUST remember to destroy is (delete) after use
* @attention Read method is blocking until a message is received
* @warning Read is not thread safe : Do not call it in multiple tasks simultaneously
*/
string ComRobot::Read() {
string s;
int rxLength;
unsigned char receivedChar;
do {
rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
if (rxLength == 0) { // timeout
// try again
rxLength = read(this->fd, (void*) &receivedChar, 1); //Filestream, buffer to store in, number of bytes to read (max)
if (rxLength == 0) { // re-timeout: it sucks !
throw std::runtime_error{"ComRobot::Read: Timeout when reading from com port"};
}
} else if (rxLength < 0) { // big pb !
throw std::runtime_error{"ComRobot::Read: Unknown problem when reading from com port"};
} else { // everything ok
if ((receivedChar != '\r') && (receivedChar != '\n')) s += receivedChar;
}
} while ((receivedChar != '\r') && (receivedChar != '\n'));
return s;
}
Message *ComRobot::SendCommand(Message* msg, MessageID answerID, int maxRetries) {
int counter = maxRetries;
Message *msgSend;
Message *msgRcv;
Message *msgTmp;
do {
msgSend = msg->Copy();
cout << "S => " << msgSend->ToString() << endl << flush;
msgTmp = Write(msgSend);
cout << "R <= " << msgTmp->ToString() << endl << flush;
if (msgTmp->CompareID(answerID)) counter = 0;
else counter--;
if (counter == 0) msgRcv = msgTmp->Copy();
delete(msgTmp);
} while (counter);
delete (msg);
return msgRcv;
}
/**
* Convert an array of char to its message representation (when receiving data from stm32)
* @param bytes Array of char
* @return Message corresponding to received array of char
*/
Message* ComRobot::StringToMessage(string s) {
Message *msg;
switch (s[0]) {
case LABEL_ROBOT_OK:
msg = new Message(MESSAGE_ANSWER_ACK);
break;
case LABEL_ROBOT_ERROR:
msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
break;
case LABEL_ROBOT_UNKNOWN_COMMAND:
msg = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND);
break;
case '0':
msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY);
break;
case '1':
msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW);
break;
case '2':
msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
break;
default:
msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR);
cerr << "[" << __PRETTY_FUNCTION__ << "] Unknown message received from robot (" << s << ")" << endl << flush;
}
return msg;
}
/**
* Convert a message to its array of char representation (for sending command to stm32)
* @param msg Message to be sent to robot
* @param buffer Array of char, image of message to send
*/
string ComRobot::MessageToString(Message *msg) {
string s;
float val_f;
int val_i;
unsigned char *b;
switch (msg->GetID()) {
case MESSAGE_ROBOT_PING:
s += LABEL_ROBOT_PING;
break;
case MESSAGE_ROBOT_RESET:
s += LABEL_ROBOT_RESET;
break;
case MESSAGE_ROBOT_POWEROFF:
s += LABEL_ROBOT_POWEROFF;
break;
case MESSAGE_ROBOT_START_WITHOUT_WD:
s += LABEL_ROBOT_START_WITHOUT_WD;
break;
case MESSAGE_ROBOT_START_WITH_WD:
s += LABEL_ROBOT_START_WITH_WD;
break;
case MESSAGE_ROBOT_RELOAD_WD:
s += LABEL_ROBOT_RELOAD_WD;
break;
case MESSAGE_ROBOT_BATTERY_GET:
s += LABEL_ROBOT_GET_BATTERY;
break;
case MESSAGE_ROBOT_STATE_GET:
s += LABEL_ROBOT_GET_STATE;
break;
case MESSAGE_ROBOT_GO_FORWARD:
s += LABEL_ROBOT_MOVE;
s += LABEL_ROBOT_SEPARATOR_CHAR;
s.append(to_string(500000));
break;
case MESSAGE_ROBOT_GO_BACKWARD:
s += LABEL_ROBOT_MOVE;
s += LABEL_ROBOT_SEPARATOR_CHAR;
s.append(to_string(-500000));
break;
case MESSAGE_ROBOT_GO_LEFT:
s += LABEL_ROBOT_TURN;
s += LABEL_ROBOT_SEPARATOR_CHAR;
s.append(to_string(-500000));
break;
case MESSAGE_ROBOT_GO_RIGHT:
s += LABEL_ROBOT_TURN;
s += LABEL_ROBOT_SEPARATOR_CHAR;
s.append(to_string(500000));
break;
case MESSAGE_ROBOT_STOP:
s += LABEL_ROBOT_MOVE;
s += LABEL_ROBOT_SEPARATOR_CHAR;
s.append(to_string(0));
break;
case MESSAGE_ROBOT_MOVE:
s += LABEL_ROBOT_MOVE;
s += LABEL_ROBOT_SEPARATOR_CHAR;
s.append(to_string(((MessageInt*) msg)->GetValue()));
break;
case MESSAGE_ROBOT_TURN:
s += LABEL_ROBOT_TURN;
s += LABEL_ROBOT_SEPARATOR_CHAR;
s.append(to_string(((MessageInt*) msg)->GetValue()));
break;
default:
cerr << "[" << __PRETTY_FUNCTION__ << "] Invalid message for robot (" << msg->ToString() << ")" << endl << flush;
throw std::runtime_error{"Invalid message"};
}
return s;
}
/**
* Add a checksum and carriage return to a command string
* @param[in,out] s String containing command for robot, without ending char (carriage return)
*/
void ComRobot::AddChecksum(string &s) {
unsigned char checksum = 0;
for (string::iterator it = s.begin(); it != s.end(); ++it) {
checksum ^= (unsigned char) *it;
}
s += (char) checksum; // Add calculated checksum
s += (char) LABEL_ROBOT_ENDING_CHAR;
}
/**
* Verify if checksum of an incoming answer from robot is valid,
* then remove checksum from incoming answer (if checksum is ok)
* @param[in,out] s String containing incoming answer from robot
* @return true is checksum is valid, false otherwise.
*/
bool ComRobot::VerifyChecksum(string &s) {
unsigned char checksum = 0;
for (string::iterator it = s.begin(); it != s.end(); ++it) {
checksum ^= (unsigned char) *it;
}
if (checksum == 0) { // checksum is ok, remove last char of string (checksum)
s.pop_back(); // remove last char
return true;
} else return false;
}

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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __COMROBOT_H__
#define __COMROBOT_H__
#include "messages.h"
#include <string>
using namespace std;
/**
* Class used for communicating with robot over serial
*
* @brief Communication class with robot
*
*/
class ComRobot {
public:
/**
* Constructor
*/
ComRobot() {
}
/**
* Destructor
*/
virtual ~ComRobot() {
}
/**
* Open serial link with robot
* @return File descriptor
* @throw std::runtime_error if it fails
*/
int Open();
/**
* Open serial link with robot
* @param usart Filename of usart to open
* @return File descriptor
* @throw std::runtime_error if it fails
*/
int Open(string usart);
/**
* Close serial link
* @return Success if above 0, failure if below 0
*/
int Close();
/**
* Send a message to robot
* @param msg Message to send to robot
* @return A message containing either an answer (Ack/Nak/Timeout/Error) or a value (battery level, robot state) depending of the command
* @attention Input message is destroyed (delete) after being sent. You do not need to delete it yourself
* @attention Write produce an answer message. You have to dispose it (delete) when you have finished using it
* @attention Write is blocking until message is written into buffer (linux side)
* @warning Write is not thread save : check that multiple tasks can't access this method simultaneously
*/
Message *Write(Message* msg);
/**
* Function called at beginning of Write method
* Use it to do some synchronization (call of mutex, for example)
*/
virtual void Write_Pre() {
}
/**
* Function called at end of Write method
* Use it to do some synchronization (call of mutex, for example)
*/
virtual void Write_Post() {
}
Message *SendCommand(Message* msg, MessageID answerID, int maxRetries);
static Message *Ping() {
return new Message(MESSAGE_ROBOT_PING);
}
static Message *Reset() {
return new Message(MESSAGE_ROBOT_RESET);
}
static Message *PowerOff() {
return new Message(MESSAGE_ROBOT_POWEROFF);
}
static Message *StartWithWD() {
return new Message(MESSAGE_ROBOT_START_WITH_WD);
}
static Message *StartWithoutWD() {
return new Message(MESSAGE_ROBOT_START_WITHOUT_WD);
}
static Message *ReloadWD() {
return new Message(MESSAGE_ROBOT_RELOAD_WD);
}
static Message *Move(int length) {
return new MessageInt(MESSAGE_ROBOT_MOVE, length);
}
static Message *Turn(int angle) {
return new MessageInt(MESSAGE_ROBOT_TURN, angle);
}
static Message *Stop() {
return new Message(MESSAGE_ROBOT_STOP);
}
static Message *GoForward() {
return new Message(MESSAGE_ROBOT_GO_FORWARD);
}
static Message *GoBackward() {
return new Message(MESSAGE_ROBOT_GO_BACKWARD);
}
static Message *GoLeft() {
return new Message(MESSAGE_ROBOT_GO_LEFT);
}
static Message *GoRight() {
return new Message(MESSAGE_ROBOT_GO_RIGHT);
}
static Message *GetBattery() {
return new Message(MESSAGE_ROBOT_BATTERY_GET);
}
static Message *GetState() {
return new Message(MESSAGE_ROBOT_STATE_GET);
}
protected:
/**
* Serial link file descriptor
*/
int fd;
/**
* Get an answer from robot
* @return String containing answer from robot
* @attention Read method is blocking until a message is received (timeout of 500 ms)
* @warning Read is not thread safe : Do not call it in multiple tasks simultaneously
*/
string Read();
/**
* Convert a string to its message representation (when receiving data from robot)
* @param s String from robot containing answer
* @return Message corresponding to received array of char
*/
Message* StringToMessage(string s);
/**
* Convert a message to its string representation (for sending command to robot)
* @param msg Message to be sent to robot
* @return String containing command to robot
*/
string MessageToString(Message *msg);
/**
* Add a checksum and carriage return to a command string
* @param[in,out] s String containing command for robot, without ending char (carriage return)
*/
void AddChecksum(string &s);
/**
* Verify if checksum of an incoming answer from robot is valid,
* then remove checksum from incoming answer (if checksum is ok)
* @param[in,out] s String containing incoming answer from robot
* @return true is checksum is valid, false otherwise.
*/
bool VerifyChecksum(string &s);
};
#endif /* __COMROBOT_H__ */

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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "img.h"
#include <opencv2/imgproc/types_c.h>
/**
* Tell if arena is empty (not found) or not
* @return true if no arena found, false otherwise
*/
bool Arena::IsEmpty() {
if ((this->arena.height == 0) || (this->arena.width == 0)) return true;
else return false;
}
/**
* Create new Img object based on image data
*
* @param imgMatrice Image data to be stored (raw data)
*/
Img::Img(ImageMat imgMatrice) {
this->img = imgMatrice.clone();
#ifdef __WITH_ARUCO__
this->dictionary=cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3));
#endif // __WITH_ARUCO__
}
/**
* Convert object to a string representation
*
* @return String containing information on contained image (size and number of channel)
*/
string Img::ToString() {
return "Image size: " + to_string(this->img.cols) + "x" + to_string(this->img.rows) + " (dim=" + to_string(this->img.dims) + ")";
}
/**
* Create a copy of current object
*
* @return New Img object, copy of current
*/
Img* Img::Copy() {
return new Img(this->img);
}
/**
* Function for computing angle
* @param robots Position of robot
* @return Angle
*/
float Img::CalculAngle(Position robot) {
float a = robot.direction.x - robot.center.x;
float b = robot.direction.y - robot.center.y;
float angle = atan2(b, a);
return angle * 180.f / M_PI;
}
/**
* Function for computing angle
* @param pt1 ???
* @param pt2 ???
* @return Angle
*/
float Img::CalculAngle2(cv::Point2f pt1, cv::Point2f pt2) {
float a = pt1.x - pt2.x;
float b = pt1.y - pt2.y;
float angle = atan2(b, a);
return angle * 180.f / M_PI;
}
#ifdef __WITH_ARUCO__
/**
* Find center point of given aruco
* @param aruco Aruco coordinates
* @return Center point coordinate
*/
cv::Point2f Img::FindArucoCenter(std::vector<cv::Point2f> aruco) {
return ((aruco[0] + aruco[2]) / 2);
}
/**
* Find direction of given aruco
* @param aruco Aruco coordinates
* @return Orientation of aruco
*/
cv::Point2f Img::FindArucoDirection(std::vector<cv::Point2f> aruco) {
return ((aruco[0] + aruco[1]) / 2);
}
#endif // __WITH_ARUCO__
/**
* Used for computing distance
* @param p ???
* @param q ???
* @return Distance
*/
float Img::EuclideanDistance(cv::Point2f p, cv::Point2f q) {
cv::Point diff = p - q;
return cv::sqrt(diff.x * diff.x + diff.y * diff.y);
}
/**
* Compress current image to JPEG
* @return Image compressed as JPEG
*/
Jpg Img::ToJpg() {
Jpg imgJpg;
cv::imencode(".jpg", this->img, imgJpg);
return imgJpg;
}
/**
* Search available robots in an image
* @param arena Arena position for cropping image
* @return list of position, empty if no robot found
*/
std::list<Position> Img::SearchRobot(Arena arena) {
#ifdef __WITH_ARUCO__
ImageMat imgTraitment;
std::list<Position> positionList;
cv::Point2f areneCoor;
std::vector<int> ids;
std::vector<std::vector<cv::Point2f> > corners;
if (arena.IsEmpty())
imgTraitment = this->img.clone();
else {
imgTraitment = CropArena(arena);
areneCoor.x = arena.arena.x;
areneCoor.y = arena.arena.y;
}
cv::aruco::detectMarkers(imgTraitment, dictionary, corners, ids);
if (ids.size() > 0) {
for (int i = 0; i < ids.size(); i++) {
Position newPos;
newPos.center = FindArucoCenter(corners[i]);
newPos.direction = FindArucoDirection(corners[i]);
newPos.robotId = ids[i];
if (!arena.IsEmpty()) {
newPos.direction += areneCoor;
newPos.center += areneCoor;
}
newPos.angle = CalculAngle2(newPos.center, newPos.direction);
positionList.push_back(newPos);
}
}
return positionList;
#else
std::list<Position> robotsFind;
std::vector<std::vector<cv::Point> > contours;
std::vector<cv::Point> approx;
std::vector<cv::Vec4i> hierarchy;
ImageMat imgTraitment;
if (arena.IsEmpty()) {
imgTraitment = this->img.clone();
} else {
imgTraitment = this->img(arena.arena);
}
cvtColor(imgTraitment, imgTraitment, CV_RGB2GRAY);
threshold(imgTraitment, imgTraitment, 128, 255, CV_THRESH_BINARY);
findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
for (unsigned int i = 0; i < contours.size(); i++) {
ImageMat m(contours[i]);
cv::approxPolyDP(m, approx, cv::arcLength(ImageMat(contours[i]), true)*0.17, true);
if (approx.size() == 3 && fabs(cv::contourArea(contours[i])) > 200 && fabs(cv::contourArea(contours[i])) < 700) {
cv::Point a, b, c;
cv::Point center;
a = approx[0];
b = approx[1];
c = approx[2];
if (!arena.IsEmpty()) { // ajout de l'offset de l'arène
a.x += arena.arena.x;
a.y += arena.arena.y;
b.x += arena.arena.x;
b.y += arena.arena.y;
c.x += arena.arena.x;
c.y += arena.arena.y;
}
center.x = (a.x + b.x + c.x) / 3;
center.y = (a.y + b.y + c.y) / 3;
Position newPos;
newPos.center = center;
if (EuclideanDistance(center, b) > EuclideanDistance(center, a) && EuclideanDistance(center, b) > EuclideanDistance(center, c)) {
newPos.direction = b;
//line(img,center,b,Scalar(0,125,0),2,8,0);
} else if (EuclideanDistance(center, a) > EuclideanDistance(center, c)) {
newPos.direction = a;
//line(img,center,a,Scalar(0,125,0),2,8,0);
} else {
newPos.direction = c;
//line(img,center,c,Scalar(0,125,0),2,8,0);
}
newPos.angle = CalculAngle(newPos);
newPos.robotId = -1; // dumb identifier
robotsFind.push_back(newPos);
}
}
return robotsFind;
#endif // __WITH_ARUCO__
}
/**
* Search arena outline in current image
* @return Arena object with coordinate of outline, empty if no arena found
*/
Arena Img::SearchArena() {
std::vector<std::vector<cv::Point> > contours;
std::vector<cv::Point> approx;
std::vector<cv::Vec4i> hierarchy;
ImageMat imageTrt;
cv::cvtColor(this->img, imageTrt, CV_RGB2GRAY); // conversion en niveau de gris
cv::threshold(imageTrt, imageTrt, 128, 255, CV_THRESH_BINARY); // Threshold les éléments les plus clair
cv::Canny(imageTrt, imageTrt, 100, 200, 3); // detection d'angle
findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, cv::Point(0, 0));
for (unsigned int i = 0; i < contours.size(); i++) {
approxPolyDP(ImageMat(contours[i]), approx, cv::arcLength(ImageMat(contours[i]), true)*0.1, true);
if (approx.size() == 4 && fabs(cv::contourArea(contours[i])) > 100000) {
Arena rectangle;
rectangle.arena = cv::boundingRect(ImageMat(contours[i]));
return rectangle;
}
}
return Arena();
}
/**
* Draw an oriented arrow at robot position
* @param robot Position of robot
*/
void Img::DrawRobot(Position robot) {
cv::arrowedLine(this->img, (cv::Point2f)robot.center, (cv::Point2f)robot.direction, cv::Scalar(0, 0, 255), 3, 8, 0);
}
/**
* Draw an oriented arrow for each position provided
* @param robots List of robot positions
* @return Number of position drawn
*/
int Img::DrawAllRobots(std::list<Position> 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);
}
return robots.size();
}
/**
* Draw arena outline
* @param arenaToDraw Arena position
*/
void Img::DrawArena(Arena arenaToDraw) {
cv::rectangle(this->img, arenaToDraw.arena.tl(), arenaToDraw.arena.br(), cv::Scalar(0, 0, 125), 2, 8, 0);
}
/**
* Crop image around detected arena
* @param arena Coordinate of arena
* @return Reduced image, focused on arena
*/
ImageMat Img::CropArena(Arena arena) {
return this->img(arena.arena);
}
/**
* Crop image around detected arena
* @param arena Coordinate of arena
* @return Reduced image, focused on arena
*/
Img Img::Resize() {
ImageMat newImage;
cv::resize(this->img, newImage, cv::Size(320,240), cv::INTER_LINEAR);
return Img(newImage);
}

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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __IMG_H__
#define __IMG_H__
#include <iostream>
#include <list>
#include <string>
#include <opencv2/highgui/highgui.hpp>
#include <opencv2/imgproc/imgproc.hpp>
#include <opencv2/core.hpp>
#ifdef __WITH_ARUCO__
#include <opencv2/aruco/dictionary.hpp>
#include <opencv2/aruco/charuco.hpp>
#include <opencv2/core/mat.hpp>
#endif // __WITH_ARUCO__
#define ARENA_NOT_DETECTED -1
using namespace std;
/**
* Redefinition of cv::Mat type
*/
typedef cv::Mat ImageMat;
/**
* Declaration of Jpg type
*/
typedef vector<unsigned char> Jpg;
/**
* Class position, used for store robot coordinates
*
* @brief Class position, used for store robot coordinates
*/
class Position {
public:
int robotId;
float angle;
cv::Point2f center;
cv::Point2f direction;
/**
* Constructor of Position object
*/
Position() {
robotId = -1;
angle = 0.0;
center=cv::Point2f(0.0,0.0);
direction=cv::Point2f(0.0,0.0);
}
/**
* Build a string representation of the object
* @return String containing object information
*/
string ToString() {
return "Id=" + to_string(this->robotId) + ", Angle=" + to_string(this->angle) + ", center=(" + to_string(this->center.x) + ";" + to_string(this->center.y) + ")";
}
};
/**
* Class arena, used for holding outline of arena on image and cropping image to only usefull area
*
* @brief Class arena, used for holding outline of arena on image and cropping image to only usefull area
*/
class Arena {
public:
/**
* Coordinate of arena, empty if no arena found
*/
cv::Rect arena;
/**
* Constructor of Arena object
*/
Arena() {}
/**
* Tell if arena is empty (not found) or not
* @return true if no arena found, false otherwise
*/
bool IsEmpty();
/**
* Build a string representation of the object
* @return String containing object information
*/
string ToString() {
if (IsEmpty()) return "Arena empty";
else
return "Arena: (x;y)=(" + to_string(this->arena.x) + ";" + to_string(this->arena.x) + " (w;h)=(" + to_string(this->arena.width) + ";" + to_string(this->arena.height) + ")";
}
};
/**
* Class for image storage and treatment
*
* @brief Class for image storage and treatment
*/
class Img {
public:
/**
* Image data
*/
ImageMat img;
/**
* Create new Img object based on image data
*
* @param imgMatrice Image data to be stored (raw data)
*/
Img(ImageMat imgMatrice);
/**
* Convert object to a string representation
*
* @return String containing information on contained image (size and number of channel)
*/
string ToString();
/**
* Create a copy of current object
*
* @return New Img object, copy of current
*/
Img* Copy();
/**
* Compress current image to JPEG
* @return Image compressed as JPEG
*/
Jpg ToJpg();
/**
* Search arena outline in current image
* @return Arena object with coordinate of outline, empty if no arena found
*/
Arena SearchArena();
/**
* Draw an oriented arrow at robot position
* @param robot Position of robot
*/
void DrawRobot(Position robot);
/**
* Draw an oriented arrow for each position provided
* @param robots List of robot positions
* @return Number of position drawn
*/
int DrawAllRobots(std::list<Position> robots);
/**
* Draw arena outline
* @param arenaToDraw Arena position
*/
void DrawArena(Arena arenaToDraw);
/**
* Search available robots in an image
* @param arena Arena position for cropping image
* @return list of position, empty if no robot found
*/
std::list<Position> SearchRobot(Arena arena);
Img Resize();
#ifdef __WITH_ARUCO__
/**
* Dictionary to be used for aruco recognition
*/
cv::Ptr<cv::aruco::Dictionary> dictionary;
#endif // __WITH_ARUCO__
private:
#ifdef __WITH_ARUCO__
/**
* Find center point of given aruco
* @param aruco Aruco coordinates
* @return Center point coordinate
*/
cv::Point2f FindArucoCenter(std::vector<cv::Point2f> aruco);
/**
* Find direction of given aruco
* @param aruco Aruco coordinates
* @return Orientation of aruco
*/
cv::Point2f FindArucoDirection(std::vector<cv::Point2f> aruco);
#endif // __WITH_ARUCO__
/**
* Function for computing angle
* @param robots Position of robot
* @return Angle
*/
float CalculAngle(Position robots);
/**
* Function for computing angle
* @param pt1 ???
* @param pt2 ???
* @return Angle
*/
float CalculAngle2(cv::Point2f pt1, cv::Point2f pt2);
/**
* Used for computing distance
* @param p ???
* @param q ???
* @return Distance
*/
float EuclideanDistance(cv::Point2f p, cv::Point2f q);
/**
* Crop image around detected arena
* @param arena Coordinate of arena
* @return Reduced image, focused on arena
*/
ImageMat CropArena(Arena arena);
};
#endif //__IMG_H__

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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "messages.h"
#include <exception>
#include <stdexcept>
#include <string>
/*
* @brief Constants used with ToString method, for printing message id
*/
const string MESSAGE_ID_STRING[] = {
"Empty",
"Log",
"Answer [Acknowledge]",
"Answer [Not Acknowledge]",
"Answer [Command timeout]",
"Answer [Command unknown]",
"Answer [Command error]",
"Answer [Communication error]",
"Monitor connection lost",
"Open serial com",
"Close serial com",
"Open camera",
"Close camera",
"Ask for arena",
"Arena confirmed",
"Arena infirmed",
"Compute position",
"Stop compute position",
"Position",
"Image",
"Robot ping",
"Robot reset",
"Robot start with watchdog",
"Robot start without watchdog",
"Robot reload watchdog",
"Robot move",
"Robot turn",
"Robot go forward",
"Robot go backward",
"Robot go left",
"Robot go right",
"Robot stop",
"Robot poweroff",
"Robot get battery",
"Robot battery level",
"Robot get state",
"Robot current state",
"Robot state [Not busy]",
"Robot state [Busy]"
};
/*
* @brief Constants used with ToString method, for printing answer id
*/
const string ANSWER_ID_STRING[] = {
"Acknowledge",
"Not Acknowledge",
"Robot lost",
"Timeout error",
"Unknown command",
"Invalid or refused command",
"Checksum error"
};
/**
* Create a new, empty message
*/
Message::Message() {
this->messageID = MESSAGE_EMPTY;
}
/**
* Create a new, empty message
*/
Message::Message(MessageID id) {
SetID(id);
}
/**
* Destroy message
*/
Message::~Message() {
}
/**
* Set message ID
* @param id Message ID
*/
void Message::SetID(MessageID id) {
if (CheckID(id)) {
this->messageID = id;
} else throw std::runtime_error {"Invalid message id for Message"};
}
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string Message::ToString() {
if (CheckID(this->messageID))
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"";
else
return "Invalid message";
}
/**
* Allocate a new mesage and copy contents of current message
* @return A message, copy of current
*/
Message* Message::Copy() {
Message *msg = new Message(this->messageID);
return msg;
}
/**
* Get message ID
* @return Current message ID
*/
bool Message::CheckID(MessageID id) {
if ((id == MESSAGE_CAM_IMAGE) ||
(id == MESSAGE_CAM_POSITION) ||
(id == MESSAGE_ROBOT_MOVE) ||
(id == MESSAGE_ROBOT_TURN) ||
(id == MESSAGE_LOG) ||
(id == MESSAGE_ROBOT_BATTERY_LEVEL)) {
return false;
} else return true;
}
/* MessageInt */
/**
* Create a new, empty int message
*/
MessageInt::MessageInt() {
value = 0.0;
}
/**
* Create a new int message, with given ID and value
* @param id Message ID
* @param val Message value
* @throw std::runtime_error if message ID is incompatible with int data
*/
MessageInt::MessageInt(MessageID id, int val) {
MessageInt::SetID(id);
value = val;
}
/**
* Set message ID
* @param id Message ID
* @throw std::runtime_error if message ID is incompatible with float data
*/
void MessageInt::SetID(MessageID id) {
if (CheckID(id))
messageID = id;
else
throw std::runtime_error {
"Invalid message id for MessageInt"
};
}
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string MessageInt::ToString() {
if (CheckID(this->messageID))
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nValue: " + to_string(this->value);
else
return "Invalid message";
}
/**
* Allocate a new message and copy contents of current message
* @return A message, copy of current
*/
Message* MessageInt::Copy() {
return new MessageInt(this->messageID, this->value);
}
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
bool MessageInt::CheckID(MessageID id) {
if ((id != MESSAGE_ROBOT_TURN) &&
(id != MESSAGE_ROBOT_MOVE)) {
return false;
} else return true;
}
/* class MessageString */
/**
* Create a new, empty string message
*/
MessageString::MessageString() {
s = string("");
}
/**
* Create a new string message, with given ID and string
* @param id Message ID
* @param s Message string
* @throw std::runtime_error if message ID is incompatible with string data
*/
MessageString::MessageString(MessageID id, string s) {
MessageString::SetID(id);
this->s = s;
}
/**
* Set message ID
* @param id Message ID
* @throw std::runtime_error if message ID is incompatible with string data
*/
void MessageString::SetID(MessageID id) {
if (CheckID(id))
messageID = id;
else
throw std::runtime_error {
"Invalid message id for MessageString"
};
}
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string MessageString::ToString() {
if (CheckID(this->messageID))
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nString: \"" + this->s + "\"";
else
return "Invalid message";
}
/**
* Allocate a new message and copy contents of current message
* @return A message, copy of current
*/
Message* MessageString::Copy() {
return new MessageString(this->messageID, this->s);
}
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
bool MessageString::CheckID(MessageID id) {
if ((id != MESSAGE_LOG)) {
return false;
} else return true;
}
/* class MessageImg */
/**
* Create a new, empty image message
*/
MessageImg::MessageImg() {
image = NULL;
}
/**
* Create a new image message, with given ID and image
* @param id Message ID
* @param image Image
* @throw std::runtime_error if message ID is incompatible with image
*/
MessageImg::MessageImg(MessageID id, Img *image) {
MessageImg::SetID(id);
MessageImg::SetImage(image);
}
/**
* Destroy Image message
*/
MessageImg::~MessageImg() {
delete (this->image);
}
/**
* Set message ID
* @param id Message ID
* @throw std::runtime_error if message ID is incompatible with image
*/
void MessageImg::SetID(MessageID id) {
if (CheckID(id))
messageID = id;
else
throw std::runtime_error {
"Invalid message id for MessageImg"
};
}
/**
* Set message image
* @param image Reference to image object
*/
void MessageImg::SetImage(Img* image) {
//this->image = image->Copy();
this->image = image;
}
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string MessageImg::ToString() {
if (CheckID(this->messageID))
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\n" + this->image->ToString();
else
return "Invalid message";
}
/**
* Allocate a new message and copy contents of current message
* @return A message, copy of current
*/
Message* MessageImg::Copy() {
return new MessageImg(this->messageID, this->image->Copy());
}
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
bool MessageImg::CheckID(MessageID id) {
if (id != MESSAGE_CAM_IMAGE) {
return false;
} else return true;
}
/* class MessageBattery */
/**
* Create a new, empty battery message
*/
MessageBattery::MessageBattery() {
this->level = BATTERY_UNKNOWN;
}
/**
* Create a new battery message, with given ID and battery level
* @param id Message ID
* @param level Battery level
* @throw std::runtime_error if message ID is incompatible with battery
*/
MessageBattery::MessageBattery(MessageID id, BatteryLevel level) {
MessageBattery::SetID(id);
MessageBattery::SetLevel(level);
}
/**
* Set message ID
* @param id Message ID
* @throw std::runtime_error if message ID is incompatible with battery
*/
void MessageBattery::SetID(MessageID id) {
if (CheckID(id))
messageID = id;
else
throw std::runtime_error {
"Invalid message id for MessageBattery"
};
}
/**
* Set battery level
* @param level Battery level
*/
void MessageBattery::SetLevel(BatteryLevel level) {
if ((level < BATTERY_UNKNOWN) || (level > BATTERY_FULL)) {
throw std::runtime_error{
"Invalid battery level for MessageBattery"};
} else {
this->level = level;
}
}
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string MessageBattery::ToString() {
string levelString;
switch (this->level) {
case BATTERY_UNKNOWN:
levelString="Unknown";
break;
case BATTERY_EMPTY:
levelString="Empty";
break;
case BATTERY_LOW:
levelString="Low";
break;
case BATTERY_FULL:
levelString="Full";
break;
default:
levelString="Invalid";
}
if (CheckID(this->messageID))
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nBattery level: \"" + levelString + "\"";
else
return "Invalid message";
}
/**
* Allocate a new message and copy contents of current message
* @return A message, copy of current
*/
Message* MessageBattery::Copy() {
return new MessageBattery(this->messageID, this->level);
}
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
bool MessageBattery::CheckID(MessageID id) {
if ((id != MESSAGE_ROBOT_BATTERY_LEVEL)) {
return false;
} else return true;
}
/* class MessagePosition */
/**
* Create a new, empty string message
*/
MessagePosition::MessagePosition() {
this->pos.angle = 0.0;
this->pos.robotId = 0;
this->pos.center.x=0.0;
this->pos.center.y=0.0;
this->pos.direction.x=0.0;
this->pos.direction.y=0.0;
}
/**
* Create a new string message, with given ID and string
* @param id Message ID
* @param s Message string
* @throw std::runtime_error if message ID is incompatible with string data
*/
MessagePosition::MessagePosition(MessageID id, Position& pos) {
MessagePosition::SetID(id);
MessagePosition::SetPosition(pos);
}
/**
* Set message ID
* @param id Message ID
* @throw std::runtime_error if message ID is incompatible with string data
*/
void MessagePosition::SetID(MessageID id) {
if (CheckID(id))
messageID = id;
else
throw std::runtime_error {
"Invalid message id for MessagePosition"
};
}
/**
* Set position
* @param pos Reference to position
*/
void MessagePosition::SetPosition(Position& pos) {
this->pos.angle = pos.angle;
this->pos.robotId = pos.robotId;
this->pos.center = pos.center;
this->pos.direction = pos.direction;
}
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string MessagePosition::ToString() {
if (CheckID(this->messageID))
return "Message: \"" + MESSAGE_ID_STRING[this->messageID] + "\"\nPosition: \"" + to_string(this->pos.center.x) + ";" + to_string(this->pos.center.y) + "\"";
else
return "Invalid message";
}
/**
* Allocate a new message and copy contents of current message
* @return A message, copy of current
*/
Message* MessagePosition::Copy() {
return new MessagePosition(this->messageID, this->pos);
}
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
bool MessagePosition::CheckID(MessageID id) {
if ((id != MESSAGE_CAM_POSITION)) {
return false;
} else return true;
}

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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __MESSAGES_H__
#define __MESSAGES_H__
#include <string>
#include "img.h"
/**
* Message ID defined for system communication
*
* @brief List of available message ID
*
*/
typedef enum {
//Generic messages
MESSAGE_EMPTY = 0,
MESSAGE_LOG,
// Message containing answer (after robot command, or for monitor)
MESSAGE_ANSWER_ACK,
MESSAGE_ANSWER_NACK,
MESSAGE_ANSWER_ROBOT_TIMEOUT,
MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND,
MESSAGE_ANSWER_ROBOT_ERROR,
MESSAGE_ANSWER_COM_ERROR,
// Messages specific to server
MESSAGE_MONITOR_LOST,
// messages for serial communication with robot
MESSAGE_ROBOT_COM_OPEN,
MESSAGE_ROBOT_COM_CLOSE,
// Messages for camera
MESSAGE_CAM_OPEN,
MESSAGE_CAM_CLOSE,
MESSAGE_CAM_ASK_ARENA,
MESSAGE_CAM_ARENA_CONFIRM,
MESSAGE_CAM_ARENA_INFIRM,
MESSAGE_CAM_POSITION_COMPUTE_START,
MESSAGE_CAM_POSITION_COMPUTE_STOP,
MESSAGE_CAM_POSITION,
MESSAGE_CAM_IMAGE,
// Messages for robot
MESSAGE_ROBOT_PING,
MESSAGE_ROBOT_RESET,
MESSAGE_ROBOT_START_WITH_WD,
MESSAGE_ROBOT_START_WITHOUT_WD,
MESSAGE_ROBOT_RELOAD_WD,
MESSAGE_ROBOT_MOVE,
MESSAGE_ROBOT_TURN,
MESSAGE_ROBOT_GO_FORWARD,
MESSAGE_ROBOT_GO_BACKWARD,
MESSAGE_ROBOT_GO_LEFT,
MESSAGE_ROBOT_GO_RIGHT,
MESSAGE_ROBOT_STOP,
MESSAGE_ROBOT_POWEROFF,
MESSAGE_ROBOT_BATTERY_GET,
MESSAGE_ROBOT_BATTERY_LEVEL,
MESSAGE_ROBOT_STATE_GET,
MESSAGE_ROBOT_STATE_NOT_BUSY,
MESSAGE_ROBOT_STATE_BUSY
} MessageID;
typedef enum {
BATTERY_UNKNOWN=-1,
BATTERY_EMPTY=0,
BATTERY_LOW,
BATTERY_FULL
} BatteryLevel;
using namespace std;
/**
* Base class for messaging
*
* @brief Base class for messaging
*
*/
class Message {
public:
/**
* Create a new, empty message
*/
Message();
/**
* Create a new, empty message
*/
Message(MessageID id);
/**
* Destroy message
*/
virtual ~Message();
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
virtual string ToString();
/**
* Allocate a new mesage and copy contents of current message
* @return A message, copy of current
*/
virtual Message* Copy();
/**
* Compare message ID
* @param id Id to compare message to
* @return true if id is equal to message id, false otherwise
*/
bool CompareID(MessageID id) {
return (this->messageID == id) ? true:false;
}
/**
* Get message ID
* @return Current message ID
*/
MessageID GetID() {
return messageID;
}
/**
* Set message ID
* @param id Message ID
*/
virtual void SetID(MessageID id);
/**
* Comparison operator
* @param msg Message to be compared
* @return true if message are equal, false otherwise
*/
virtual bool operator==(const Message& msg) {
return (messageID == msg.messageID);
}
/**
* Difference operator
* @param msg Message to be compared
* @return true if message are different, false otherwise
*/
virtual bool operator!=(const Message& msg) {
return !(messageID == msg.messageID);
}
protected:
/**
* Message identifier (@see MessageID)
*/
MessageID messageID;
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
virtual bool CheckID(MessageID id);
};
/**
* Message class for holding float value, based on Message class
*
* @brief Float message class
*
*/
class MessageInt : public Message {
public:
/**
* Create a new, empty float message
*/
MessageInt();
/**
* Create a new float message, with given ID and value
* @param id Message ID
* @param val Message value
* @throw std::runtime_error if message ID is incompatible with float data
*/
MessageInt(MessageID id, int val);
/**
* Set message ID
* @param id Message ID
* @throw std::runtime_error if message ID is incompatible with float data
*/
void SetID(MessageID id);
/**
* Get message value (int)
* @return int value
*/
int GetValue() {
return value;
}
/**
* Set message value (int)
* @param val int value to store in message
*/
void SetValue(int val) {
this->value = val;
}
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string ToString();
/**
* Allocate a new mesage and copy contents of current message
* @return A message, copy of current
*/
Message* Copy();
/**
* Comparison operator
* @param msg Message to be compared
* @return true if message are equal, false otherwise
*/
virtual bool operator==(const MessageInt& msg) {
return ((messageID == msg.messageID) && (value == msg.value));
}
/**
* Difference operator
* @param msg Message to be compared
* @return true if message are different, false otherwise
*/
virtual bool operator!=(const MessageInt& msg) {
return !((messageID == msg.messageID) && (value == msg.value));
}
protected:
/**
* Message integer value
*/
int value;
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
bool CheckID(MessageID id);
};
/**
* Message class for holding string value, based on Message class
*
* @brief String message class
*
*/
class MessageString : public Message {
public:
/**
* Create a new, empty string message
*/
MessageString();
/**
* Create a new string message, with given ID and string
* @param id Message ID
* @param s Message string
* @throw std::runtime_error if message ID is incompatible with string data
*/
MessageString(MessageID id, string s);
/**
* Set message ID
* @param id Message ID
* @throw std::runtime_error if message ID is incompatible with string data
*/
void SetID(MessageID id);
/**
* Get message string
* @return String
*/
string GetString() {
return s;
}
/**
* Set message string
* @param s String to store in message
*/
void SetString(string s) {
this->s = s;
}
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string ToString();
/**
* Allocate a new message and copy contents of current message
* @return A message, copy of current
*/
Message* Copy();
/**
* Comparison operator
* @param msg Message to be compared
* @return true if message are equal, false otherwise
*/
virtual bool operator==(const MessageString& msg) {
return ((messageID == msg.messageID) && (s == msg.s));
}
/**
* Difference operator
* @param msg Message to be compared
* @return true if message are different, false otherwise
*/
virtual bool operator!=(const MessageString& msg) {
return !((messageID == msg.messageID) && (s == msg.s));
}
protected:
/**
* Message content
*/
string s;
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
bool CheckID(MessageID id);
};
/**
* Message class for holding image, based on Message class
*
* @brief Image message class
*
*/
class MessageImg : public Message {
public:
/**
* Create a new, empty image message
*/
MessageImg();
/**
* Create a new image message, with given ID and boolean value
* @param id Message ID
* @param image Pointer to image
* @throw std::runtime_error if message ID is incompatible with image message
*/
MessageImg(MessageID id, Img *image);
/**
* Destroy Image message
*/
virtual ~MessageImg();
/**
* Set message ID
* @param id Message ID
* @throw std::runtime_error if message ID is incompatible with image message
*/
void SetID(MessageID id);
/**
* Get message image
* @return Pointer to image
*/
Img* GetImage() {
return image;
}
/**
* Set message image
* @param image Pointer to image object
*/
void SetImage(Img* image);
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string ToString();
/**
* Allocate a new message and copy contents of current message
* @return A message, copy of current
*/
Message* Copy();
protected:
/**
* Message image
*/
Img* image;
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
bool CheckID(MessageID id);
};
/**
* Message class for holding position, based on Message class
*
* @brief Position message class
*
*/
class MessagePosition : public Message {
public:
/**
* Create a new, empty position message
*/
MessagePosition();
/**
* Create a new position message, with given ID and position
* @param id Message ID
* @param pos Position
* @throw std::runtime_error if message ID is incompatible with image message
*/
MessagePosition(MessageID id, Position& pos);
/**
* Set message ID
* @param id Message ID
* @throw std::runtime_error if message ID is incompatible with position message
*/
void SetID(MessageID id);
/**
* Get position
* @return Position
*/
Position GetPosition() {
return pos;
}
/**
* Set position
* @param pos Reference to position
*/
void SetPosition(Position& pos);
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string ToString();
/**
* Allocate a new message and copy contents of current message
* @return A message, copy of current
*/
Message* Copy();
protected:
/**
* Position
*/
Position pos;
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
bool CheckID(MessageID id);
};
/**
* Message class for holding battery level, based on Message class
*
* @brief Battery message class
*
*/
class MessageBattery : public Message {
public:
/**
* Create a new, empty battery message
*/
MessageBattery();
/**
* Create a new battery message, with given ID and battery level
* @param id Message ID
* @param level Battery level
* @throw std::runtime_error if message ID is incompatible with battery message
*/
MessageBattery(MessageID id, BatteryLevel level);
/**
* Set message ID
* @param id Message ID
* @throw std::runtime_error if message ID is incompatible with battery message
*/
void SetID(MessageID id);
/**
* Get message image
* @return Battery level
*/
BatteryLevel GetLevel() {
return level;
}
/**
* Set battery level
* @param level Battery level
*/
void SetLevel(BatteryLevel level);
/**
* Translate content of message into a string that can be displayed
* @return A string describing message contents
*/
string ToString();
/**
* Allocate a new message and copy contents of current message
* @return A message, copy of current
*/
Message* Copy();
protected:
/**
* Battery level
*/
BatteryLevel level;
/**
* Verify if message ID is compatible with current message type
* @param id Message ID
* @return true, if message ID is acceptable, false otherwise
*/
bool CheckID(MessageID id);
};
#endif /* __MESSAGES_H__ */

55
software/raspberry/superviseur-robot-dumber-pthread/main.cpp Normal file
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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include <iostream>
#include <unistd.h>
#include <sys/mman.h>
#ifdef __WITH_PTHREAD__
#include "tasks_pthread.h"
#else
#include "tasks.h"
#endif // __WITH_PTHREAD__
int main(int argc, char **argv) {
Tasks tasks;
//Lock the memory to avoid memory swapping for this program
mlockall(MCL_CURRENT | MCL_FUTURE);
cout<<"#################################"<<endl;
cout<<"# DE STIJL PROJECT #"<<endl;
cout<<"#################################"<<endl;
tasks.Init();
if (tasks.AcceptClient()) {
cout << "Rock'n'Roll baby, client accepted!"<<endl<<flush;
tasks.Run();
tasks.Join();
}
tasks.Stop();
//tasks.Run();
return 0;
}

125
software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-Debug__PC_.mk Normal file
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#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a -pre and a -post target defined where you can add customized code.
#
# This makefile implements configuration specific macros and targets.
# Environment
MKDIR=mkdir
CP=cp
GREP=grep
NM=nm
CCADMIN=CCadmin
RANLIB=ranlib
CC=gcc
CCC=g++
CXX=g++
FC=gfortran
AS=as
# Macros
CND_PLATFORM=GNU-Linux
CND_DLIB_EXT=so
CND_CONF=Debug__PC_
CND_DISTDIR=dist
CND_BUILDDIR=build
# Include project Makefile
include ./Makefile
# Object Directory
OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
# Object Files
OBJECTFILES= \
${OBJECTDIR}/lib/base64/base64.o \
${OBJECTDIR}/lib/camera.o \
${OBJECTDIR}/lib/commonitor.o \
${OBJECTDIR}/lib/comrobot.o \
${OBJECTDIR}/lib/img.o \
${OBJECTDIR}/lib/messages.o \
${OBJECTDIR}/main.o \
${OBJECTDIR}/tasks.o
# C Compiler Flags
CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
# CC Compiler Flags
CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions
CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions
# Fortran Compiler Flags
FFLAGS=
# Assembler Flags
ASFLAGS=
# Link Libraries and Options
LDLIBSOPTIONS=`pkg-config --libs opencv`
# Build Targets
.build-conf: ${BUILD_SUBPROJECTS}
"${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread
${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread: ${OBJECTFILES}
${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt
${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
${MKDIR} -p ${OBJECTDIR}/lib/base64
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
${OBJECTDIR}/lib/camera.o: lib/camera.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
${OBJECTDIR}/lib/img.o: lib/img.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
${OBJECTDIR}/lib/messages.o: lib/messages.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
${OBJECTDIR}/tasks.o: tasks.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
# Subprojects
.build-subprojects:
# Clean Targets
.clean-conf: ${CLEAN_SUBPROJECTS}
${RM} -r ${CND_BUILDDIR}/${CND_CONF}
# Subprojects
.clean-subprojects:
# Enable dependency checking
.dep.inc: .depcheck-impl
include .dep.inc

125
software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-Debug__RPI_.mk Normal file
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@ -0,0 +1,125 @@
#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a -pre and a -post target defined where you can add customized code.
#
# This makefile implements configuration specific macros and targets.
# Environment
MKDIR=mkdir
CP=cp
GREP=grep
NM=nm
CCADMIN=CCadmin
RANLIB=ranlib
CC=gcc
CCC=g++
CXX=g++
FC=gfortran
AS=as
# Macros
CND_PLATFORM=GNU-Linux
CND_DLIB_EXT=so
CND_CONF=Debug__RPI_
CND_DISTDIR=dist
CND_BUILDDIR=build
# Include project Makefile
include ./Makefile
# Object Directory
OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
# Object Files
OBJECTFILES= \
${OBJECTDIR}/lib/base64/base64.o \
${OBJECTDIR}/lib/camera.o \
${OBJECTDIR}/lib/commonitor.o \
${OBJECTDIR}/lib/comrobot.o \
${OBJECTDIR}/lib/img.o \
${OBJECTDIR}/lib/messages.o \
${OBJECTDIR}/main.o \
${OBJECTDIR}/tasks_pthread.o
# C Compiler Flags
CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
# CC Compiler Flags
CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11
CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11
# Fortran Compiler Flags
FFLAGS=
# Assembler Flags
ASFLAGS=
# Link Libraries and Options
LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam
# Build Targets
.build-conf: ${BUILD_SUBPROJECTS}
"${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot
${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt
${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
${MKDIR} -p ${OBJECTDIR}/lib/base64
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
${OBJECTDIR}/lib/camera.o: lib/camera.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
${OBJECTDIR}/lib/img.o: lib/img.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
${OBJECTDIR}/lib/messages.o: lib/messages.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
# Subprojects
.build-subprojects:
# Clean Targets
.clean-conf: ${CLEAN_SUBPROJECTS}
${RM} -r ${CND_BUILDDIR}/${CND_CONF}
# Subprojects
.clean-subprojects:
# Enable dependency checking
.dep.inc: .depcheck-impl
include .dep.inc

125
software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-JPO2019_RPI_.mk Normal file
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@ -0,0 +1,125 @@
#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a -pre and a -post target defined where you can add customized code.
#
# This makefile implements configuration specific macros and targets.
# Environment
MKDIR=mkdir
CP=cp
GREP=grep
NM=nm
CCADMIN=CCadmin
RANLIB=ranlib
CC=gcc
CCC=g++
CXX=g++
FC=gfortran
AS=as
# Macros
CND_PLATFORM=GNU-Linux
CND_DLIB_EXT=so
CND_CONF=JPO2019_RPI_
CND_DISTDIR=dist
CND_BUILDDIR=build
# Include project Makefile
include ./Makefile
# Object Directory
OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
# Object Files
OBJECTFILES= \
${OBJECTDIR}/lib/base64/base64.o \
${OBJECTDIR}/lib/camera.o \
${OBJECTDIR}/lib/commonitor.o \
${OBJECTDIR}/lib/comrobot.o \
${OBJECTDIR}/lib/img.o \
${OBJECTDIR}/lib/messages.o \
${OBJECTDIR}/main.o \
${OBJECTDIR}/tasks_pthread.o
# C Compiler Flags
CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
# CC Compiler Flags
CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
# Fortran Compiler Flags
FFLAGS=
# Assembler Flags
ASFLAGS=
# Link Libraries and Options
LDLIBSOPTIONS=`pkg-config --libs opencv4`
# Build Targets
.build-conf: ${BUILD_SUBPROJECTS}
"${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread
${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread: ${OBJECTFILES}
${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lpthread -lrt
${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
${MKDIR} -p ${OBJECTDIR}/lib/base64
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
${OBJECTDIR}/lib/camera.o: lib/camera.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
${OBJECTDIR}/lib/img.o: lib/img.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
${OBJECTDIR}/lib/messages.o: lib/messages.cpp
${MKDIR} -p ${OBJECTDIR}/lib
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
${OBJECTDIR}/main.o: main.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
${MKDIR} -p ${OBJECTDIR}
${RM} "$@.d"
$(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv4` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
# Subprojects
.build-subprojects:
# Clean Targets
.clean-conf: ${CLEAN_SUBPROJECTS}
${RM} -r ${CND_BUILDDIR}/${CND_CONF}
# Subprojects
.clean-subprojects:
# Enable dependency checking
.dep.inc: .depcheck-impl
include .dep.inc

133
software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-impl.mk Normal file
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@ -0,0 +1,133 @@
#
# Generated Makefile - do not edit!
#
# Edit the Makefile in the project folder instead (../Makefile). Each target
# has a pre- and a post- target defined where you can add customization code.
#
# This makefile implements macros and targets common to all configurations.
#
# NOCDDL
# Building and Cleaning subprojects are done by default, but can be controlled with the SUB
# macro. If SUB=no, subprojects will not be built or cleaned. The following macro
# statements set BUILD_SUB-CONF and CLEAN_SUB-CONF to .build-reqprojects-conf
# and .clean-reqprojects-conf unless SUB has the value 'no'
SUB_no=NO
SUBPROJECTS=${SUB_${SUB}}
BUILD_SUBPROJECTS_=.build-subprojects
BUILD_SUBPROJECTS_NO=
BUILD_SUBPROJECTS=${BUILD_SUBPROJECTS_${SUBPROJECTS}}
CLEAN_SUBPROJECTS_=.clean-subprojects
CLEAN_SUBPROJECTS_NO=
CLEAN_SUBPROJECTS=${CLEAN_SUBPROJECTS_${SUBPROJECTS}}
# Project Name
PROJECTNAME=superviseur-robot-dumber-pthread
# Active Configuration
DEFAULTCONF=Debug__PC_
CONF=${DEFAULTCONF}
# All Configurations
ALLCONFS=Debug__PC_ Debug__RPI_ JPO2019_RPI_
# build
.build-impl: .build-pre .validate-impl .depcheck-impl
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .build-conf
# clean
.clean-impl: .clean-pre .validate-impl .depcheck-impl
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .clean-conf
# clobber
.clobber-impl: .clobber-pre .depcheck-impl
@#echo "=> Running $@..."
for CONF in ${ALLCONFS}; \
do \
"${MAKE}" -f nbproject/Makefile-$${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .clean-conf; \
done
# all
.all-impl: .all-pre .depcheck-impl
@#echo "=> Running $@..."
for CONF in ${ALLCONFS}; \
do \
"${MAKE}" -f nbproject/Makefile-$${CONF}.mk QMAKE=${QMAKE} SUBPROJECTS=${SUBPROJECTS} .build-conf; \
done
# build tests
.build-tests-impl: .build-impl .build-tests-pre
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .build-tests-conf
# run tests
.test-impl: .build-tests-impl .test-pre
@#echo "=> Running $@... Configuration=$(CONF)"
"${MAKE}" -f nbproject/Makefile-${CONF}.mk SUBPROJECTS=${SUBPROJECTS} .test-conf
# dependency checking support
.depcheck-impl:
@echo "# This code depends on make tool being used" >.dep.inc
@if [ -n "${MAKE_VERSION}" ]; then \
echo "DEPFILES=\$$(wildcard \$$(addsuffix .d, \$${OBJECTFILES} \$${TESTOBJECTFILES}))" >>.dep.inc; \
echo "ifneq (\$${DEPFILES},)" >>.dep.inc; \
echo "include \$${DEPFILES}" >>.dep.inc; \
echo "endif" >>.dep.inc; \
else \
echo ".KEEP_STATE:" >>.dep.inc; \
echo ".KEEP_STATE_FILE:.make.state.\$${CONF}" >>.dep.inc; \
fi
# configuration validation
.validate-impl:
@if [ ! -f nbproject/Makefile-${CONF}.mk ]; \
then \
echo ""; \
echo "Error: can not find the makefile for configuration '${CONF}' in project ${PROJECTNAME}"; \
echo "See 'make help' for details."; \
echo "Current directory: " `pwd`; \
echo ""; \
fi
@if [ ! -f nbproject/Makefile-${CONF}.mk ]; \
then \
exit 1; \
fi
# help
.help-impl: .help-pre
@echo "This makefile supports the following configurations:"
@echo " ${ALLCONFS}"
@echo ""
@echo "and the following targets:"
@echo " build (default target)"
@echo " clean"
@echo " clobber"
@echo " all"
@echo " help"
@echo ""
@echo "Makefile Usage:"
@echo " make [CONF=<CONFIGURATION>] [SUB=no] build"
@echo " make [CONF=<CONFIGURATION>] [SUB=no] clean"
@echo " make [SUB=no] clobber"
@echo " make [SUB=no] all"
@echo " make help"
@echo ""
@echo "Target 'build' will build a specific configuration and, unless 'SUB=no',"
@echo " also build subprojects."
@echo "Target 'clean' will clean a specific configuration and, unless 'SUB=no',"
@echo " also clean subprojects."
@echo "Target 'clobber' will remove all built files from all configurations and,"
@echo " unless 'SUB=no', also from subprojects."
@echo "Target 'all' will will build all configurations and, unless 'SUB=no',"
@echo " also build subprojects."
@echo "Target 'help' prints this message."
@echo ""

43
software/raspberry/superviseur-robot-dumber-pthread/nbproject/Makefile-variables.mk Normal file
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#
# Generated - do not edit!
#
# NOCDDL
#
CND_BASEDIR=`pwd`
CND_BUILDDIR=build
CND_DISTDIR=dist
# Debug__PC_ configuration
CND_PLATFORM_Debug__PC_=GNU-Linux
CND_ARTIFACT_DIR_Debug__PC_=dist/Debug__PC_/GNU-Linux
CND_ARTIFACT_NAME_Debug__PC_=superviseur-robot-dumber-pthread
CND_ARTIFACT_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/superviseur-robot-dumber-pthread
CND_PACKAGE_DIR_Debug__PC_=dist/Debug__PC_/GNU-Linux/package
CND_PACKAGE_NAME_Debug__PC_=superviseur-robot-dumber-pthread.tar
CND_PACKAGE_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/package/superviseur-robot-dumber-pthread.tar
# Debug__RPI_ configuration
CND_PLATFORM_Debug__RPI_=GNU-Linux
CND_ARTIFACT_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux
CND_ARTIFACT_NAME_Debug__RPI_=superviseur-robot
CND_ARTIFACT_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/superviseur-robot
CND_PACKAGE_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package
CND_PACKAGE_NAME_Debug__RPI_=superviseur-robot.tar
CND_PACKAGE_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package/superviseur-robot.tar
# JPO2019_RPI_ configuration
CND_PLATFORM_JPO2019_RPI_=GNU-Linux
CND_ARTIFACT_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux
CND_ARTIFACT_NAME_JPO2019_RPI_=superviseur-robot-dumber-pthread
CND_ARTIFACT_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/superviseur-robot-dumber-pthread
CND_PACKAGE_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package
CND_PACKAGE_NAME_JPO2019_RPI_=superviseur-robot-dumber-pthread.tar
CND_PACKAGE_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package/superviseur-robot-dumber-pthread.tar
#
# include compiler specific variables
#
# dmake command
ROOT:sh = test -f nbproject/private/Makefile-variables.mk || \
(mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk)
#
# gmake command
.PHONY: $(shell test -f nbproject/private/Makefile-variables.mk || (mkdir -p nbproject/private && touch nbproject/private/Makefile-variables.mk))
#
include nbproject/private/Makefile-variables.mk

76
software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-Debug__PC_.bash Normal file
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#!/bin/bash -x
#
# Generated - do not edit!
#
# Macros
TOP=`pwd`
CND_PLATFORM=GNU-Linux
CND_CONF=Debug__PC_
CND_DISTDIR=dist
CND_BUILDDIR=build
CND_DLIB_EXT=so
NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging
TMPDIRNAME=tmp-packaging
OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread
OUTPUT_BASENAME=superviseur-robot-dumber-pthread
PACKAGE_TOP_DIR=superviseur-robot-dumber-pthread/
# Functions
function checkReturnCode
{
rc=$?
if [ $rc != 0 ]
then
exit $rc
fi
}
function makeDirectory
# $1 directory path
# $2 permission (optional)
{
mkdir -p "$1"
checkReturnCode
if [ "$2" != "" ]
then
chmod $2 "$1"
checkReturnCode
fi
}
function copyFileToTmpDir
# $1 from-file path
# $2 to-file path
# $3 permission
{
cp "$1" "$2"
checkReturnCode
if [ "$3" != "" ]
then
chmod $3 "$2"
checkReturnCode
fi
}
# Setup
cd "${TOP}"
mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package
rm -rf ${NBTMPDIR}
mkdir -p ${NBTMPDIR}
# Copy files and create directories and links
cd "${TOP}"
makeDirectory "${NBTMPDIR}/superviseur-robot-dumber-pthread/bin"
copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
# Generate tar file
cd "${TOP}"
rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot-dumber-pthread.tar
cd ${NBTMPDIR}
tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot-dumber-pthread.tar *
checkReturnCode
# Cleanup
cd "${TOP}"
rm -rf ${NBTMPDIR}

76
software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-Debug__RPI_.bash Normal file
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#!/bin/bash -x
#
# Generated - do not edit!
#
# Macros
TOP=`pwd`
CND_PLATFORM=GNU-Linux
CND_CONF=Debug__RPI_
CND_DISTDIR=dist
CND_BUILDDIR=build
CND_DLIB_EXT=so
NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging
TMPDIRNAME=tmp-packaging
OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot
OUTPUT_BASENAME=superviseur-robot
PACKAGE_TOP_DIR=superviseur-robot/
# Functions
function checkReturnCode
{
rc=$?
if [ $rc != 0 ]
then
exit $rc
fi
}
function makeDirectory
# $1 directory path
# $2 permission (optional)
{
mkdir -p "$1"
checkReturnCode
if [ "$2" != "" ]
then
chmod $2 "$1"
checkReturnCode
fi
}
function copyFileToTmpDir
# $1 from-file path
# $2 to-file path
# $3 permission
{
cp "$1" "$2"
checkReturnCode
if [ "$3" != "" ]
then
chmod $3 "$2"
checkReturnCode
fi
}
# Setup
cd "${TOP}"
mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package
rm -rf ${NBTMPDIR}
mkdir -p ${NBTMPDIR}
# Copy files and create directories and links
cd "${TOP}"
makeDirectory "${NBTMPDIR}/superviseur-robot/bin"
copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
# Generate tar file
cd "${TOP}"
rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar
cd ${NBTMPDIR}
tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar *
checkReturnCode
# Cleanup
cd "${TOP}"
rm -rf ${NBTMPDIR}

76
software/raspberry/superviseur-robot-dumber-pthread/nbproject/Package-JPO2019_RPI_.bash Normal file
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@ -0,0 +1,76 @@
#!/bin/bash -x
#
# Generated - do not edit!
#
# Macros
TOP=`pwd`
CND_PLATFORM=GNU-Linux
CND_CONF=JPO2019_RPI_
CND_DISTDIR=dist
CND_BUILDDIR=build
CND_DLIB_EXT=so
NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging
TMPDIRNAME=tmp-packaging
OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot-dumber-pthread
OUTPUT_BASENAME=superviseur-robot-dumber-pthread
PACKAGE_TOP_DIR=superviseur-robot-dumber-pthread/
# Functions
function checkReturnCode
{
rc=$?
if [ $rc != 0 ]
then
exit $rc
fi
}
function makeDirectory
# $1 directory path
# $2 permission (optional)
{
mkdir -p "$1"
checkReturnCode
if [ "$2" != "" ]
then
chmod $2 "$1"
checkReturnCode
fi
}
function copyFileToTmpDir
# $1 from-file path
# $2 to-file path
# $3 permission
{
cp "$1" "$2"
checkReturnCode
if [ "$3" != "" ]
then
chmod $3 "$2"
checkReturnCode
fi
}
# Setup
cd "${TOP}"
mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package
rm -rf ${NBTMPDIR}
mkdir -p ${NBTMPDIR}
# Copy files and create directories and links
cd "${TOP}"
makeDirectory "${NBTMPDIR}/superviseur-robot-dumber-pthread/bin"
copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
# Generate tar file
cd "${TOP}"
rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot-dumber-pthread.tar
cd ${NBTMPDIR}
tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot-dumber-pthread.tar *
checkReturnCode
# Cleanup
cd "${TOP}"
rm -rf ${NBTMPDIR}

269
software/raspberry/superviseur-robot-dumber-pthread/nbproject/configurations.xml Normal file
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<?xml version="1.0" encoding="UTF-8"?>
<configurationDescriptor version="100">
<logicalFolder name="root" displayName="root" projectFiles="true" kind="ROOT">
<logicalFolder name="HeaderFiles"
displayName="Header Files"
projectFiles="true">
<itemPath>./lib/base64/base64.h</itemPath>
<itemPath>./lib/camera.h</itemPath>
<itemPath>./lib/commonitor.h</itemPath>
<itemPath>./lib/comrobot.h</itemPath>
<itemPath>./lib/img.h</itemPath>
<itemPath>./lib/messages.h</itemPath>
<itemPath>./tasks.h</itemPath>
<itemPath>./tasks_pthread.h</itemPath>
</logicalFolder>
<logicalFolder name="ResourceFiles"
displayName="Resource Files"
projectFiles="true">
<itemPath>./gdbsudo.sh</itemPath>
</logicalFolder>
<logicalFolder name="SourceFiles"
displayName="Source Files"
projectFiles="true">
<itemPath>./lib/base64/base64.cpp</itemPath>
<itemPath>./lib/camera.cpp</itemPath>
<itemPath>./lib/commonitor.cpp</itemPath>
<itemPath>./lib/comrobot.cpp</itemPath>
<itemPath>./lib/img.cpp</itemPath>
<itemPath>./main.cpp</itemPath>
<itemPath>./lib/messages.cpp</itemPath>
<itemPath>./tasks.cpp</itemPath>
<itemPath>./tasks_pthread.cpp</itemPath>
</logicalFolder>
<logicalFolder name="TestFiles"
displayName="Test Files"
projectFiles="false"
kind="TEST_LOGICAL_FOLDER">
</logicalFolder>
<logicalFolder name="ExternalFiles"
displayName="Important Files"
projectFiles="false"
kind="IMPORTANT_FILES_FOLDER">
<itemPath>./Makefile</itemPath>
</logicalFolder>
</logicalFolder>
<sourceRootList>
<Elem>lib</Elem>
</sourceRootList>
<projectmakefile>./Makefile</projectmakefile>
<confs>
<conf name="Debug__PC_" type="1">
<toolsSet>
<compilerSet>default</compilerSet>
<dependencyChecking>true</dependencyChecking>
<rebuildPropChanged>false</rebuildPropChanged>
</toolsSet>
<compileType>
<cTool>
<incDir>
<pElem>./</pElem>
<pElem>./lib</pElem>
</incDir>
<commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy</commandLine>
</cTool>
<ccTool>
<incDir>
<pElem>./</pElem>
<pElem>./lib</pElem>
<pElem>/usr/xenomai/include</pElem>
<pElem>/usr/xenomai/include/mercury</pElem>
</incDir>
<commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions</commandLine>
<preprocessorList>
<Elem>_WITH_TRACE_</Elem>
<Elem>__FOR_PC__</Elem>
<Elem>__WITH_ARUCO__</Elem>
</preprocessorList>
</ccTool>
<linkerTool>
<linkerLibItems>
<linkerOptionItem>`pkg-config --libs opencv`</linkerOptionItem>
</linkerLibItems>
<commandLine>-Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt</commandLine>
</linkerTool>
</compileType>
<item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/base64/base64.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/base64/base64.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/camera.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/camera.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/commonitor.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/commonitor.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/comrobot.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/comrobot.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/img.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/img.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/messages.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/messages.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./main.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./tasks.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
</item>
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
<compilerSet>GNU|GNU</compilerSet>
<dependencyChecking>true</dependencyChecking>
<rebuildPropChanged>false</rebuildPropChanged>
</toolsSet>
<compileType>
<cTool>
<incDir>
<pElem>./</pElem>
<pElem>./lib</pElem>
<pElem>/usr/xenomai/include</pElem>
<pElem>/usr/xenomai/include/mercury</pElem>
</incDir>
<commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy</commandLine>
</cTool>
<ccTool>
<incDir>
<pElem>./</pElem>
<pElem>./lib</pElem>
<pElem>/usr/xenomai/include</pElem>
<pElem>/usr/xenomai/include/mercury</pElem>
</incDir>
<commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11</commandLine>
<preprocessorList>
<Elem>_WITH_TRACE_</Elem>
<Elem>__WITH_ARUCO__</Elem>
</preprocessorList>
</ccTool>
<linkerTool>
<linkerLibItems>
<linkerOptionItem>`pkg-config --libs opencv`</linkerOptionItem>
<linkerLibLibItem>raspicam_cv</linkerLibLibItem>
<linkerLibLibItem>raspicam</linkerLibLibItem>
</linkerLibItems>
<commandLine>-Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt</commandLine>
</linkerTool>
</compileType>
<item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/base64/base64.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/base64/base64.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/camera.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/camera.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/commonitor.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/commonitor.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/comrobot.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/comrobot.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/img.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/img.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/messages.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./lib/messages.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./main.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./tasks_pthread.cpp" ex="false" tool="1" flavor2="0">
</item>
<item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
</item>
</conf>
<conf name="JPO2019_RPI_" type="1">
<toolsSet>
<compilerSet>GNU|GNU</compilerSet>
<dependencyChecking>true</dependencyChecking>
<rebuildPropChanged>false</rebuildPropChanged>
</toolsSet>
<compileType>
<cTool>
<incDir>
<pElem>./</pElem>
<pElem>./lib</pElem>
<pElem>/usr/xenomai/include</pElem>
<pElem>/usr/xenomai/include/mercury</pElem>
</incDir>
<commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy</commandLine>
</cTool>
<ccTool>
<standard>8</standard>
<incDir>
<pElem>./</pElem>
<pElem>./lib</pElem>
</incDir>
<commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11</commandLine>
<preprocessorList>
<Elem>_WITH_TRACE_</Elem>
<Elem>__FOR_PC__</Elem>
<Elem>__WITH_ARUCO__</Elem>
<Elem>__WITH_PTHREAD__</Elem>
</preprocessorList>
</ccTool>
<linkerTool>
<linkerLibItems>
<linkerOptionItem>`pkg-config --libs opencv4`</linkerOptionItem>
</linkerLibItems>
<commandLine>-Wl,--no-as-needed -lpthread -lrt</commandLine>
</linkerTool>
</compileType>
<item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/base64/base64.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/base64/base64.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/camera.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/camera.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/commonitor.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/commonitor.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/comrobot.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/comrobot.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/img.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/img.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./lib/messages.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./lib/messages.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./main.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./tasks.cpp" ex="true" tool="1" flavor2="8">
</item>
<item path="./tasks.h" ex="false" tool="3" flavor2="0">
</item>
<item path="./tasks_pthread.cpp" ex="false" tool="1" flavor2="8">
</item>
<item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
</item>
</conf>
</confs>
</configurationDescriptor>

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#
# Generated - do not edit!
#
# NOCDDL
#
# Debug__PC_ configuration
# Debug__RPI_ configuration
# JPO2019_RPI_ configuration

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/*
* DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER.
*
* Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved.
*
* Oracle and Java are registered trademarks of Oracle and/or its affiliates.
* Other names may be trademarks of their respective owners.
*
* The contents of this file are subject to the terms of either the GNU
* General Public License Version 2 only ("GPL") or the Common
* Development and Distribution License("CDDL") (collectively, the
* "License"). You may not use this file except in compliance with the
* License. You can obtain a copy of the License at
* http://www.netbeans.org/cddl-gplv2.html
* or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the
* specific language governing permissions and limitations under the
* License. When distributing the software, include this License Header
* Notice in each file and include the License file at
* nbbuild/licenses/CDDL-GPL-2-CP. Oracle designates this
* particular file as subject to the "Classpath" exception as provided
* by Oracle in the GPL Version 2 section of the License file that
* accompanied this code. If applicable, add the following below the
* License Header, with the fields enclosed by brackets [] replaced by
* your own identifying information:
* "Portions Copyrighted [year] [name of copyright owner]"
*
* If you wish your version of this file to be governed by only the CDDL
* or only the GPL Version 2, indicate your decision by adding
* "[Contributor] elects to include this software in this distribution
* under the [CDDL or GPL Version 2] license." If you do not indicate a
* single choice of license, a recipient has the option to distribute
* your version of this file under either the CDDL, the GPL Version 2 or
* to extend the choice of license to its licensees as provided above.
* However, if you add GPL Version 2 code and therefore, elected the GPL
* Version 2 license, then the option applies only if the new code is
* made subject to such option by the copyright holder.
*
* Contributor(s):
*/
// List of standard headers was taken in http://en.cppreference.com/w/c/header
#include <assert.h> // Conditionally compiled macro that compares its argument to zero
#include <ctype.h> // Functions to determine the type contained in character data
#include <errno.h> // Macros reporting error conditions
#include <float.h> // Limits of float types
#include <limits.h> // Sizes of basic types
#include <locale.h> // Localization utilities
#include <math.h> // Common mathematics functions
#include <setjmp.h> // Nonlocal jumps
#include <signal.h> // Signal handling
#include <stdarg.h> // Variable arguments
#include <stddef.h> // Common macro definitions
#include <stdio.h> // Input/output
#include <string.h> // String handling
#include <stdlib.h> // General utilities: memory management, program utilities, string conversions, random numbers
#include <time.h> // Time/date utilities
#include <iso646.h> // (since C95) Alternative operator spellings
#include <wchar.h> // (since C95) Extended multibyte and wide character utilities
#include <wctype.h> // (since C95) Wide character classification and mapping utilities
#ifdef _STDC_C99
#include <complex.h> // (since C99) Complex number arithmetic
#include <fenv.h> // (since C99) Floating-point environment
#include <inttypes.h> // (since C99) Format conversion of integer types
#include <stdbool.h> // (since C99) Boolean type
#include <stdint.h> // (since C99) Fixed-width integer types
#include <tgmath.h> // (since C99) Type-generic math (macros wrapping math.h and complex.h)
#endif
#ifdef _STDC_C11
#include <stdalign.h> // (since C11) alignas and alignof convenience macros
#include <stdatomic.h> // (since C11) Atomic types
#include <stdnoreturn.h> // (since C11) noreturn convenience macros
#include <threads.h> // (since C11) Thread library
#include <uchar.h> // (since C11) UTF-16 and UTF-32 character utilities
#endif

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<?xml version="1.0" encoding="UTF-8"?>
<configurationDescriptor version="100">
<projectmakefile>./Makefile</projectmakefile>
<confs>
<conf name="Debug__PC_" type="1">
<toolsSet>
<developmentServer>localhost</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">
<gdb_pathmaps>
</gdb_pathmaps>
<gdb_interceptlist>
<gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
</gdb_interceptlist>
<gdb_options>
<DebugOptions>
</DebugOptions>
</gdb_options>
<gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
</dbx_gdbdebugger>
<nativedebugger version="1">
<engine>gdb</engine>
</nativedebugger>
<runprofile version="9">
<runcommandpicklist>
<runcommandpicklistitem>sudo "${OUTPUT_PATH}"</runcommandpicklistitem>
<runcommandpicklistitem>sudo -E "${OUTPUT_PATH}"</runcommandpicklistitem>
<runcommandpicklistitem>pkexec "${OUTPUT_PATH}"</runcommandpicklistitem>
<runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
</runcommandpicklist>
<runcommand>"${OUTPUT_PATH}"</runcommand>
<rundir></rundir>
<buildfirst>true</buildfirst>
<console-type>1</console-type>
<terminal-type>0</terminal-type>
<remove-instrumentation>0</remove-instrumentation>
<environment>
</environment>
</runprofile>
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
<developmentServer>pi@10.105.1.11:22</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">
<gdb_pathmaps>
</gdb_pathmaps>
<gdb_interceptlist>
<gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
</gdb_interceptlist>
<gdb_options>
<DebugOptions>
</DebugOptions>
</gdb_options>
<gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
</dbx_gdbdebugger>
<nativedebugger version="1">
<engine>gdb</engine>
</nativedebugger>
<runprofile version="9">
<runcommandpicklist>
<runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
</runcommandpicklist>
<runcommand>"${OUTPUT_PATH}"</runcommand>
<rundir></rundir>
<buildfirst>true</buildfirst>
<terminal-type>0</terminal-type>
<remove-instrumentation>0</remove-instrumentation>
<environment>
</environment>
</runprofile>
</conf>
<conf name="JPO2019_RPI_" type="1">
<toolsSet>
<developmentServer>xenomai@192.168.1.141:22</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">
<gdb_pathmaps>
</gdb_pathmaps>
<gdb_interceptlist>
<gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
</gdb_interceptlist>
<gdb_options>
<DebugOptions>
</DebugOptions>
</gdb_options>
<gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
</dbx_gdbdebugger>
<nativedebugger version="1">
<engine>gdb</engine>
</nativedebugger>
<runprofile version="9">
<runcommandpicklist>
<runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
</runcommandpicklist>
<runcommand>"${OUTPUT_PATH}"</runcommand>
<rundir></rundir>
<buildfirst>true</buildfirst>
<terminal-type>0</terminal-type>
<remove-instrumentation>0</remove-instrumentation>
<environment>
</environment>
</runprofile>
</conf>
</confs>
</configurationDescriptor>

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/*
* DO NOT ALTER OR REMOVE COPYRIGHT NOTICES OR THIS HEADER.
*
* Copyright (c) 2016 Oracle and/or its affiliates. All rights reserved.
*
* Oracle and Java are registered trademarks of Oracle and/or its affiliates.
* Other names may be trademarks of their respective owners.
*
* The contents of this file are subject to the terms of either the GNU
* General Public License Version 2 only ("GPL") or the Common
* Development and Distribution License("CDDL") (collectively, the
* "License"). You may not use this file except in compliance with the
* License. You can obtain a copy of the License at
* http://www.netbeans.org/cddl-gplv2.html
* or nbbuild/licenses/CDDL-GPL-2-CP. See the License for the
* specific language governing permissions and limitations under the
* License. When distributing the software, include this License Header
* Notice in each file and include the License file at
* nbbuild/licenses/CDDL-GPL-2-CP. Oracle designates this
* particular file as subject to the "Classpath" exception as provided
* by Oracle in the GPL Version 2 section of the License file that
* accompanied this code. If applicable, add the following below the
* License Header, with the fields enclosed by brackets [] replaced by
* your own identifying information:
* "Portions Copyrighted [year] [name of copyright owner]"
*
* If you wish your version of this file to be governed by only the CDDL
* or only the GPL Version 2, indicate your decision by adding
* "[Contributor] elects to include this software in this distribution
* under the [CDDL or GPL Version 2] license." If you do not indicate a
* single choice of license, a recipient has the option to distribute
* your version of this file under either the CDDL, the GPL Version 2 or
* to extend the choice of license to its licensees as provided above.
* However, if you add GPL Version 2 code and therefore, elected the GPL
* Version 2 license, then the option applies only if the new code is
* made subject to such option by the copyright holder.
*
* Contributor(s):
*/
// List of standard headers was taken in http://en.cppreference.com/w/cpp/header
#include <cstdlib> // General purpose utilities: program control, dynamic memory allocation, random numbers, sort and search
#include <csignal> // Functions and macro constants for signal management
#include <csetjmp> // Macro (and function) that saves (and jumps) to an execution context
#include <cstdarg> // Handling of variable length argument lists
#include <typeinfo> // Runtime type information utilities
#include <bitset> // std::bitset class template
#include <functional> // Function objects, designed for use with the standard algorithms
#include <utility> // Various utility components
#include <ctime> // C-style time/date utilites
#include <cstddef> // typedefs for types such as size_t, NULL and others
#include <new> // Low-level memory management utilities
#include <memory> // Higher level memory management utilities
#include <climits> // limits of integral types
#include <cfloat> // limits of float types
#include <limits> // standardized way to query properties of arithmetic types
#include <exception> // Exception handling utilities
#include <stdexcept> // Standard exception objects
#include <cassert> // Conditionally compiled macro that compares its argument to zero
#include <cerrno> // Macro containing the last error number
#include <cctype> // functions to determine the type contained in character data
#include <cwctype> // functions for determining the type of wide character data
#include <cstring> // various narrow character string handling functions
#include <cwchar> // various wide and multibyte string handling functions
#include <string> // std::basic_string class template
#include <vector> // std::vector container
#include <deque> // std::deque container
#include <list> // std::list container
#include <set> // std::set and std::multiset associative containers
#include <map> // std::map and std::multimap associative containers
#include <stack> // std::stack container adaptor
#include <queue> // std::queue and std::priority_queue container adaptors
#include <algorithm> // Algorithms that operate on containers
#include <iterator> // Container iterators
#include <cmath> // Common mathematics functions
#include <complex> // Complex number type
#include <valarray> // Class for representing and manipulating arrays of values
#include <numeric> // Numeric operations on values in containers
#include <iosfwd> // forward declarations of all classes in the input/output library
#include <ios> // std::ios_base class, std::basic_ios class template and several typedefs
#include <istream> // std::basic_istream class template and several typedefs
#include <ostream> // std::basic_ostream, std::basic_iostream class templates and several typedefs
#include <iostream> // several standard stream objects
#include <fstream> // std::basic_fstream, std::basic_ifstream, std::basic_ofstream class templates and several typedefs
#include <sstream> // std::basic_stringstream, std::basic_istringstream, std::basic_ostringstream class templates and several typedefs
#include <strstream> // std::strstream, std::istrstream, std::ostrstream(deprecated)
#include <iomanip> // Helper functions to control the format or input and output
#include <streambuf> // std::basic_streambuf class template
#include <cstdio> // C-style input-output functions
#include <locale> // Localization utilities
#include <clocale> // C localization utilities
#include <ciso646> // empty header. The macros that appear in iso646.h in C are keywords in C++
#if __cplusplus >= 201103L
#include <typeindex> // (since C++11) std::type_index
#include <type_traits> // (since C++11) Compile-time type information
#include <chrono> // (since C++11) C++ time utilites
#include <initializer_list> // (since C++11) std::initializer_list class template
#include <tuple> // (since C++11) std::tuple class template
#include <scoped_allocator> // (since C++11) Nested allocator class
#include <cstdint> // (since C++11) fixed-size types and limits of other types
#include <cinttypes> // (since C++11) formatting macros , intmax_t and uintmax_t math and conversions
#include <system_error> // (since C++11) defines std::error_code, a platform-dependent error code
#include <cuchar> // (since C++11) C-style Unicode character conversion functions
#include <array> // (since C++11) std::array container
#include <forward_list> // (since C++11) std::forward_list container
#include <unordered_set> // (since C++11) std::unordered_set and std::unordered_multiset unordered associative containers
#include <unordered_map> // (since C++11) std::unordered_map and std::unordered_multimap unordered associative containers
#include <random> // (since C++11) Random number generators and distributions
#include <ratio> // (since C++11) Compile-time rational arithmetic
#include <cfenv> // (since C++11) Floating-point environment access functions
#include <codecvt> // (since C++11) Unicode conversion facilities
#include <regex> // (since C++11) Classes, algorithms and iterators to support regular expression processing
#include <atomic> // (since C++11) Atomic operations library
#include <ccomplex> // (since C++11)(deprecated in C++17) simply includes the header <complex>
#include <ctgmath> // (since C++11)(deprecated in C++17) simply includes the headers <ccomplex> (until C++17)<complex> (since C++17) and <cmath>: the overloads equivalent to the contents of the C header tgmath.h are already provided by those headers
#include <cstdalign> // (since C++11)(deprecated in C++17) defines one compatibility macro constant
#include <cstdbool> // (since C++11)(deprecated in C++17) defines one compatibility macro constant
#include <thread> // (since C++11) std::thread class and supporting functions
#include <mutex> // (since C++11) mutual exclusion primitives
#include <future> // (since C++11) primitives for asynchronous computations
#include <condition_variable> // (since C++11) thread waiting conditions
#endif
#if __cplusplus >= 201300L
#include <shared_mutex> // (since C++14) shared mutual exclusion primitives
#endif
#if __cplusplus >= 201500L
#include <any> // (since C++17) std::any class template
#include <optional> // (since C++17) std::optional class template
#include <variant> // (since C++17) std::variant class template
#include <memory_resource> // (since C++17) Polymorphic allocators and memory resources
#include <string_view> // (since C++17) std::basic_string_view class template
#include <execution> // (since C++17) Predefined execution policies for parallel versions of the algorithms
#include <filesystem> // (since C++17) std::path class and supporting functions
#endif

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#Tue Jan 08 15:35:51 CET 2019
____VERSION=2.0
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/dist/Debug__Pthread__RPI/GNU-Linux/superviseur-robot=1v

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# Launchers File syntax:
#
# [Must-have property line]
# launcher1.runCommand=<Run Command>
# [Optional extra properties]
# launcher1.displayName=<Display Name, runCommand by default>
# launcher1.hide=<true if lancher is not visible in menu, false by default>
# launcher1.buildCommand=<Build Command, Build Command specified in project properties by default>
# launcher1.runDir=<Run Directory, ${PROJECT_DIR} by default>
# launcher1.runInOwnTab=<false if launcher reuse common "Run" output tab, true by default>
# launcher1.symbolFiles=<Symbol Files loaded by debugger, ${OUTPUT_PATH} by default>
# launcher1.env.<Environment variable KEY>=<Environment variable VALUE>
# (If this value is quoted with ` it is handled as a native command which execution result will become the value)
# [Common launcher properties]
# common.runDir=<Run Directory>
# (This value is overwritten by a launcher specific runDir value if the latter exists)
# common.env.<Environment variable KEY>=<Environment variable VALUE>
# (Environment variables from common launcher are merged with launcher specific variables)
# common.symbolFiles=<Symbol Files loaded by debugger>
# (This value is overwritten by a launcher specific symbolFiles value if the latter exists)
#
# In runDir, symbolFiles and env fields you can use these macroses:
# ${PROJECT_DIR} - project directory absolute path
# ${OUTPUT_PATH} - linker output path (relative to project directory path)
# ${OUTPUT_BASENAME}- linker output filename
# ${TESTDIR} - test files directory (relative to project directory path)
# ${OBJECTDIR} - object files directory (relative to project directory path)
# ${CND_DISTDIR} - distribution directory (relative to project directory path)
# ${CND_BUILDDIR} - build directory (relative to project directory path)
# ${CND_PLATFORM} - platform name
# ${CND_CONF} - configuration name
# ${CND_DLIB_EXT} - dynamic library extension
#
# All the project launchers must be listed in the file!
#
# launcher1.runCommand=...
# launcher2.runCommand=...
# ...
# common.runDir=...
# common.env.KEY=VALUE
# launcher1.runCommand=<type your run command here>

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<?xml version="1.0" encoding="UTF-8"?>
<project-private xmlns="http://www.netbeans.org/ns/project-private/1">
<data xmlns="http://www.netbeans.org/ns/make-project-private/1">
<activeConfTypeElem>1</activeConfTypeElem>
<activeConfIndexElem>2</activeConfIndexElem>
</data>
<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">
<group>
<file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/img.h</file>
<file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/img.cpp</file>
<file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/messages.cpp</file>
<file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/tasks_pthread.cpp</file>
<file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/commonitor.cpp</file>
<file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/camera.cpp</file>
<file>file:/home/dimercur/Travail/dumber/raspberry/superviseur-robot-dumber-pthread/lib/camera.h</file>
</group>
</open-files>
</project-private>

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#Thu Jan 24 10:34:54 CET 2019
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_3.html=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h_source.html=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_position__coll__graph.md5=c1547564861000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_4.js=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_1.html=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1547735186000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__inherit__graph.md5=c1547560339000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_6.html=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/searchdata.js=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_8.html=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message__inherit__graph.png=c1547564949000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1542120848000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/nomatches.html=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot.html=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string-members.html=c1547565563000
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/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_camera.tex=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_d.js=c1547565563000
/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1547735186000
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#Tue Nov 13 11:04:27 CET 2018
project.license=gpl30

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<?xml version="1.0" encoding="UTF-8"?>
<project xmlns="http://www.netbeans.org/ns/project/1">
<type>org.netbeans.modules.cnd.makeproject</type>
<configuration>
<data xmlns="http://www.netbeans.org/ns/make-project/1">
<name>superviseur-pthread</name>
<c-extensions/>
<cpp-extensions>cpp</cpp-extensions>
<header-extensions>h</header-extensions>
<sourceEncoding>UTF-8</sourceEncoding>
<make-dep-projects/>
<sourceRootList>
<sourceRootElem>lib</sourceRootElem>
</sourceRootList>
<confList>
<confElem>
<name>Debug__PC_</name>
<type>1</type>
</confElem>
<confElem>
<name>Debug__RPI_</name>
<type>1</type>
</confElem>
<confElem>
<name>JPO2019_RPI_</name>
<type>1</type>
</confElem>
</confList>
<formatting>
<project-formatting-style>false</project-formatting-style>
</formatting>
</data>
</configuration>
</project>

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/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "tasks.h"
#include <stdexcept>
// Déclaration des priorités des taches
#define PRIORITY_TSERVER 30
#define PRIORITY_TOPENCOMROBOT 20
#define PRIORITY_TMOVE 10
#define PRIORITY_TSENDTOMON 22
#define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TSTARTROBOT 20
#define PRIORITY_TCAMERA 21
/*
* Some remarks:
* 1- This program is mostly a template. It shows you how to create tasks, semaphore
* message queues, mutex ... and how to use them
*
* 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
*
* 3- Data flow is probably not optimal
*
* 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
* time for internal buffer to flush
*
* 5- Same behavior existe for ComMonitor::Write !
*
* 6- When you want to write something in terminal, use cout and terminate with endl and flush
*
* 7- Good luck !
*/
/**
* @brief Initialisation des structures de l'application (tâches, mutex,
* semaphore, etc.)
*/
void Tasks::Init() {
int status;
int err;
/**************************************************************************************/
/* Mutex creation */
/**************************************************************************************/
if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_move, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Mutexes created successfully" << endl << flush;
/**************************************************************************************/
/* Semaphors creation */
/**************************************************************************************/
if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_startRobot, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Semaphores created successfully" << endl << flush;
/**************************************************************************************/
/* Tasks creation */
/**************************************************************************************/
if (err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_startRobot, "th_startRobot", 0, PRIORITY_TSTARTROBOT, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks created successfully" << endl << flush;
/**************************************************************************************/
/* Message queues creation */
/**************************************************************************************/
if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Queues created successfully" << endl << flush;
/* Open com port with STM32 */
cout << "Open serial com (";
status = robot.Open();
cout << status;
cout << ")" << endl;
if (status >= 0) {
// Open server
status = monitor.Open(SERVER_PORT);
cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
if (status < 0) throw std::runtime_error {
"Unable to start server on port " + std::to_string(SERVER_PORT)
};
} else
throw std::runtime_error {
"Unable to open serial port /dev/ttyS0 "
};
}
/**
* @brief Démarrage des tâches
*/
void Tasks::Run() {
int err;
if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_camera, (void(*)(void*)) & Tasks::CameraTask, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
// if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
// cerr << "Error task start: " << strerror(-err) << endl << flush;
// exit(EXIT_FAILURE);
// }
cout << "Tasks launched" << endl << flush;
}
/**
* @brief Arrêt des tâches
*/
void Tasks::Stop() {
monitor.Close();
robot.Close();
}
/**
*/
void Tasks::Join() {
rt_sem_broadcast(&sem_barrier);
pause();
}
/**
* @brief Thread handling server communication.
*/
void Tasks::ReceiveFromMonTask(void *arg) {
Message *msgRcv;
Message *msgSend;
bool isActive = true;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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);
isActive = true;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
msgSend = new Message(MESSAGE_ANSWER_ACK);
cout << "isActive = false!" << msgRcv->ToString() << endl << flush;
isActive = false;
delete(msgRcv); // mus be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
msgSend = robot.Write(msgRcv);
cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
}
if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
msgSend = robot.Write(msgRcv);
cout << "Start without wd answer: " << msgSend->ToString() << endl << flush;
}
if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
msgSend = robot.Write(msgRcv);
cout << "Reset answer: " << msgSend->ToString() << endl << flush;
}
if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
msgSend = robot.Write(msgRcv);
cout << "Movement answer: " << msgSend->ToString() << endl << flush;
if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
delete (msgSend);
msgSend = NULL;
}
}
if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
sendImage = true;
msgSend = new Message(MESSAGE_ANSWER_ACK);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
sendImage = false;
msgSend = new Message(MESSAGE_ANSWER_ACK);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
sendPosition = true;
msgSend = new Message(MESSAGE_ANSWER_ACK);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
sendPosition = false;
msgSend = new Message(MESSAGE_ANSWER_ACK);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
showArena = true;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
showArena = false;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
showArena = false;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgSend != NULL) monitor.Write(msgSend);
}
}
/**
* @brief Thread handling periodic image capture.
*/
void Tasks::CameraTask(void* arg) {
struct timespec tim, tim2;
Message *msgSend;
int counter;
int cntFrame = 0;
Position pos;
Arena arena;
tim.tv_sec = 0;
tim.tv_nsec = 50000000; // 50ms (20fps)
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
Camera camera = Camera(sm, 20);
cout << "Try opening camera" << endl << flush;
if (camera.Open()) cout << "Camera opened successfully" << endl << flush;
else {
cout << "Failed to open camera" << endl << flush;
exit(0);
}
while (1) {
}
}
/**
* @brief Thread sending data to monitor.
*/
void Tasks::SendToMonTask(void* arg) {
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
while (1) {
}
}
/**
* Write a message in a given queue
* @param queue Queue identifier
* @param msg Message to be stored
*/
void WriteInQueue(RT_QUEUE &queue, Message *msg) {
int err;
if ((err = rt_queue_send(&queue, (const void *) msg, sizeof ((const void *) msg), Q_NORMAL)) < 0) {
cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
throw std::runtime_error{"Error in write in queue"};
}
}
/**
* Read a message from a given queue, block if empty
* @param queue Queue identifier
* @return Message read
*/
Message *ReadInQueue(RT_QUEUE &queue) {
int err;
Message *msg;
if ((err = rt_queue_read(&queue, (void*) msg, sizeof ((void*) msg), TM_INFINITE)) < 0) {
cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
throw std::runtime_error{"Error in write in queue"};
}
return msg;
}

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@ -0,0 +1,165 @@
/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __TASKS_H__
#define __TASKS_H__
#include <unistd.h>
#include <iostream>
#include <sys/mman.h>
#include <alchemy/task.h>
#include <alchemy/timer.h>
#include <alchemy/mutex.h>
#include <alchemy/sem.h>
#include <alchemy/queue.h>
#include "messages.h"
#include "commonitor.h"
#include "comrobot.h"
#include "camera.h"
#include "img.h"
using namespace std;
class Tasks {
public:
/**
* @brief Initialisation des structures de l'application (tâches, mutex,
* semaphore, etc.)
*/
void Init();
/**
* @brief Démarrage des tâches
*/
void Run();
/**
* @brief Arrêt des tâches
*/
void Stop();
/**
*/
void Join();
/**
*/
bool AcceptClient() {
return monitor.AcceptClient();
}
private:
ComMonitor monitor;
ComRobot robot;
bool sendImage=false;
bool sendPosition=false;
int counter;
bool flag;
bool showArena=false;
RT_TASK th_server;
RT_TASK th_sendToMon;
RT_TASK th_receiveFromMon;
RT_TASK th_openComRobot;
RT_TASK th_startRobot;
RT_TASK th_move;
RT_TASK th_camera;
RT_MUTEX mutex_robotStarted;
RT_MUTEX mutex_move;
RT_SEM sem_barrier;
RT_SEM sem_openComRobot;
RT_SEM sem_serverOk;
RT_SEM sem_startRobot;
RT_QUEUE q_messageToMon;
int etatCommMoniteur;
int robotStarted;
char robotMove;
int MSG_QUEUE_SIZE;
char mode_start;
/**
* Write a message in a given queue
* @param queue Queue identifier
* @param msg Message to be stored
*/
void WriteInQueue(RT_QUEUE *queue, Message *msg);
/**
* Read a message from a given queue, block if empty
* @param queue Queue identifier
* @return Message read
*/
Message *ReadInQueue(RT_QUEUE *queue);
/**
* @brief Thread handling server communication.
*/
void ReceiveFromMonTask(void *arg);
/**
* @brief Thread handling periodic image capture.
*/
void CameraTask(void *arg);
/**
* @brief Thread sending data to monitor.
*/
void SendToMonTask(void *arg);
// /**
// * \brief Thread handling server communication.
// */
// void f_server(void *arg);
//
// /**
// * \brief Thread handling communication to monitor.
// */
// void f_sendToMon(void *arg);
//
// /**
// * \brief Thread handling communication from monitor.
// */
// void f_receiveFromMon(void *arg);
//
// /**
// * \brief Thread handling opening of robot communication.
// */
// void f_openComRobot(void * arg);
//
// /**
// * \brief Thread handling robot mouvements.
// */
// void f_move(void *arg);
//
// /**
// * \brief Thread handling robot activation.
// */
// void f_startRobot(void *arg);
};
#endif // __TASKS_H__

315
software/raspberry/superviseur-robot-dumber-pthread/tasks_pthread.cpp Normal file
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@ -0,0 +1,315 @@
/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "tasks_pthread.h"
#include <time.h>
#ifdef __WITH_PTHREAD__
// Déclaration des priorités des taches
#define PRIORITY_TSERVER 30
#define PRIORITY_TOPENCOMROBOT 20
#define PRIORITY_TMOVE 10
#define PRIORITY_TSENDTOMON 25
#define PRIORITY_TRECEIVEFROMMON 22
#define PRIORITY_TSTARTROBOT 20
/*
* Some remarks:
* 1- This program is mostly a template. It shows you how to create tasks, semaphore
* message queues, mutex ... and how to use them
*
* 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
*
* 3- Data flow is probably not optimal
*
* 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
* time for internal buffer to flush
*
* 5- Same behavior existe for ComMonitor::Write !
*
* 6- When you want to write something in terminal, use cout and terminate with endl and flush
*
* 7- Good luck !
*/
void Tasks::Init() {
int status;
/* Open com port with STM32 */
cout << "Open serial com (";
status = robot.Open();
cout << status;
cout << ")" << endl;
if (status >= 0) {
// Open server
status = monitor.Open(SERVER_PORT);
cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
if (status < 0) throw std::runtime_error {
"Unable to start server on port " + std::to_string(SERVER_PORT)
};
} else
throw std::runtime_error {
"Unable to open serial port /dev/ttyS0 "
};
}
void Tasks::Run() {
threadTimer = new thread((void (*)(void*)) & Tasks::TimerTask, this);
threadServer = new thread((void (*)(void*)) & Tasks::ServerTask, this);
cout << "Tasks launched" << endl << flush;
}
void Tasks::Stop() {
monitor.Close();
robot.Close();
}
void Tasks::ServerTask(void *arg) {
Message *msgRcv;
Message *msgSend;
bool isActive = true;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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);
isActive = true;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
msgSend = new Message(MESSAGE_ANSWER_ACK);
cout << "isActive = false!" << msgRcv->ToString() << endl << flush;
isActive = false;
delete(msgRcv); // mus be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
msgSend = robot.Write(msgRcv);
cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
}
if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
msgSend = robot.Write(msgRcv);
cout << "Start without wd answer: " << msgSend->ToString() << endl << flush;
}
if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
msgSend = robot.Write(msgRcv);
cout << "Reset answer: " << msgSend->ToString() << endl << flush;
}
if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
msgSend = robot.Write(msgRcv);
cout << "Movement answer: " << msgSend->ToString() << endl << flush;
if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
delete (msgSend);
msgSend = NULL;
}
}
if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
sendImage = true;
msgSend = new Message(MESSAGE_ANSWER_ACK);
cout << "Start sending images" << endl << flush;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
sendImage = false;
msgSend = new Message(MESSAGE_ANSWER_ACK);
cout << "Stop sending images" << endl << flush;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
sendPosition = true;
msgSend = new Message(MESSAGE_ANSWER_ACK);
cout << "Start computing positions based on AruCo" << endl << flush;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
sendPosition = false;
msgSend = new Message(MESSAGE_ANSWER_ACK);
cout << "Stop computing positions based on AruCo" << endl << flush;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
showArena = true;
cout << "Ask for arena boundaries" << endl << flush;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
showArena = false;
cout << "Arena boundaries OK" << endl << flush;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
showArena = false;
cout << "Arena boundaries rejected" << endl << flush;
delete(msgRcv); // must be deleted manually, no consumer
}
if (msgSend != NULL) monitor.Write(msgSend);
}
}
void Tasks::TimerTask(void* arg) {
struct timespec tim, tim2;
Message *msgSend;
int counter;
int cntFrame = 0;
Position pos;
Arena arena;
int counter_img;
tim.tv_sec = 0;
tim.tv_nsec = 50000000; // 50ms (20fps)
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
Camera camera = Camera(sm, 15);
cout << "Try opening camera" << endl << flush;
if (camera.Open()) {
cout << "Camera opened successfully" << endl ;
cout << "Image size: " << camera.GetWidth() << "x"<< camera.GetHeight() << " @ " << camera.GetFPS() <<endl<<flush;
} else {
cout << "Failed to open camera" << endl << flush;
exit(0);
}
pos.angle = 0.0;
pos.robotId = -1;
pos.center = cv::Point2f(0, 0);
pos.direction = cv::Point2f(0, 0);
counter_img = 0;
while (1) {
Img image = camera.Grab(); // 15fps
//cntFrame++;
//cout << "cnt: " << to_string(cntFrame) << endl << flush;
if (sendPosition == true) {
counter++;
if (counter >= 5) { // div =15
counter = 0;
//if (!arena.IsEmpty()) {
image.dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3));
std::list<Position> poses = image.SearchRobot(arena);
cout << "Nbr of pos detected: " << to_string(poses.size()) << endl << flush;
if (poses.size() > 0) {
Position firstPos = poses.front();
pos.angle = firstPos.angle;
pos.robotId = firstPos.robotId;
pos.center = firstPos.center;
pos.direction = firstPos.direction;
} else {
// Nothing found
pos.angle = 0.0;
pos.robotId = -1;
pos.center = cv::Point2f(0, 0);
pos.direction = cv::Point2f(0, 0);
}
MessagePosition *msgp = new MessagePosition(MESSAGE_CAM_POSITION, pos);
monitor.Write(msgp);
cout << "Position sent" << endl << flush;
}
}
if (sendImage == true) {
counter_img++;
if (counter_img >= 1) {
counter_img = 0;
if (showArena) {
arena = image.SearchArena();
if (!arena.IsEmpty()) image.DrawArena(arena);
else cout << "Arena not found" << endl << flush;
}
if (sendPosition == true) {
image.DrawRobot(pos);
}
if (!arena.IsEmpty()) image.DrawArena(arena);
Img resizedImage = image.Resize();
MessageImg *msg = new MessageImg(MESSAGE_CAM_IMAGE, &resizedImage);
monitor.Write(msg);
//cout << "Image sent" << endl << flush;
}
}
}
}
void Tasks::SendToMonTask(void* arg) {
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
while (1) {
}
}
#endif //__WITH_PTHREAD__

104
software/raspberry/superviseur-robot-dumber-pthread/tasks_pthread.h Normal file
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@ -0,0 +1,104 @@
/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __TASKS_H__
#define __TASKS_H__
#ifdef __WITH_PTHREAD__
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include "camera.h"
#include "img.h"
#include "messages.h"
#include "commonitor.h"
#include "comrobot.h"
#include <thread>
#include <mutex>
#include <condition_variable>
class Tasks {
public:
/**
* @brief Initialisation des structures de l'application (tâches, mutex,
* semaphore, etc.)
*/
void Init();
/**
* @brief Démarrage des tâches
*/
void Run();
/**
* @brief Arrêt des tâches
*/
void Stop();
/**
*/
void Join() {
threadServer->join();
threadTimer->join();
threadSendToMon->join();
}
/**
*/
bool AcceptClient() {
return monitor.AcceptClient();
}
/**
* @brief Thread handling server communication.
*/
void ServerTask(void *arg);
/**
* @brief Thread handling server communication.
*/
void TimerTask(void *arg);
/**
* @brief Thread handling communication to monitor.
*/
void SendToMonTask(void *arg);
private:
ComMonitor monitor;
ComRobot robot;
bool sendImage=false;
bool sendPosition=false;
int counter;
bool flag;
bool showArena=false;
thread *threadServer;
thread *threadSendToMon;
thread *threadTimer;
mutex mutexTimer;
};
#endif // __WITH_PTHREAD__
#endif /* __TASKS_H__ */

1
software/raspberry/superviseur-robot/lib/camera.cpp
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@ -155,3 +155,4 @@ int Camera::GetWidth() const {
int Camera::GetHeight() const {
return height;
}

7
software/raspberry/superviseur-robot/nbproject/private/private.xml
View file

@ -6,11 +6,6 @@
</data>
<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">
<group>
<file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
<file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
<file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
<file>file:/home/dimercur/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
</group>
<group/>
</open-files>
</project-private>