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#Fri Mar 31 12:07:07 CEST 2023
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#Tue Apr 11 12:36:14 CEST 2023
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|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/README.md=c1680524819097
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.gitignore=c1680524818971
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1680524819108
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1680526563389
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/superviseur.doxygen=c1680524819223
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1680524819176
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1680524819187
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp=c1680524819156
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1680524819095
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1680524819101
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.dep.inc=c1680524818965
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1680524985812
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1680524985801
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/project.properties=c1680524819214
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.h=c1680524985797
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.h=c1680524985807
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/README.md=c1680524818978
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.cpp=c1680524985804
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/.gitignore=c1680524819087
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1680524819092
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1680526563363
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/commonitor.h=c1680524819130
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/gdbsudo.sh=c1680524819082
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1680524819127
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1680526563376
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/base64.h=c1680524819103
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1680524819116
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h=c1680524819138
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/project.xml=c1680524985847
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h=c1680524819153
|
||||||
|
VERSION=1.3
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1680524819168
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h=c1680527667578
|
||||||
|
|
@ -0,0 +1,39 @@
|
||||||
|
#Fri Apr 07 12:13:15 CEST 2023
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp=c1680524819149
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.cpp=c1680524985794
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp=c1680862388297
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/Makefile=c1680524818973
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/wrapper.c=c1680524985856
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/README.md=c1680524819097
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1680524819108
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.gitignore=c1680524818971
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1680853007538
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/superviseur.doxygen=c1680524819223
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1680524819176
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1680524819187
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp=c1680524819156
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1680524819095
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1680524819101
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.dep.inc=c1680524818965
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1680524985812
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1680524985801
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/project.properties=c1680524819214
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.h=c1680524985797
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.h=c1680524985807
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/README.md=c1680524818978
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.cpp=c1680524985804
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/.gitignore=c1680524819087
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1680524819092
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1680853007485
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/commonitor.h=c1680524819130
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/gdbsudo.sh=c1680524819082
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1680524819127
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1680853007515
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/base64.h=c1680524819103
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1680524819116
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h=c1680524819138
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/project.xml=c1680524985847
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h=c1680524819153
|
||||||
|
VERSION=1.3
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1680524819168
|
||||||
|
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h=c1680862388302
|
||||||
|
|
@ -28,6 +28,7 @@
|
||||||
#define PRIORITY_TCAMERA 21
|
#define PRIORITY_TCAMERA 21
|
||||||
#define PRIORITY_TBATTERY 25
|
#define PRIORITY_TBATTERY 25
|
||||||
#define PRIORITY_TSTARTCAMERA 25
|
#define PRIORITY_TSTARTCAMERA 25
|
||||||
|
#define PRIORITY_TROBOTRELOADMESSAGE 25
|
||||||
|
|
||||||
/*
|
/*
|
||||||
* Some remarks:
|
* Some remarks:
|
||||||
|
|
@ -51,7 +52,100 @@
|
||||||
/**
|
/**
|
||||||
* @brief Initialisation des structures de l'application (tâches, mutex,
|
* @brief Initialisation des structures de l'application (tâches, mutex,
|
||||||
* semaphore, etc.)
|
* semaphore, etc.)
|
||||||
|
void Tasks::RobotLossCounter(void* arg){
|
||||||
|
int state;
|
||||||
|
|
||||||
|
// wait for connexion establishement
|
||||||
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||||
|
// Synchronization barrier (waiting that all tasks are starting)
|
||||||
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||||
|
rt_sem_p(&sem_connexionEstablished, TM_INFINITE);
|
||||||
|
cout << "Starting to monitor packet losses " << endl << flush;
|
||||||
|
rt_task_set_periodic(NULL, TM_NOW, 100*1000*1000);
|
||||||
|
while(1){
|
||||||
|
rt_task_wait_period(NULL);
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
|
||||||
|
if(compteurRobotLoss >= 3){
|
||||||
|
// send info to monitor
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_COM_ERROR)); // TODO : c'est probablement faux mais on a suivi la doc *sig*
|
||||||
|
|
||||||
|
// close robot
|
||||||
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
|
state = robot.Close();
|
||||||
|
rt_mutex_release(&mutex_robot);
|
||||||
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
|
robotStarted = 0;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
|
|
||||||
|
|
||||||
|
// send info to monitor
|
||||||
|
if (state < 0) {
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
|
||||||
|
} else {
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
rt_mutex_release(&mutex_compteurRobotLoss);
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
*/
|
*/
|
||||||
|
|
||||||
|
Message* Tasks::parseMessage(Message* msg){
|
||||||
|
int state;
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
|
int tempRobotStarted = robotStarted ;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
|
|
||||||
|
if (tempRobotStarted != 0) {
|
||||||
|
|
||||||
|
if (msg->CompareID(MESSAGE_ANSWER_NACK) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_TIMEOUT) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_ERROR) ||msg->CompareID(MESSAGE_ANSWER_COM_ERROR)){
|
||||||
|
// increment
|
||||||
|
rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
|
||||||
|
compteurRobotLoss ++;
|
||||||
|
cout << "Current loss value " << compteurRobotLoss << endl << flush;
|
||||||
|
rt_mutex_release(&mutex_compteurRobotLoss);
|
||||||
|
} else {
|
||||||
|
|
||||||
|
// reset
|
||||||
|
rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
|
||||||
|
if (compteurRobotLoss > 0){
|
||||||
|
cout << "Loss value reset" << endl << flush;
|
||||||
|
}
|
||||||
|
compteurRobotLoss = 0;
|
||||||
|
rt_mutex_release(&mutex_compteurRobotLoss);
|
||||||
|
}
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
|
||||||
|
if(compteurRobotLoss >= 3){
|
||||||
|
// send info to monitor
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_COM_ERROR)); // TODO : c'est probablement faux mais on a suivi la doc *sig*
|
||||||
|
cout << "Lost communication with robot " << endl << flush;
|
||||||
|
|
||||||
|
// close robot
|
||||||
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
|
state = robot.Close();
|
||||||
|
rt_mutex_release(&mutex_robot);
|
||||||
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
|
robotStarted = 0;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
|
|
||||||
|
|
||||||
|
// send info to monitor
|
||||||
|
if (state < 0) {
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
|
||||||
|
} else {
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
rt_mutex_release(&mutex_compteurRobotLoss);
|
||||||
|
}
|
||||||
|
return msg;
|
||||||
|
}
|
||||||
|
|
||||||
|
|
||||||
void Tasks::Init() {
|
void Tasks::Init() {
|
||||||
int status;
|
int status;
|
||||||
int err;
|
int err;
|
||||||
|
|
@ -75,6 +169,11 @@ void Tasks::Init() {
|
||||||
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
|
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
|
||||||
exit(EXIT_FAILURE);
|
exit(EXIT_FAILURE);
|
||||||
}
|
}
|
||||||
|
if (err = rt_mutex_create(&mutex_compteurRobotLoss, NULL)) {
|
||||||
|
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
|
||||||
|
exit(EXIT_FAILURE);
|
||||||
|
}
|
||||||
|
|
||||||
if (err = rt_mutex_create(&mutex_cameraStarted, NULL)) {
|
if (err = rt_mutex_create(&mutex_cameraStarted, NULL)) {
|
||||||
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
|
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
|
||||||
exit(EXIT_FAILURE);
|
exit(EXIT_FAILURE);
|
||||||
|
|
@ -94,7 +193,7 @@ void Tasks::Init() {
|
||||||
cout << "Mutexes created successfully" << endl << flush;
|
cout << "Mutexes created successfully" << endl << flush;
|
||||||
|
|
||||||
/**************************************************************************************/
|
/**************************************************************************************/
|
||||||
/* Semaphors creation */
|
/* Semaphores creation */
|
||||||
/**************************************************************************************/
|
/**************************************************************************************/
|
||||||
if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
|
if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
|
||||||
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||||
|
|
@ -104,6 +203,10 @@ void Tasks::Init() {
|
||||||
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||||
exit(EXIT_FAILURE);
|
exit(EXIT_FAILURE);
|
||||||
}
|
}
|
||||||
|
if (err = rt_sem_create(&sem_connexionEstablished, 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)) {
|
if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
|
||||||
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||||
exit(EXIT_FAILURE);
|
exit(EXIT_FAILURE);
|
||||||
|
|
@ -112,10 +215,18 @@ void Tasks::Init() {
|
||||||
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||||
exit(EXIT_FAILURE);
|
exit(EXIT_FAILURE);
|
||||||
}
|
}
|
||||||
|
if (err = rt_sem_create(&sem_startRobotWithWatchdog, NULL, 0, S_FIFO)) {
|
||||||
|
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||||
|
exit(EXIT_FAILURE);
|
||||||
|
}
|
||||||
if (err = rt_sem_create(&sem_startCamera, NULL, 0, S_FIFO)) {
|
if (err = rt_sem_create(&sem_startCamera, NULL, 0, S_FIFO)) {
|
||||||
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||||
exit(EXIT_FAILURE);
|
exit(EXIT_FAILURE);
|
||||||
}
|
}
|
||||||
|
if (err = rt_sem_create(&sem_reloadMessages, NULL, 0, S_FIFO)) {
|
||||||
|
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||||
|
exit(EXIT_FAILURE);
|
||||||
|
}
|
||||||
cout << "Semaphores created successfully" << endl << flush;
|
cout << "Semaphores created successfully" << endl << flush;
|
||||||
|
|
||||||
/**************************************************************************************/
|
/**************************************************************************************/
|
||||||
|
|
@ -153,10 +264,23 @@ void Tasks::Init() {
|
||||||
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||||
exit(EXIT_FAILURE);
|
exit(EXIT_FAILURE);
|
||||||
}
|
}
|
||||||
|
/*if (err = rt_task_create(&th_lossCounter, "th_lossCounter", 0, PRIORITY_TLOSSCOUNTER, 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)) {
|
if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) {
|
||||||
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||||
exit(EXIT_FAILURE);
|
exit(EXIT_FAILURE);
|
||||||
}
|
}
|
||||||
|
if (err = rt_task_create(&th_startRobotWithWatchdog, "th_startRobotWithWatchdog", 0, PRIORITY_TSTARTROBOT, 0)) {
|
||||||
|
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||||
|
exit(EXIT_FAILURE);
|
||||||
|
}
|
||||||
|
if (err = rt_task_create(&th_robotReloadMessage, "th_robotReloadMessage", 0, PRIORITY_TROBOTRELOADMESSAGE, 0)) {
|
||||||
|
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||||
|
exit(EXIT_FAILURE);
|
||||||
|
}
|
||||||
|
|
||||||
cout << "Tasks created successfully" << endl << flush;
|
cout << "Tasks created successfully" << endl << flush;
|
||||||
|
|
||||||
/**************************************************************************************/
|
/**************************************************************************************/
|
||||||
|
|
@ -214,6 +338,19 @@ void Tasks::Run() {
|
||||||
exit(EXIT_FAILURE);
|
exit(EXIT_FAILURE);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/*if (err = rt_task_start(&th_lossCounter, (void(*)(void*)) & Tasks::RobotLossCounter, this)) {
|
||||||
|
cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||||
|
exit(EXIT_FAILURE);
|
||||||
|
}*/
|
||||||
|
if (err = rt_task_start(&th_robotReloadMessage, (void(*)(void*)) & Tasks::RobotReloadMessage, this)) {
|
||||||
|
cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||||
|
exit(EXIT_FAILURE);
|
||||||
|
}
|
||||||
|
if (err = rt_task_start(&th_startRobotWithWatchdog, (void(*)(void*)) & Tasks::StartRobotWithWatchDogTask, this)) {
|
||||||
|
cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||||
|
exit(EXIT_FAILURE);
|
||||||
|
}
|
||||||
|
|
||||||
cout << "Tasks launched" << endl << flush;
|
cout << "Tasks launched" << endl << flush;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
|
@ -311,6 +448,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
|
||||||
rt_sem_v(&sem_openComRobot);
|
rt_sem_v(&sem_openComRobot);
|
||||||
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
|
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
|
||||||
rt_sem_v(&sem_startRobot);
|
rt_sem_v(&sem_startRobot);
|
||||||
|
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
|
||||||
|
rt_sem_v(&sem_startRobotWithWatchdog);
|
||||||
} else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
|
} else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
|
||||||
msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
|
msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
|
||||||
msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
|
msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
|
||||||
|
|
@ -334,6 +473,23 @@ void Tasks::ReceiveFromMonTask(void *arg) {
|
||||||
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
|
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
|
||||||
robotPos = 0;
|
robotPos = 0;
|
||||||
rt_mutex_release(&mutex_robot_pos);
|
rt_mutex_release(&mutex_robot_pos);
|
||||||
|
}else if(msgRcv->CompareID(MESSAGE_MONITOR_LOST)){
|
||||||
|
cout << "MONITOR LOST" << endl << flush;
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
|
robot.Close();
|
||||||
|
rt_mutex_release(&mutex_robot);
|
||||||
|
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
|
||||||
|
camera.Close();
|
||||||
|
rt_mutex_release(&mutex_camera);
|
||||||
|
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
|
robotStarted = 0;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
|
|
||||||
}
|
}
|
||||||
delete(msgRcv); // must be deleted manually, no consumer
|
delete(msgRcv); // must be deleted manually, no consumer
|
||||||
}
|
}
|
||||||
|
|
@ -366,8 +522,11 @@ void Tasks::OpenComRobot(void *arg) {
|
||||||
if (status < 0) {
|
if (status < 0) {
|
||||||
msgSend = new Message(MESSAGE_ANSWER_NACK);
|
msgSend = new Message(MESSAGE_ANSWER_NACK);
|
||||||
} else {
|
} else {
|
||||||
|
rt_sem_v(&sem_connexionEstablished);
|
||||||
msgSend = new Message(MESSAGE_ANSWER_ACK);
|
msgSend = new Message(MESSAGE_ANSWER_ACK);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
cout << "Open serial com (";
|
||||||
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
@ -389,7 +548,7 @@ void Tasks::StartRobotTask(void *arg) {
|
||||||
rt_sem_p(&sem_startRobot, TM_INFINITE);
|
rt_sem_p(&sem_startRobot, TM_INFINITE);
|
||||||
cout << "Start robot without watchdog (";
|
cout << "Start robot without watchdog (";
|
||||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
msgSend = robot.Write(robot.StartWithoutWD());
|
msgSend = parseMessage(robot.Write(robot.StartWithoutWD())); // TODO : convert Message MessageID
|
||||||
rt_mutex_release(&mutex_robot);
|
rt_mutex_release(&mutex_robot);
|
||||||
cout << msgSend->GetID();
|
cout << msgSend->GetID();
|
||||||
cout << ")" << endl;
|
cout << ")" << endl;
|
||||||
|
|
@ -405,6 +564,86 @@ void Tasks::StartRobotTask(void *arg) {
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Thread starting the communication with the robot.
|
||||||
|
*/
|
||||||
|
|
||||||
|
// TODO : refactor with the previous : if (watchdog) {call with; start the watchdog messages tasks} else {call without}
|
||||||
|
void Tasks::StartRobotWithWatchDogTask(void *arg) {
|
||||||
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||||
|
// Synchronization barrier (waiting that all tasks are starting)
|
||||||
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||||
|
|
||||||
|
/**************************************************************************************/
|
||||||
|
/* The task startRobot starts here */
|
||||||
|
/**************************************************************************************/
|
||||||
|
while (1) {
|
||||||
|
|
||||||
|
Message * msgSend;
|
||||||
|
rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
|
||||||
|
cout << "Start robot with watchdog (";
|
||||||
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
|
msgSend = parseMessage(robot.Write(robot.StartWithWD())); // TODO : convert Message MessageID
|
||||||
|
rt_mutex_release(&mutex_robot);
|
||||||
|
cout << msgSend->GetID();
|
||||||
|
cout << ")" << endl;
|
||||||
|
|
||||||
|
cout << "Movement answer: " << msgSend->ToString() << endl << flush;
|
||||||
|
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
||||||
|
|
||||||
|
if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
|
||||||
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
|
cout << "Ca a strat avec watchdog" << endl;
|
||||||
|
robotStarted = 1;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
|
}
|
||||||
|
|
||||||
|
rt_sem_v(&sem_reloadMessages);
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Thread sending a message every 500 ms to the robot to prevent it from turning off.
|
||||||
|
*/
|
||||||
|
|
||||||
|
void Tasks::RobotReloadMessage(void *arg) {
|
||||||
|
int status;
|
||||||
|
|
||||||
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
// Synchronization barrier (waiting that all tasks are starting)
|
||||||
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||||
|
rt_sem_p(&sem_reloadMessages, TM_INFINITE);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
|
cout << "Starting to monitor packet losses " << endl << flush;
|
||||||
|
rt_task_set_periodic(NULL, TM_NOW, 1000*1000*1000);
|
||||||
|
while(1) {
|
||||||
|
rt_task_wait_period(NULL);
|
||||||
|
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
|
int tempRobotStarted = robotStarted ;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
|
|
||||||
|
if (tempRobotStarted != 0) {
|
||||||
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
|
status = parseMessage(robot.Write(robot.ReloadWD()))->GetID();
|
||||||
|
rt_mutex_release(&mutex_robot);
|
||||||
|
// send info to monitor
|
||||||
|
if (status < 0) {
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
|
||||||
|
} else {
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
|
||||||
|
}
|
||||||
|
}
|
||||||
|
}
|
||||||
|
|
||||||
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief Thread starting the communication with the robot.
|
* @brief Thread starting the communication with the robot.
|
||||||
*/
|
*/
|
||||||
|
|
@ -461,24 +700,31 @@ void Tasks::MoveTask(void *arg) {
|
||||||
// Synchronization barrier (waiting that all tasks are starting)
|
// Synchronization barrier (waiting that all tasks are starting)
|
||||||
rt_sem_p(&sem_barrier, TM_INFINITE);
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||||
|
|
||||||
/*********************************************************/
|
/**************************************************************************************/
|
||||||
|
/* The task starts here */
|
||||||
|
/**************************************************************************************/
|
||||||
|
rt_task_set_periodic(NULL, TM_NOW, 100000000);
|
||||||
|
|
||||||
|
while (1) {
|
||||||
|
rt_task_wait_period(NULL);
|
||||||
//cout << "Periodic movement update";
|
//cout << "Periodic movement update";
|
||||||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
rs = robotStarted;
|
rs = robotStarted;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
if (rs == 1) {
|
if (rs == 1) {
|
||||||
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
||||||
cpMove = move;
|
cpMove = move;
|
||||||
rt_mutex_release(&mutex_move);
|
rt_mutex_release(&mutex_move);
|
||||||
|
|
||||||
cout << " move: " << cpMove;
|
cout << " move: " << cpMove << endl << flush;
|
||||||
|
|
||||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
robot.Write(new Message((MessageID)cpMove));
|
parseMessage(robot.Write(new Message((MessageID)cpMove)));
|
||||||
rt_mutex_release(&mutex_robot);
|
rt_mutex_release(&mutex_robot);
|
||||||
}
|
}
|
||||||
rt_mutex_release(&mutex_robotStarted);
|
|
||||||
//cout << endl << flush;
|
//cout << endl << flush;
|
||||||
}
|
}
|
||||||
|
}
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief task in charge of the battery status.
|
* @brief task in charge of the battery status.
|
||||||
|
|
@ -500,15 +746,16 @@ void Tasks::BatteryTask(void *arg) {
|
||||||
rt_task_wait_period(NULL);
|
rt_task_wait_period(NULL);
|
||||||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
rs = robotStarted;
|
rs = robotStarted;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
if (rs == 1) {
|
if (rs == 1) {
|
||||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
Message* batteryReply = robot.Write(robot.GetBattery());
|
Message* batteryReply = parseMessage(robot.Write(robot.GetBattery())); // TODO : convert Message MessageID
|
||||||
string batteryLevel = batteryReply->ToString();
|
string batteryLevel = batteryReply->ToString();
|
||||||
rt_mutex_release(&mutex_robot);
|
rt_mutex_release(&mutex_robot);
|
||||||
WriteInQueue(&q_messageToMon, batteryReply);
|
WriteInQueue(&q_messageToMon, batteryReply);
|
||||||
|
|
||||||
}
|
}
|
||||||
rt_mutex_release(&mutex_robotStarted);
|
|
||||||
|
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
|
||||||
|
|
@ -66,6 +66,7 @@ private:
|
||||||
ComRobot robot;
|
ComRobot robot;
|
||||||
Camera camera;
|
Camera camera;
|
||||||
int robotStarted = 0;
|
int robotStarted = 0;
|
||||||
|
int compteurRobotLoss = 0;
|
||||||
int cameraStarted = 0;
|
int cameraStarted = 0;
|
||||||
int searchArena = 0;
|
int searchArena = 0;
|
||||||
int robotPos = 0;
|
int robotPos = 0;
|
||||||
|
|
@ -82,7 +83,11 @@ private:
|
||||||
RT_TASK th_startCamera;
|
RT_TASK th_startCamera;
|
||||||
RT_TASK th_move;
|
RT_TASK th_move;
|
||||||
RT_TASK th_battery;
|
RT_TASK th_battery;
|
||||||
|
/*RT_TASK th_lossCounter;*/
|
||||||
RT_TASK th_camera;
|
RT_TASK th_camera;
|
||||||
|
RT_TASK th_startRobotWithWatchdog;
|
||||||
|
RT_TASK th_robotReloadMessage;
|
||||||
|
|
||||||
/**********************************************************************/
|
/**********************************************************************/
|
||||||
/* Mutex */
|
/* Mutex */
|
||||||
/**********************************************************************/
|
/**********************************************************************/
|
||||||
|
|
@ -91,6 +96,7 @@ private:
|
||||||
RT_MUTEX mutex_robotStarted;
|
RT_MUTEX mutex_robotStarted;
|
||||||
RT_MUTEX mutex_cameraStarted;
|
RT_MUTEX mutex_cameraStarted;
|
||||||
RT_MUTEX mutex_move;
|
RT_MUTEX mutex_move;
|
||||||
|
RT_MUTEX mutex_compteurRobotLoss;
|
||||||
RT_MUTEX mutex_camera;
|
RT_MUTEX mutex_camera;
|
||||||
RT_MUTEX mutex_search_arena;
|
RT_MUTEX mutex_search_arena;
|
||||||
RT_MUTEX mutex_robot_pos;
|
RT_MUTEX mutex_robot_pos;
|
||||||
|
|
@ -102,7 +108,10 @@ private:
|
||||||
RT_SEM sem_openComRobot;
|
RT_SEM sem_openComRobot;
|
||||||
RT_SEM sem_serverOk;
|
RT_SEM sem_serverOk;
|
||||||
RT_SEM sem_startRobot;
|
RT_SEM sem_startRobot;
|
||||||
|
RT_SEM sem_startRobotWithWatchdog;
|
||||||
RT_SEM sem_startCamera;
|
RT_SEM sem_startCamera;
|
||||||
|
RT_SEM sem_connexionEstablished;
|
||||||
|
RT_SEM sem_reloadMessages;
|
||||||
|
|
||||||
/**********************************************************************/
|
/**********************************************************************/
|
||||||
/* Message queues */
|
/* Message queues */
|
||||||
|
|
@ -139,7 +148,12 @@ private:
|
||||||
void StartRobotTask(void *arg);
|
void StartRobotTask(void *arg);
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief Thread starting the communication with the robot.
|
* @brief Thread starting the communication with the robot with a watchdog.
|
||||||
|
*/
|
||||||
|
void StartRobotWithWatchDogTask(void *arg);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief Thread starting the communication with the Camera.
|
||||||
*/
|
*/
|
||||||
void StartCameraTask(void *arg);
|
void StartCameraTask(void *arg);
|
||||||
|
|
||||||
|
|
@ -154,6 +168,10 @@ private:
|
||||||
*/
|
*/
|
||||||
void BatteryTask(void *arg);
|
void BatteryTask(void *arg);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* @brief task in charge of counting packet losses.
|
||||||
|
void RobotLossCounter(void *arg);
|
||||||
|
*/
|
||||||
|
|
||||||
/**
|
/**
|
||||||
* @brief task in charge of managing the camera.
|
* @brief task in charge of managing the camera.
|
||||||
|
|
@ -177,6 +195,17 @@ private:
|
||||||
*/
|
*/
|
||||||
Message *ReadInQueue(RT_QUEUE *queue);
|
Message *ReadInQueue(RT_QUEUE *queue);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Read a message from the robot, returns it while editing the counter of packet losses
|
||||||
|
* @param Message
|
||||||
|
* @return Message
|
||||||
|
*/
|
||||||
|
Message* parseMessage(Message* msg);
|
||||||
|
|
||||||
|
/**
|
||||||
|
* Reloads a message
|
||||||
|
*/
|
||||||
|
void RobotReloadMessage(void *arg);
|
||||||
};
|
};
|
||||||
|
|
||||||
#endif // __TASKS_H__
|
#endif // __TASKS_H__
|
||||||
|
|
|
||||||
Loading…
Reference in a new issue