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<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
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<file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
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</group>
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</open-files>
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</project-private>
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#Fri Mar 31 12:07:07 CEST 2023
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1680248859421
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#Tue Apr 11 12:36:14 CEST 2023
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp=c1680524819149
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.cpp=c1680524985794
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||||
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp=c1680524819156
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.dep.inc=c1679401432701
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1680524819095
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||||
/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1680524819101
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1679401432922
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1679401457320
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/README.md=c1679401432714
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.dep.inc=c1680524818965
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1679401432820
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/wrapper.c=c1679401457381
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp=c1679404095224
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1680524985801
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/project.properties=c1680524819214
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.h=c1680524985807
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1679401432851
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1679401432844
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/commonitor.h=c1680524819130
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1679401432926
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/gdbsudo.sh=c1680524819082
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1679401457377
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1680524819127
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1679401432993
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1681203554249
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1679401432897
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/project.xml=c1680524985847
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h=c1680524819153
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/.gitignore=c1679401432706
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VERSION=1.3
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1679401432868
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1679401432836
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1679401432848
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h=c1680862388302
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@ -0,0 +1,39 @@
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#Mon Apr 03 15:16:34 CEST 2023
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp=c1680524819149
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.cpp=c1680524985794
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp=c1680527791011
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/Makefile=c1680524818973
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/wrapper.c=c1680524985856
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/README.md=c1680524819097
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.gitignore=c1680524818971
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1680524819108
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1680526563389
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/superviseur.doxygen=c1680524819223
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1680524819176
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1680524819187
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp=c1680524819156
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1680524819095
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1680524985801
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/project.properties=c1680524819214
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.h=c1680524985797
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.h=c1680524985807
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/README.md=c1680524818978
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.cpp=c1680524985804
|
||||
/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_TBATTERY 25
|
||||
#define PRIORITY_TSTARTCAMERA 25
|
||||
#define PRIORITY_TROBOTRELOADMESSAGE 25
|
||||
|
||||
/*
|
||||
* Some remarks:
|
||||
|
|
@ -51,7 +52,100 @@
|
|||
/**
|
||||
* @brief Initialisation des structures de l'application (tâches, mutex,
|
||||
* 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() {
|
||||
int status;
|
||||
int err;
|
||||
|
|
@ -75,6 +169,11 @@ void Tasks::Init() {
|
|||
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
|
||||
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)) {
|
||||
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
|
|
@ -94,7 +193,7 @@ void Tasks::Init() {
|
|||
cout << "Mutexes created successfully" << endl << flush;
|
||||
|
||||
/**************************************************************************************/
|
||||
/* Semaphors creation */
|
||||
/* Semaphores creation */
|
||||
/**************************************************************************************/
|
||||
if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
|
||||
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||
|
|
@ -104,6 +203,10 @@ void Tasks::Init() {
|
|||
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||
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)) {
|
||||
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||
exit(EXIT_FAILURE);
|
||||
|
|
@ -112,10 +215,18 @@ void Tasks::Init() {
|
|||
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||
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)) {
|
||||
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
|
||||
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;
|
||||
|
||||
/**************************************************************************************/
|
||||
|
|
@ -153,10 +264,23 @@ void Tasks::Init() {
|
|||
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||
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)) {
|
||||
cerr << "Error task create: " << strerror(-err) << endl << flush;
|
||||
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;
|
||||
|
||||
/**************************************************************************************/
|
||||
|
|
@ -213,7 +337,20 @@ void Tasks::Run() {
|
|||
cerr << "Error task start: " << strerror(-err) << endl << flush;
|
||||
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;
|
||||
}
|
||||
|
||||
|
|
@ -311,6 +448,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
|
|||
rt_sem_v(&sem_openComRobot);
|
||||
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
|
||||
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) ||
|
||||
msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
|
||||
msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
|
||||
|
|
@ -323,17 +462,34 @@ void Tasks::ReceiveFromMonTask(void *arg) {
|
|||
} else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)){
|
||||
rt_sem_v(&sem_startCamera);
|
||||
}else if(msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)){
|
||||
rt_mutex_acquire(&mutex_search_arena, TM_INFINITE);
|
||||
searchArena = 1;
|
||||
rt_mutex_release(&mutex_search_arena);
|
||||
rt_mutex_acquire(&mutex_search_arena, TM_INFINITE);
|
||||
searchArena = 1;
|
||||
rt_mutex_release(&mutex_search_arena);
|
||||
}else if(msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)){
|
||||
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
|
||||
robotPos = 1;
|
||||
rt_mutex_release(&mutex_robot_pos);
|
||||
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
|
||||
robotPos = 1;
|
||||
rt_mutex_release(&mutex_robot_pos);
|
||||
}else if(msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)){
|
||||
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
|
||||
robotPos = 0;
|
||||
rt_mutex_release(&mutex_robot_pos);
|
||||
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
|
||||
robotPos = 0;
|
||||
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
|
||||
}
|
||||
|
|
@ -366,8 +522,11 @@ void Tasks::OpenComRobot(void *arg) {
|
|||
if (status < 0) {
|
||||
msgSend = new Message(MESSAGE_ANSWER_NACK);
|
||||
} else {
|
||||
rt_sem_v(&sem_connexionEstablished);
|
||||
msgSend = new Message(MESSAGE_ANSWER_ACK);
|
||||
}
|
||||
|
||||
cout << "Open serial com (";
|
||||
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
||||
}
|
||||
}
|
||||
|
|
@ -379,7 +538,7 @@ void Tasks::StartRobotTask(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 */
|
||||
/**************************************************************************************/
|
||||
|
|
@ -389,7 +548,7 @@ void Tasks::StartRobotTask(void *arg) {
|
|||
rt_sem_p(&sem_startRobot, TM_INFINITE);
|
||||
cout << "Start robot without watchdog (";
|
||||
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);
|
||||
cout << msgSend->GetID();
|
||||
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.
|
||||
*/
|
||||
|
|
@ -412,7 +651,7 @@ void Tasks::StartCameraTask(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 */
|
||||
/**************************************************************************************/
|
||||
|
|
@ -423,12 +662,12 @@ void Tasks::StartCameraTask(void *arg) {
|
|||
rt_sem_p(&sem_startCamera, TM_INFINITE);
|
||||
cout << "Start Camera ";
|
||||
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
|
||||
bool status = camera.Open();
|
||||
bool status = camera.Open();
|
||||
if(!status){
|
||||
msgSend = new Message(MESSAGE_ANSWER_NACK);
|
||||
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
||||
cout << "NACK !" << endl << flush ;
|
||||
cout << msgSend->ToString() << endl << flush;
|
||||
cout << msgSend->ToString() << endl << flush;
|
||||
cout << "NACK1 ! " << endl << flush ;
|
||||
rt_mutex_release(&mutex_camera);
|
||||
cout << "NACK2 ! " << endl << flush ;
|
||||
|
|
@ -443,9 +682,9 @@ void Tasks::StartCameraTask(void *arg) {
|
|||
rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
|
||||
cout << "ff" << endl << flush ;
|
||||
cameraStarted = 1;
|
||||
cout << "Cam success! " << endl <<flush;
|
||||
cout << "Cam success! " << endl <<flush;
|
||||
rt_mutex_release(&mutex_cameraStarted);
|
||||
|
||||
|
||||
cout << "Fin de start cam" << endl << flush;
|
||||
}
|
||||
}
|
||||
|
|
@ -461,24 +700,31 @@ void Tasks::MoveTask(void *arg) {
|
|||
// Synchronization barrier (waiting that all tasks are starting)
|
||||
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";
|
||||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||
rs = robotStarted;
|
||||
rt_mutex_release(&mutex_robotStarted);
|
||||
if (rs == 1) {
|
||||
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
||||
cpMove = move;
|
||||
rt_mutex_release(&mutex_move);
|
||||
|
||||
cout << " move: " << cpMove;
|
||||
cout << " move: " << cpMove << endl << flush;
|
||||
|
||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||
robot.Write(new Message((MessageID)cpMove));
|
||||
parseMessage(robot.Write(new Message((MessageID)cpMove)));
|
||||
rt_mutex_release(&mutex_robot);
|
||||
}
|
||||
rt_mutex_release(&mutex_robotStarted);
|
||||
//cout << endl << flush;
|
||||
}
|
||||
}
|
||||
|
||||
/**
|
||||
* @brief task in charge of the battery status.
|
||||
|
|
@ -500,15 +746,16 @@ void Tasks::BatteryTask(void *arg) {
|
|||
rt_task_wait_period(NULL);
|
||||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||
rs = robotStarted;
|
||||
rt_mutex_release(&mutex_robotStarted);
|
||||
if (rs == 1) {
|
||||
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();
|
||||
rt_mutex_release(&mutex_robot);
|
||||
WriteInQueue(&q_messageToMon, batteryReply);
|
||||
|
||||
}
|
||||
rt_mutex_release(&mutex_robotStarted);
|
||||
|
||||
|
||||
}
|
||||
}
|
||||
|
|
@ -518,8 +765,8 @@ void Tasks::BatteryTask(void *arg) {
|
|||
* @brief task in charge of managing the camera.
|
||||
*/
|
||||
void Tasks::CameraTask(void *arg){
|
||||
|
||||
int cam;
|
||||
|
||||
int cam;
|
||||
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||
// Synchronization barrier (waiting that all tasks are starting)
|
||||
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
|
|
@ -527,37 +774,37 @@ void Tasks::CameraTask(void *arg){
|
|||
while(1){
|
||||
rt_task_wait_period(NULL);
|
||||
rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
|
||||
cam = cameraStarted;
|
||||
cam = cameraStarted;
|
||||
rt_mutex_release(&mutex_cameraStarted);
|
||||
if(!cam){
|
||||
|
||||
|
||||
continue;
|
||||
}
|
||||
|
||||
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
|
||||
// Lancer le traitement périodique
|
||||
Img img = camera.Grab();
|
||||
Arena arena;
|
||||
// Lancer le traitement périodique
|
||||
Img img = camera.Grab();
|
||||
Arena arena;
|
||||
rt_mutex_release(&mutex_camera);
|
||||
rt_mutex_acquire(&mutex_search_arena, TM_INFINITE);
|
||||
rt_mutex_acquire(&mutex_search_arena, TM_INFINITE);
|
||||
if(searchArena){
|
||||
// chopper l'arene
|
||||
// chopper l'arene
|
||||
cout << "Search arena pls ! " << endl << flush;
|
||||
arena = img.SearchArena();
|
||||
// searchArena = 0; // toggle?
|
||||
// searchArena = 0; // toggle?
|
||||
}
|
||||
rt_mutex_release(&mutex_search_arena);
|
||||
rt_mutex_release(&mutex_search_arena);
|
||||
|
||||
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
|
||||
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
|
||||
if(robotPos){
|
||||
// chopper le robot
|
||||
cout << "Pos du robot pls !" ;
|
||||
|
||||
|
||||
}
|
||||
rt_mutex_release(&mutex_robot_pos);
|
||||
rt_mutex_release(&mutex_robot_pos);
|
||||
if(arena.IsEmpty()){
|
||||
cout << "Arena empty" << endl << flush;
|
||||
// envoi d'un no ack au moniteur
|
||||
// envoi d'un no ack au moniteur
|
||||
}else{
|
||||
cout << "Draw Arena" << endl << flush;
|
||||
img.DrawArena(arena);
|
||||
|
|
@ -565,8 +812,8 @@ void Tasks::CameraTask(void *arg){
|
|||
// envoi de l'arene pour vérif
|
||||
}
|
||||
cout << "AAAAAAAAAAAAAAAAAAAAAAAAAAAAAAARENE" << endl << flush;
|
||||
WriteInQueue(&q_messageToMon, new MessageImg(MESSAGE_CAM_IMAGE,&img));
|
||||
|
||||
WriteInQueue(&q_messageToMon, new MessageImg(MESSAGE_CAM_IMAGE,&img));
|
||||
|
||||
}
|
||||
}
|
||||
|
||||
|
|
|
|||
|
|
@ -66,9 +66,10 @@ private:
|
|||
ComRobot robot;
|
||||
Camera camera;
|
||||
int robotStarted = 0;
|
||||
int compteurRobotLoss = 0;
|
||||
int cameraStarted = 0;
|
||||
int searchArena = 0;
|
||||
int robotPos = 0;
|
||||
int robotPos = 0;
|
||||
int move = MESSAGE_ROBOT_STOP;
|
||||
|
||||
/**********************************************************************/
|
||||
|
|
@ -82,7 +83,11 @@ private:
|
|||
RT_TASK th_startCamera;
|
||||
RT_TASK th_move;
|
||||
RT_TASK th_battery;
|
||||
/*RT_TASK th_lossCounter;*/
|
||||
RT_TASK th_camera;
|
||||
RT_TASK th_startRobotWithWatchdog;
|
||||
RT_TASK th_robotReloadMessage;
|
||||
|
||||
/**********************************************************************/
|
||||
/* Mutex */
|
||||
/**********************************************************************/
|
||||
|
|
@ -91,9 +96,10 @@ private:
|
|||
RT_MUTEX mutex_robotStarted;
|
||||
RT_MUTEX mutex_cameraStarted;
|
||||
RT_MUTEX mutex_move;
|
||||
RT_MUTEX mutex_compteurRobotLoss;
|
||||
RT_MUTEX mutex_camera;
|
||||
RT_MUTEX mutex_search_arena;
|
||||
RT_MUTEX mutex_robot_pos;
|
||||
RT_MUTEX mutex_robot_pos;
|
||||
|
||||
/**********************************************************************/
|
||||
/* Semaphores */
|
||||
|
|
@ -102,7 +108,10 @@ private:
|
|||
RT_SEM sem_openComRobot;
|
||||
RT_SEM sem_serverOk;
|
||||
RT_SEM sem_startRobot;
|
||||
RT_SEM sem_startRobotWithWatchdog;
|
||||
RT_SEM sem_startCamera;
|
||||
RT_SEM sem_connexionEstablished;
|
||||
RT_SEM sem_reloadMessages;
|
||||
|
||||
/**********************************************************************/
|
||||
/* Message queues */
|
||||
|
|
@ -137,9 +146,14 @@ private:
|
|||
* @brief Thread starting the communication with the robot.
|
||||
*/
|
||||
void StartRobotTask(void *arg);
|
||||
|
||||
/**
|
||||
* @brief Thread starting the communication with the robot with a watchdog.
|
||||
*/
|
||||
void StartRobotWithWatchDogTask(void *arg);
|
||||
|
||||
/**
|
||||
* @brief Thread starting the communication with the robot.
|
||||
* @brief Thread starting the communication with the Camera.
|
||||
*/
|
||||
void StartCameraTask(void *arg);
|
||||
|
||||
|
|
@ -153,13 +167,17 @@ private:
|
|||
* @brief task in charge of the battery status.
|
||||
*/
|
||||
void BatteryTask(void *arg);
|
||||
|
||||
|
||||
|
||||
/**
|
||||
* @brief task in charge of counting packet losses.
|
||||
void RobotLossCounter(void *arg);
|
||||
*/
|
||||
|
||||
/**
|
||||
* @brief task in charge of managing the camera.
|
||||
*/
|
||||
void CameraTask(void *arg);
|
||||
|
||||
|
||||
/**********************************************************************/
|
||||
/* Queue services */
|
||||
/**********************************************************************/
|
||||
|
|
@ -177,6 +195,17 @@ private:
|
|||
*/
|
||||
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__
|
||||
|
|
|
|||
Loading…
Reference in a new issue