2018-11-13 15:48:02 +01:00
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/*
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* Copyright (C) 2018 dimercur
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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2018-12-14 17:04:42 +01:00
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#include "tasks.h"
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2019-01-17 15:18:19 +01:00
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#include <stdexcept>
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2018-12-21 16:36:52 +01:00
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// Déclaration des priorités des taches
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#define PRIORITY_TSERVER 30
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#define PRIORITY_TOPENCOMROBOT 20
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#define PRIORITY_TMOVE 10
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2019-01-17 15:18:19 +01:00
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#define PRIORITY_TSENDTOMON 22
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#define PRIORITY_TRECEIVEFROMMON 25
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2018-12-21 16:36:52 +01:00
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#define PRIORITY_TSTARTROBOT 20
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2019-01-17 15:18:19 +01:00
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#define PRIORITY_TCAMERA 21
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2018-12-21 16:36:52 +01:00
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2019-01-17 15:18:19 +01:00
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/*
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* Some remarks:
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* 1- This program is mostly a template. It shows you how to create tasks, semaphore
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* message queues, mutex ... and how to use them
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*
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* 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
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*
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* 3- Data flow is probably not optimal
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*
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* 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
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* time for internal buffer to flush
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*
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* 5- Same behavior existe for ComMonitor::Write !
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*
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* 6- When you want to write something in terminal, use cout and terminate with endl and flush
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*
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* 7- Good luck !
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*/
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2018-08-27 16:39:49 +02:00
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2019-01-17 15:18:19 +01:00
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/**
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* @brief Initialisation des structures de l'application (tâches, mutex,
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* semaphore, etc.)
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*/
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void Tasks::Init() {
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int status;
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2018-08-27 16:39:49 +02:00
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int err;
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2019-01-17 15:18:19 +01:00
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/**************************************************************************************/
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/* Mutex creation */
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/**************************************************************************************/
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if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_move, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Mutexes created successfully" << endl << flush;
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2018-08-27 16:39:49 +02:00
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2019-01-17 15:18:19 +01:00
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/**************************************************************************************/
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/* Semaphors creation */
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/**************************************************************************************/
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if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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2018-08-27 16:39:49 +02:00
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exit(EXIT_FAILURE);
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2019-01-17 15:18:19 +01:00
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}
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if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_startRobot, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Semaphores created successfully" << endl << flush;
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/**************************************************************************************/
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/* Tasks creation */
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/**************************************************************************************/
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if (err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_startRobot, "th_startRobot", 0, PRIORITY_TSTARTROBOT, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Tasks created successfully" << endl << flush;
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2018-10-19 16:48:02 +02:00
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2019-01-17 15:18:19 +01:00
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/**************************************************************************************/
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/* Message queues creation */
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/**************************************************************************************/
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if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
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cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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2018-08-27 16:39:49 +02:00
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}
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2019-01-17 15:18:19 +01:00
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cout << "Queues created successfully" << endl << flush;
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/* Open com port with STM32 */
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cout << "Open serial com (";
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status = robot.Open();
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cout << status;
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cout << ")" << endl;
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if (status >= 0) {
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// Open server
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status = monitor.Open(SERVER_PORT);
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cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
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if (status < 0) throw std::runtime_error {
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"Unable to start server on port " + std::to_string(SERVER_PORT)
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};
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} else
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throw std::runtime_error {
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"Unable to open serial port /dev/ttyS0 "
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};
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2018-08-27 16:39:49 +02:00
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}
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2019-01-17 15:18:19 +01:00
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/**
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* @brief Démarrage des tâches
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*/
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void Tasks::Run() {
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2018-08-27 16:39:49 +02:00
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int err;
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2019-01-17 15:18:19 +01:00
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if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_camera, (void(*)(void*)) & Tasks::CameraTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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2018-08-27 16:39:49 +02:00
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}
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2019-01-17 15:18:19 +01:00
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// if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
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// cerr << "Error task start: " << strerror(-err) << endl << flush;
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// exit(EXIT_FAILURE);
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// }
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cout << "Tasks launched" << endl << flush;
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2018-08-27 16:39:49 +02:00
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}
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2019-01-17 15:18:19 +01:00
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/**
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* @brief Arrêt des tâches
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*/
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void Tasks::Stop() {
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monitor.Close();
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robot.Close();
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}
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2018-08-27 16:39:49 +02:00
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2019-01-17 15:18:19 +01:00
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/**
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*/
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void Tasks::Join() {
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rt_sem_broadcast(&sem_barrier);
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pause();
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}
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/**
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* @brief Thread handling server communication.
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*/
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void Tasks::ReceiveFromMonTask(void *arg) {
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Message *msgRcv;
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Message *msgSend;
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bool isActive = true;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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while (isActive) {
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msgRcv = NULL;
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msgSend = NULL;
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msgRcv = monitor.Read();
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cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
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if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
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msgSend = new Message(MESSAGE_ANSWER_ACK);
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isActive = true;
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2018-08-27 16:39:49 +02:00
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2019-01-17 15:18:19 +01:00
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delete(msgRcv); // mus be deleted manually, no consumer
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}
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if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
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msgSend = new Message(MESSAGE_ANSWER_ACK);
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cout << "isActive = false!" << msgRcv->ToString() << endl << flush;
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isActive = false;
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delete(msgRcv); // mus be deleted manually, no consumer
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}
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if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
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msgSend = robot.Write(msgRcv);
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cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
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}
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if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
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msgSend = robot.Write(msgRcv);
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cout << "Start without wd answer: " << msgSend->ToString() << endl << flush;
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}
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if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
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msgSend = robot.Write(msgRcv);
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cout << "Reset answer: " << msgSend->ToString() << endl << flush;
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}
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if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
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msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
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msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
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msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
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msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
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msgSend = robot.Write(msgRcv);
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cout << "Movement answer: " << msgSend->ToString() << endl << flush;
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if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
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delete (msgSend);
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msgSend = NULL;
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2018-08-27 16:39:49 +02:00
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}
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}
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2019-01-17 15:18:19 +01:00
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if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
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sendImage = true;
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msgSend = new Message(MESSAGE_ANSWER_ACK);
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2018-08-27 16:39:49 +02:00
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2019-01-17 15:18:19 +01:00
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delete(msgRcv); // must be deleted manually, no consumer
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}
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2018-08-27 16:39:49 +02:00
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2019-01-17 15:18:19 +01:00
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if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
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sendImage = false;
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msgSend = new Message(MESSAGE_ANSWER_ACK);
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2018-08-27 16:39:49 +02:00
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2019-01-17 15:18:19 +01:00
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delete(msgRcv); // must be deleted manually, no consumer
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}
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if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
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sendPosition = true;
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msgSend = new Message(MESSAGE_ANSWER_ACK);
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delete(msgRcv); // must be deleted manually, no consumer
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}
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if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
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sendPosition = false;
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msgSend = new Message(MESSAGE_ANSWER_ACK);
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delete(msgRcv); // must be deleted manually, no consumer
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2018-08-27 16:39:49 +02:00
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}
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2019-01-17 15:18:19 +01:00
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if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
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msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
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delete(msgRcv); // must be deleted manually, no consumer
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}
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if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
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showArena = true;
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delete(msgRcv); // must be deleted manually, no consumer
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}
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if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
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showArena = false;
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delete(msgRcv); // must be deleted manually, no consumer
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}
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if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
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showArena = false;
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delete(msgRcv); // must be deleted manually, no consumer
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}
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if (msgSend != NULL) monitor.Write(msgSend);
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2018-08-27 16:39:49 +02:00
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}
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}
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2019-01-17 15:18:19 +01:00
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/**
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* @brief Thread handling periodic image capture.
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*/
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void Tasks::CameraTask(void* arg) {
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struct timespec tim, tim2;
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Message *msgSend;
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int counter;
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int cntFrame = 0;
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Position pos;
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Arena arena;
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2018-08-27 16:39:49 +02:00
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2019-01-17 15:18:19 +01:00
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tim.tv_sec = 0;
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tim.tv_nsec = 50000000; // 50ms (20fps)
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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Camera camera = Camera(sm, 20);
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cout << "Try opening camera" << endl << flush;
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if (camera.Open()) cout << "Camera opened successfully" << endl << flush;
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|
|
else {
|
|
|
|
cout << "Failed to open camera" << endl << flush;
|
|
|
|
|
|
|
|
exit(0);
|
|
|
|
}
|
2018-08-27 16:39:49 +02:00
|
|
|
|
|
|
|
while (1) {
|
2019-01-17 15:18:19 +01:00
|
|
|
|
2018-08-27 16:39:49 +02:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2019-01-17 15:18:19 +01:00
|
|
|
/**
|
|
|
|
* @brief Thread sending data to monitor.
|
|
|
|
*/
|
|
|
|
void Tasks::SendToMonTask(void* arg) {
|
|
|
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
|
|
|
2018-08-27 16:39:49 +02:00
|
|
|
while (1) {
|
2019-01-17 15:18:19 +01:00
|
|
|
|
|
|
|
}
|
|
|
|
}
|
|
|
|
|
|
|
|
/**
|
|
|
|
* 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"};
|
2018-08-27 16:39:49 +02:00
|
|
|
}
|
|
|
|
}
|
|
|
|
|
2019-01-17 15:18:19 +01:00
|
|
|
/**
|
|
|
|
* 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;
|
2018-12-21 16:36:52 +01:00
|
|
|
}
|
|
|
|
|