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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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+
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+#include "tasks.h"
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+#include <stdexcept>
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+
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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 20
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+#define PRIORITY_TSENDTOMON 22
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+#define PRIORITY_TRECEIVEFROMMON 25
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+#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 24
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+#define PRIORITY_TSTARTROBOTWITHWATCHDOG 23
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+#define PRIORITY_TCAMERA 21
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+#define PRIORITY_TVISION 26
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+
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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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+
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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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+ int err;
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+
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+ /**************************************************************************************/
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+ /* Mutex creation */
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+ /**************************************************************************************/
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+ if (err = rt_mutex_create(&mutex_monitor, 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_robot, 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_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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+ if (err = rt_mutex_create(&mutex_killBattery, 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_killVision, 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_acquireImage, 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_searchArena, 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_drawArena, 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_getPosition, 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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+
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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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+ exit(EXIT_FAILURE);
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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_startRobotWithoutWatchdog, 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_startRobotWithWatchdog, 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_askBattery, 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_allowStartCaptureImage, 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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+ /**************************************************************************************/
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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_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_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_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_startRobotWithoutWatchdog, "th_startRobotWithoutWatchdog", 0, PRIORITY_TSTARTROBOTWITHOUTWATCHDOG, 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_startRobotWithWatchdog, "th_startRobotWithWatchdog", 0, PRIORITY_TSTARTROBOTWITHWATCHDOG, 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_askBattery, "th_askBattery", 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_vision, "th_vision", 0, PRIORITY_TVISION, 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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+
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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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+ }
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+ cout << "Queues created successfully" << endl << flush;
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+
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+}
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+
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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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+ rt_task_set_priority(NULL, T_LOPRIO);
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+ int err;
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+
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+ if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, 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_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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+ 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_openComRobot, (void(*)(void*)) & Tasks::OpenComRobot, 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_startRobotWithoutWatchdog, (void(*)(void*)) & Tasks::StartRobotTaskWithoutWatchdog, 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_startRobotWithWatchdog, (void(*)(void*)) & Tasks::StartRobotTaskWithWatchdog, 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_move, (void(*)(void*)) & Tasks::MoveTask, 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_askBattery, (void(*)(void*)) & Tasks::AskBattery, 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_vision, (void(*)(void*)) & Tasks::Vision, 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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+}
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+
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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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+
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+/**
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+ */
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+void Tasks::Join() {
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+ cout << "Tasks synchronized" << endl << flush;
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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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+/**
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+ * @brief Thread handling server communication with the monitor.
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+ */
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+void Tasks::ServerTask(void *arg) {
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+ int status;
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+
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+ cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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+ // Synchronization barrier (waiting that all tasks are started)
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+ rt_sem_p(&sem_barrier, TM_INFINITE);
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+
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+ /**************************************************************************************/
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+ /* The task server starts here */
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+ /**************************************************************************************/
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+ rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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+ status = monitor.Open(SERVER_PORT);
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+ rt_mutex_release(&mutex_monitor);
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+
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+ cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
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+
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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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+ monitor.AcceptClient(); // Wait the monitor client
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+ cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
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+ rt_sem_broadcast(&sem_serverOk);
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+}
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+
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+/**
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+ * @brief Thread sending data to monitor.
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+ */
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+void Tasks::SendToMonTask(void* arg) {
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+ Message *msg;
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+
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+ cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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+ // Synchronization barrier (waiting that all tasks are starting)
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+ rt_sem_p(&sem_barrier, TM_INFINITE);
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+
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+ /**************************************************************************************/
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+ /* The task sendToMon starts here */
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+ /**************************************************************************************/
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+ rt_sem_p(&sem_serverOk, TM_INFINITE);
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+
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+ while (1) {
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+ cout << "wait msg to send" << endl << flush;
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+ msg = ReadInQueue(&q_messageToMon);
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+ cout << "Send msg to mon: " << msg->ToString() << endl << flush;
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+ rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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+ monitor.Write(msg); // The message is deleted with the Write
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+ rt_mutex_release(&mutex_monitor);
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+ }
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+}
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+
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+/**
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+ * @brief Thread receiving data from monitor.
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+ */
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+void Tasks::ReceiveFromMonTask(void *arg) {
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+ Message *msgRcv;
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+
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+ cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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+ // Synchronization barrier (waiting that all tasks are starting)
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+ rt_sem_p(&sem_barrier, TM_INFINITE);
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+
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+ /**************************************************************************************/
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+ /* The task receiveFromMon starts here */
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+ /**************************************************************************************/
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+ rt_sem_p(&sem_serverOk, TM_INFINITE);
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+ cout << "Received message from monitor activated" << endl << flush;
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318
|
+
|
|
319
|
+ while (1) {
|
|
320
|
+ msgRcv = monitor.Read();
|
|
321
|
+ cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
|
|
322
|
+
|
|
323
|
+ if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
|
|
324
|
+ delete(msgRcv);
|
|
325
|
+ exit(-1);
|
|
326
|
+ } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
|
|
327
|
+ rt_sem_v(&sem_openComRobot);
|
|
328
|
+ } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
|
|
329
|
+ rt_sem_v(&sem_startRobotWithoutWatchdog);
|
|
330
|
+ } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
|
|
331
|
+ rt_sem_v(&sem_startRobotWithWatchdog);
|
|
332
|
+ } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
|
|
333
|
+ msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
|
|
334
|
+ msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
|
|
335
|
+ msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
|
|
336
|
+ msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
|
|
337
|
+
|
|
338
|
+ rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
|
339
|
+ move = msgRcv->GetID();
|
|
340
|
+ rt_mutex_release(&mutex_move);
|
|
341
|
+ }
|
|
342
|
+ delete(msgRcv); // mus be deleted manually, no consumer
|
|
343
|
+ }
|
|
344
|
+}
|
|
345
|
+
|
|
346
|
+
|
|
347
|
+
|
|
348
|
+
|
|
349
|
+/**
|
|
350
|
+ * @brief Thread opening communication with the robot.
|
|
351
|
+ */
|
|
352
|
+void Tasks::OpenComRobot(void *arg) {
|
|
353
|
+ int status;
|
|
354
|
+ int err;
|
|
355
|
+
|
|
356
|
+ cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
357
|
+ // Synchronization barrier (waiting that all tasks are starting)
|
|
358
|
+ rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
359
|
+
|
|
360
|
+ /**************************************************************************************/
|
|
361
|
+ /* The task openComRobot starts here */
|
|
362
|
+ /**************************************************************************************/
|
|
363
|
+ while (1) {
|
|
364
|
+ rt_sem_p(&sem_openComRobot, TM_INFINITE);
|
|
365
|
+ cout << "Open serial com (";
|
|
366
|
+ rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
367
|
+ status = robot.Open();
|
|
368
|
+ rt_mutex_release(&mutex_robot);
|
|
369
|
+ cout << status;
|
|
370
|
+ cout << ")" << endl << flush;
|
|
371
|
+
|
|
372
|
+ Message * msgSend;
|
|
373
|
+ if (status < 0) {
|
|
374
|
+ msgSend = new Message(MESSAGE_ANSWER_NACK);
|
|
375
|
+ } else {
|
|
376
|
+ msgSend = new Message(MESSAGE_ANSWER_ACK);
|
|
377
|
+ }
|
|
378
|
+ WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
|
379
|
+ }
|
|
380
|
+}
|
|
381
|
+
|
|
382
|
+
|
|
383
|
+
|
|
384
|
+
|
|
385
|
+
|
|
386
|
+
|
|
387
|
+/**
|
|
388
|
+ * @brief Thread starting the communication with the robot.
|
|
389
|
+ */
|
|
390
|
+void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
|
|
391
|
+ cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
392
|
+ // Synchronization barrier (waiting that all tasks are starting)
|
|
393
|
+ rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
394
|
+ int killBatteryOk=0;
|
|
395
|
+ Message * msgSend;
|
|
396
|
+ /**************************************************************************************/
|
|
397
|
+ /* The task startRobot starts here */
|
|
398
|
+ /**************************************************************************************/
|
|
399
|
+ //Boolean to get the battery
|
|
400
|
+ rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
|
|
401
|
+ killBatteryOk=0;
|
|
402
|
+ rt_mutex_release(&mutex_killBattery);
|
|
403
|
+ rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
|
|
404
|
+ cout << "Start robot without watchdog (";
|
|
405
|
+ rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
406
|
+ msgSend = robot.Write(robot.StartWithoutWD());
|
|
407
|
+ rt_mutex_release(&mutex_robot);
|
|
408
|
+ cout << msgSend->GetID();
|
|
409
|
+ cout << ")" << endl;
|
|
410
|
+ cout << "Movement answer: " << msgSend->ToString() << endl << flush;
|
|
411
|
+ WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
|
412
|
+
|
|
413
|
+ if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
|
|
414
|
+ rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
|
415
|
+ robotStarted = 1;
|
|
416
|
+ rt_mutex_release(&mutex_robotStarted);
|
|
417
|
+ rt_task_set_periodic(NULL, TM_NOW, 500000000);
|
|
418
|
+ while (killBatteryOk==0) {
|
|
419
|
+ rt_task_wait_period(NULL);
|
|
420
|
+ rt_sem_v(&sem_askBattery);
|
|
421
|
+ rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
|
|
422
|
+ killBatteryOk=killBattery;
|
|
423
|
+ rt_mutex_release(&mutex_killBattery);
|
|
424
|
+ }
|
|
425
|
+ }
|
|
426
|
+}
|
|
427
|
+
|
|
428
|
+/**
|
|
429
|
+ * @brief Thread starting the communication with the robot.
|
|
430
|
+ *//**
|
|
431
|
+ * @brief Thread starting the communication with the robot.
|
|
432
|
+ */
|
|
433
|
+
|
|
434
|
+
|
|
435
|
+void Tasks::StartRobotTaskWithWatchdog(void *arg) {
|
|
436
|
+ cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
437
|
+ // Synchronization barrier (waiting that all tasks are starting)
|
|
438
|
+ rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
439
|
+ int killBatteryOk=0;
|
|
440
|
+ int cpt=1;
|
|
441
|
+ Message * msgSend;
|
|
442
|
+ /**************************************************************************************/
|
|
443
|
+ /* The task startRobot starts here */
|
|
444
|
+ /**************************************************************************************/
|
|
445
|
+ //Boolean to get the battery
|
|
446
|
+ rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
|
|
447
|
+ killBattery=0;
|
|
448
|
+ rt_mutex_release(&mutex_killBattery);
|
|
449
|
+ rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
|
|
450
|
+ cout << "Start robot with watchdog (";
|
|
451
|
+ rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
452
|
+ msgSend = robot.Write(robot.StartWithWD());
|
|
453
|
+ rt_mutex_release(&mutex_robot);
|
|
454
|
+ cout << msgSend->GetID();
|
|
455
|
+ cout << ")" << endl;
|
|
456
|
+ cout << "Movement answer: " << msgSend->ToString() << endl << flush;
|
|
457
|
+ WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
|
458
|
+
|
|
459
|
+ if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
|
|
460
|
+ rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
|
461
|
+ robotStarted = 1;
|
|
462
|
+ rt_mutex_release(&mutex_robotStarted);
|
|
463
|
+ rt_task_set_periodic(NULL, TM_NOW, 500000000);
|
|
464
|
+ while (killBatteryOk==0) {
|
|
465
|
+ cpt++;
|
|
466
|
+ if(cpt==2){
|
|
467
|
+ robot.Write(robot.ReloadWD());
|
|
468
|
+ cpt=0;
|
|
469
|
+ }
|
|
470
|
+ rt_task_wait_period(NULL);
|
|
471
|
+ rt_sem_v(&sem_askBattery);
|
|
472
|
+ rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
|
|
473
|
+ killBatteryOk=killBattery;
|
|
474
|
+ rt_mutex_release(&mutex_killBattery);
|
|
475
|
+ }
|
|
476
|
+ }
|
|
477
|
+}
|
|
478
|
+
|
|
479
|
+
|
|
480
|
+/**
|
|
481
|
+ * @brief Thread handling control of the robot.
|
|
482
|
+ */
|
|
483
|
+void Tasks::MoveTask(void *arg) {
|
|
484
|
+ int rs;
|
|
485
|
+ int cpMove;
|
|
486
|
+
|
|
487
|
+ cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
488
|
+ // Synchronization barrier (waiting that all tasks are starting)
|
|
489
|
+ rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
490
|
+
|
|
491
|
+ /**************************************************************************************/
|
|
492
|
+ /* The task starts here */
|
|
493
|
+ /**************************************************************************************/
|
|
494
|
+ rt_task_set_periodic(NULL, TM_NOW, 100000000);
|
|
495
|
+
|
|
496
|
+ while (1) {
|
|
497
|
+ rt_task_wait_period(NULL);
|
|
498
|
+ cout << "Periodic movement update";
|
|
499
|
+ rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
|
500
|
+ rs = robotStarted;
|
|
501
|
+ rt_mutex_release(&mutex_robotStarted);
|
|
502
|
+ if (rs == 1) {
|
|
503
|
+ rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
|
504
|
+ cpMove = move;
|
|
505
|
+ rt_mutex_release(&mutex_move);
|
|
506
|
+
|
|
507
|
+ cout << " move: " << cpMove;
|
|
508
|
+
|
|
509
|
+ rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
510
|
+ robot.Write(new Message((MessageID)cpMove));
|
|
511
|
+ rt_mutex_release(&mutex_robot);
|
|
512
|
+ }
|
|
513
|
+ cout << endl << flush;
|
|
514
|
+ }
|
|
515
|
+}
|
|
516
|
+
|
|
517
|
+
|
|
518
|
+
|
|
519
|
+void Tasks::AskBattery(void *arg){
|
|
520
|
+ Message* p_mess_answer_battery;
|
|
521
|
+ cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
522
|
+ // Synchronization barrier (waiting that all tasks are starting)
|
|
523
|
+ rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
524
|
+
|
|
525
|
+ /**************************************************************************************/
|
|
526
|
+ /* The task starts here */
|
|
527
|
+ /**************************************************************************************/
|
|
528
|
+ while(1){
|
|
529
|
+ rt_sem_p(&sem_askBattery, TM_INFINITE);
|
|
530
|
+ rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
531
|
+ p_mess_answer_battery = robot.Write(robot.GetBattery());
|
|
532
|
+ rt_mutex_release(&mutex_robot);
|
|
533
|
+ WriteInQueue(&q_messageToMon, p_mess_answer_battery);
|
|
534
|
+ cout << endl << flush;
|
|
535
|
+ }
|
|
536
|
+}
|
|
537
|
+
|
|
538
|
+
|
|
539
|
+//This task works on a difficult principle that fully make it controllable through
|
|
540
|
+// monitor, accessing booleans variables to set getPosition or searchArena
|
|
541
|
+
|
|
542
|
+
|
|
543
|
+
|
|
544
|
+void Tasks::Vision(void *arg){
|
|
545
|
+ cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
546
|
+ // Synchronization barrier (waiting that all tasks are starting)
|
|
547
|
+ rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
548
|
+
|
|
549
|
+ rt_sem_p(&sem_askBattery, TM_INFINITE);
|
|
550
|
+ int killVisionOk=0;
|
|
551
|
+ Camera camera;
|
|
552
|
+ int acquireImageOk=1;
|
|
553
|
+ int searchArenaOk=0;
|
|
554
|
+ int drawArenaOk=0;
|
|
555
|
+ int getPositionOk=0;
|
|
556
|
+ Arena arena;
|
|
557
|
+ list<Position> positionList;
|
|
558
|
+ list<Position>::iterator it;
|
|
559
|
+ string strPos;
|
|
560
|
+ MessagePosition* msgPos;
|
|
561
|
+ Message* msgPosMsg;
|
|
562
|
+ MessageImg* msgImg;
|
|
563
|
+ Message* msgImgMsg;
|
|
564
|
+ msgPos->SetID(MESSAGE_CAM_POSITION);
|
|
565
|
+ msgImg->SetID(MESSAGE_CAM_IMAGE);
|
|
566
|
+ rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
|
|
567
|
+ killVision=0;
|
|
568
|
+ rt_mutex_release(&mutex_killVision);
|
|
569
|
+ camera.Open();
|
|
570
|
+ while(killVisionOk==0){
|
|
571
|
+ while(acquireImageOk==1){
|
|
572
|
+ Img img=camera.Grab();
|
|
573
|
+ if(searchArenaOk==1){
|
|
574
|
+ rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
|
|
575
|
+ acquireImage=0;
|
|
576
|
+ rt_mutex_release(&mutex_acquireImage);
|
|
577
|
+ acquireImageOk=acquireImage;
|
|
578
|
+ arena=img.SearchArena();
|
|
579
|
+ img.DrawArena(arena);
|
|
580
|
+ }
|
|
581
|
+ if(drawArenaOk==1){
|
|
582
|
+ // img.DrawArena(arena);
|
|
583
|
+ rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
|
|
584
|
+ acquireImage=1;
|
|
585
|
+ rt_mutex_release(&mutex_acquireImage);
|
|
586
|
+ acquireImageOk=acquireImage;
|
|
587
|
+ }
|
|
588
|
+ if(getPositionOk==1){
|
|
589
|
+ //On démarre la recherche du robot dans la zone définie par l'arène
|
|
590
|
+ positionList=img.SearchRobot(arena);
|
|
591
|
+ //Définitition et assignation de l'itérateur de parcrous de la liste positionList
|
|
592
|
+ it=positionList.begin();
|
|
593
|
+ //Définition d'un messagePosition qui va contenir l'information (x,y)
|
|
594
|
+ msgPos->SetPosition(*it);
|
|
595
|
+ //Transformation en message classique
|
|
596
|
+ msgPosMsg=msgPos->Copy();
|
|
597
|
+ //Envoi
|
|
598
|
+ WriteInQueue(&q_messageToMon,msgPos);
|
|
599
|
+ //Dessis du robot sur l'image
|
|
600
|
+ img.DrawRobot(*it);
|
|
601
|
+ }
|
|
602
|
+ //Définition d'un messageImg contenant l'image avec le robot et l'arène dessinés (ou pas)
|
|
603
|
+ msgImg->SetImage(&img);
|
|
604
|
+ //Transformation en message classique
|
|
605
|
+ msgImgMsg=msgImg->Copy();
|
|
606
|
+ //Envoi
|
|
607
|
+ WriteInQueue(&q_messageToMon,msgImg);
|
|
608
|
+ }
|
|
609
|
+ }
|
|
610
|
+ rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
|
|
611
|
+ searchArena=0;
|
|
612
|
+ rt_mutex_release(&mutex_searchArena);
|
|
613
|
+ searchArenaOk=1;
|
|
614
|
+ rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
|
|
615
|
+ getPosition=0;
|
|
616
|
+ rt_mutex_release(&mutex_getPosition);
|
|
617
|
+ getPositionOk=1;
|
|
618
|
+}
|
|
619
|
+
|
|
620
|
+
|
|
621
|
+
|
|
622
|
+
|
|
623
|
+
|
|
624
|
+/**
|
|
625
|
+ * Write a message in a given queue
|
|
626
|
+ * @param queue Queue identifier
|
|
627
|
+ * @param msg Message to be stored
|
|
628
|
+ */
|
|
629
|
+void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
|
|
630
|
+ int err;
|
|
631
|
+ if ((err = rt_queue_write(queue, (const void *) &msg, sizeof ((const void *) &msg), Q_NORMAL)) < 0) {
|
|
632
|
+ cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
|
|
633
|
+ throw std::runtime_error{"Error in write in queue"};
|
|
634
|
+ }
|
|
635
|
+}
|
|
636
|
+
|
|
637
|
+/**
|
|
638
|
+ * Read a message from a given queue, block if empty
|
|
639
|
+ * @param queue Queue identifier
|
|
640
|
+ * @return Message read
|
|
641
|
+ */
|
|
642
|
+Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
|
|
643
|
+ int err;
|
|
644
|
+ Message *msg;
|
|
645
|
+
|
|
646
|
+ if ((err = rt_queue_read(queue, &msg, sizeof ((void*) &msg), TM_INFINITE)) < 0) {
|
|
647
|
+ cout << "Read in queue failed: " << strerror(-err) << endl << flush;
|
|
648
|
+ throw std::runtime_error{"Error in read in queue"};
|
|
649
|
+ }/** else {
|
|
650
|
+ cout << "@msg :" << msg << endl << flush;
|
|
651
|
+ } /**/
|
|
652
|
+
|
|
653
|
+ return msg;
|
|
654
|
+}
|
|
655
|
+
|