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private and task changes

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This commit is contained in:
Romain Vitrat 2020-03-31 16:58:37 +02:00
commit 19cefe3563
3 changed files with 502 additions and 301 deletions
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17
software/raspberry/superviseur-robot/lib/comrobot.cpp
View file

@ -131,7 +131,11 @@ int ComRobot::Open(string usart) {
* @return Success if above 0, failure if below 0
*/
int ComRobot::Close() {
#ifdef __SIMULATION__
return close(sock);
#elif
return close(fd);
#endif
}
/**
@ -155,17 +159,22 @@ Message *ComRobot::Write(Message* msg) {
char buffer[1024] = {0};
cout << "[" << __PRETTY_FUNCTION__ << "] Send command: " << s << endl << flush;
send(sock, s.c_str(), s.length(), 0);
send(sock, s.c_str(), s.length(), MSG_NOSIGNAL);
int valread = read(sock, buffer, 1024);
if (valread < 0) {
if (valread == 0) {
cout << "The communication is out of order" << endl;
msgAnswer = new Message(MESSAGE_ANSWER_COM_ERROR);
} else if (valread < 0) {
cout << "Timeout" << endl;
msgAnswer = new Message(MESSAGE_ANSWER_ROBOT_TIMEOUT);
} else {
string s(&buffer[0], valread);
msgAnswer = StringToMessage(s);
//msgAnswer = new Message(MESSAGE_ANSWER_ACK);
cout << "Response: " << buffer << ", id: " << msgAnswer->GetID() << endl;
}
cout << "response: " << buffer << ", id: " << msgAnswer->GetID() << endl;
#else
AddChecksum(s);

771
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -19,17 +19,17 @@
#include <stdexcept>
// Déclaration des priorités des taches
#define PRIORITY_TSERVER 30
#define PRIORITY_TOPENCOMROBOT 20
#define PRIORITY_TSERVER 10
#define PRIORITY_TOPENCOMROBOT 50
#define PRIORITY_TMOVE 20
#define PRIORITY_TSENDTOMON 22
#define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TRECEIVEFROMMON 50
#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 22
#define PRIORITY_TSTARTROBOTWITHWATCHDOG 22
#define PRIORITY_TCAMERA 21
#define PRIORITY_DETECTLOSTSUPROB 21
#define PRIORITY_TVISION 26
/*
* Some remarks:
* 1- This program is mostly a template. It shows you how to create tasks, semaphore
@ -146,21 +146,21 @@ void Tasks::Init() {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_detectLostSupRob, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_askBattery, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_allowStartReceive, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_allowStartCapture, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
//Initialization for some specific sem: Allow to run the first time
rt_sem_v(&sem_allowStartReceive);
if (err = rt_sem_create(&sem_restart, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Semaphores created successfully" << endl << flush;
@ -168,31 +168,36 @@ void Tasks::Init() {
/* Tasks creation */
/**************************************************************************************/
if (err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
cerr << "Error task create server: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
cerr << "Error task create sendtoMon: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
cerr << "Error task create receiveFromMon: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
cerr << "Error task create openComRobot: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_startRobotWithoutWatchdog, "th_startRobotWithoutWatchdog", 0, PRIORITY_TSTARTROBOTWITHOUTWATCHDOG, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
cerr << "Error task create startRobotWithoutWatchdog: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_startRobotWithWatchdog, "th_startRobotWithWatchdog", 0, PRIORITY_TSTARTROBOTWITHWATCHDOG, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
cerr << "Error task create startRobotWithWatchdog: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
cerr << "Error task create move: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_detectLostSupRob, "th_detectLostSupRob", 0, PRIORITY_DETECTLOSTSUPROB, 0)) {
cerr << "Error task create detectLostSupRob: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_askBattery, "th_askBattery", 0, PRIORITY_TMOVE, 0)) {
@ -220,46 +225,55 @@ void Tasks::Init() {
* @brief Démarrage des tâches
*/
void Tasks::Run() {
rt_task_set_priority(NULL, T_LOPRIO);
int err;
cout << "Coucou" << endl << flush;
if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_openComRobot, (void(*)(void*)) & Tasks::OpenComRobot, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_startRobotWithoutWatchdog, (void(*)(void*)) & Tasks::StartRobotTaskWithoutWatchdog, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_startRobotWithWatchdog, (void(*)(void*)) & Tasks::StartRobotTaskWithWatchdog, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_move, (void(*)(void*)) & Tasks::MoveTask, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_askBattery, (void(*)(void*)) & Tasks::AskBattery, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_vision, (void(*)(void*)) & Tasks::Vision, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks launched" << endl << flush;
rt_task_set_priority(NULL, T_LOPRIO);
int err;
if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
cerr << "Error task start server: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
cerr << "Error task start sendToMon: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
cerr << "Error task start receiveFromMon: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_openComRobot, (void(*)(void*)) & Tasks::OpenComRobot, this)) {
cerr << "Error task start openComRobot: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_startRobotWithoutWatchdog, (void(*)(void*)) & Tasks::StartRobotTaskWithoutWatchdog, this)) {
cerr << "Error task start startRobotWithoutWatchdog: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_startRobotWithWatchdog, (void(*)(void*)) & Tasks::StartRobotTaskWithWatchdog, this)) {
cerr << "Error task start startRobotWithWatchdog: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_move, (void(*)(void*)) & Tasks::MoveTask, this)) {
cerr << "Error task start move: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_detectLostSupRob, (void(*)(void*)) & Tasks::DetectLostSupRob, this)) {
cerr << "Error task start detectLostSupRob: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_askBattery, (void(*)(void*)) & Tasks::AskBattery, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_vision, (void(*)(void*)) & Tasks::Vision, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks launched" << endl << flush;
}
/**
@ -275,6 +289,10 @@ void Tasks::Stop() {
void Tasks::Join() {
cout << "Tasks synchronized" << endl << flush;
rt_sem_broadcast(&sem_barrier);
//Initialization for some specific sem: Allow to run the first time
//rt_sem_broadcast(&sem_restart);
pause();
}
@ -285,24 +303,27 @@ void Tasks::ServerTask(void *arg) {
int status;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are started)
rt_sem_p(&sem_barrier, TM_INFINITE);
while(1){
// Synchronization barrier (waiting that all tasks are started)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task server starts here */
/**************************************************************************************/
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
status = monitor.Open(SERVER_PORT);
rt_mutex_release(&mutex_monitor);
/**************************************************************************************/
/* The task server starts here */
/**************************************************************************************/
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
status = monitor.Open(SERVER_PORT);
rt_mutex_release(&mutex_monitor);
cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
if (status < 0) throw std::runtime_error {
"Unable to start server on port " + std::to_string(SERVER_PORT)
};
monitor.AcceptClient(); // Wait the monitor client
cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
rt_sem_broadcast(&sem_serverOk);
if (status < 0) throw std::runtime_error {
"Unable to start server on port " + std::to_string(SERVER_PORT)
};
monitor.AcceptClient(); // Wait the monitor client
cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
rt_sem_broadcast(&sem_serverOk);
}
}
/**
@ -310,23 +331,41 @@ void Tasks::ServerTask(void *arg) {
*/
void Tasks::SendToMonTask(void* arg) {
Message *msg;
bool kill_sendToMonOk=0;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
while(1){
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task sendToMon starts here */
/**************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE);
/**************************************************************************************/
/* The task sendToMon starts here */
/**************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE);
//Initialize the loop condition
kill_sendToMonOk=0;
rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
killSendMon=0; // The message is deleted with the Write
rt_mutex_release(&mutex_killSendMon);
while (1) {
cout << "wait msg to send" << endl << flush;
msg = ReadInQueue(&q_messageToMon);
cout << "Send msg to mon: " << msg->ToString() << endl << flush;
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Write(msg); // The message is deleted with the Write
rt_mutex_release(&mutex_monitor);
while (!kill_sendToMonOk) {
cout << "wait msg to send" << endl << flush;
msg = ReadInQueue(&q_messageToMon);
cout << "Send msg to mon: " << msg->ToString() << endl << flush;
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Write(msg); // The message is deleted with the Write
rt_mutex_release(&mutex_monitor);
rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
kill_sendToMonOk=killSendMon; // The message is deleted with the Write
rt_mutex_release(&mutex_killSendMon);
}
cout << "SendToMon Task dies" << endl << flush;
}
}
@ -336,137 +375,184 @@ void Tasks::SendToMonTask(void* arg) {
void Tasks::ReceiveFromMonTask(void *arg) {
Message *msgRcv;
bool killReceiveFromMonOk=0;
int status;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
//Wait twin task to die if not first round
rt_sem_p(&sem_allowStartReceive, TM_INFINITE);
//Reinitialize control boolean
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMon=0;
rt_mutex_release(&mutex_killReceiveFromMon);
/**************************************************************************************/
/* The task receiveFromMon starts here */
/**************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE);
cout << "Received message from monitor activated" << endl << flush;
while (!killReceiveFromMonOk) {
msgRcv = monitor.Read();
cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
while(1){
if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
delete(msgRcv);
cout << "Connection to monitor lost" << endl;
monitor.Close();
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMon=1;
rt_mutex_release(&mutex_killReceiveFromMon);
rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
killVision=1;
rt_mutex_release(&mutex_killVision);
rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
killSendMon=1;
rt_mutex_release(&mutex_killSendMon);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=1;
rt_mutex_release(&mutex_killBattery);
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
killDetectlostSupRob=1;
rt_mutex_release(&mutex_killDetectLostSupRob);
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=0;
rt_mutex_release(&mutex_acquireImage);
//exit(-1);
} else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
cout << "Command Open Camera Received" << endl << flush;
//start task Vision
} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
cout << "Command Open Communication with Robot Received" << endl << flush;
rt_sem_v(&sem_openComRobot);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
cout << "Command Start Robot without Watchdog Received" << endl << flush;
rt_sem_v(&sem_startRobotWithoutWatchdog);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
cout << "Command Start Robot with Watchdog Received" << endl << flush;
rt_sem_v(&sem_startRobotWithWatchdog);
} else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
cout << "Command Search Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=1;
rt_mutex_release(&mutex_searchArena);
} else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
cout << "Command Get Root Position Received" << endl << flush;
rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
getPosition=1;
rt_mutex_release(&mutex_getPosition);
} else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
cout << "Command Stop Getting Robot Position Received" << endl << flush;
rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
getPosition=0;
rt_mutex_release(&mutex_getPosition);
} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
cout << "Command Confirm Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_drawArena, TM_INFINITE);
drawArena=1;
rt_mutex_release(&mutex_drawArena);
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=0;
rt_mutex_release(&mutex_searchArena);
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=1;
rt_mutex_release(&mutex_acquireImage);
} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
cout << "Command Infirm Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=0;
rt_mutex_release(&mutex_searchArena);
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=1;
rt_mutex_release(&mutex_acquireImage);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
rt_mutex_acquire(&mutex_move, TM_INFINITE);
move = msgRcv->GetID();
rt_mutex_release(&mutex_move);
}
delete(msgRcv); // must be deleted manually, no consumer
//Update loop condition
//Reinitialize control boolean
killReceiveFromMonOk = 0;
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMonOk=killReceiveFromMon;
killReceiveFromMon = 0;
rt_mutex_release(&mutex_killReceiveFromMon);
/**************************************************************************************/
/* The task receiveFromMon starts here */
/**************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE);
cout << "Received message from monitor activated" << endl << flush;
while (!killReceiveFromMonOk) {
msgRcv = monitor.Read();
cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
cout << "Connection to monitor lost" << endl;
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMon=1;
rt_mutex_release(&mutex_killReceiveFromMon);
rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
killVision=1;
rt_mutex_release(&mutex_killVision);
rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
killSendMon=1;
rt_mutex_release(&mutex_killSendMon);
//Write fake message in queue to unblock Read function
WriteInQueue(&q_messageToMon, new Message(MESSAGE_EMPTY));
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=1;
rt_mutex_release(&mutex_killBattery);
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
killDetectLostSupRob=1;
rt_mutex_release(&mutex_killDetectLostSupRob);
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=0;
rt_mutex_release(&mutex_acquireImage);
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
robotStarted=0;
rt_mutex_release(&mutex_robotStarted);
//Wait every task to die
sleep(1);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
status=robot.Close();
rt_mutex_release(&mutex_robot);
if(status<0){
cout << "Close Robot Fail" << endl << flush;
}
else{
cout << "Close Robot Success" << endl << flush;
}
//All closes
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Close();
rt_mutex_release(&mutex_monitor);
//Release restarted tasks
rt_sem_broadcast(&sem_barrier);
} else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
cout << "Command Open Camera Received" << endl << flush;
//start task Vision
} else if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
cout << "Command Close Camera Received" << endl << flush;
//Trigger killVision
rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
killVision=1;
rt_mutex_release(&mutex_killVision);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
cout << "Command Open Communication with Robot Received" << endl << flush;
rt_sem_v(&sem_openComRobot);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
cout << "Command Close Communication with Robot Received" << endl << flush;
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
status=robot.Close();
rt_mutex_release(&mutex_robot);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
cout << "Command Start Robot without Watchdog Received" << endl << flush;
rt_sem_v(&sem_startRobotWithoutWatchdog);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
cout << "Command Start Robot with Watchdog Received" << endl << flush;
rt_sem_v(&sem_startRobotWithWatchdog);
} else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
cout << "Command Search Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=1;
rt_mutex_release(&mutex_searchArena);
} else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
cout << "Command Get Robot Position Received" << endl << flush;
rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
getPosition=1;
rt_mutex_release(&mutex_getPosition);
} else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
cout << "Command Stop Getting Robot Position Received" << endl << flush;
rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
getPosition=0;
rt_mutex_release(&mutex_getPosition);
} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
cout << "Command Confirm Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_drawArena, TM_INFINITE);
drawArena=1;
rt_mutex_release(&mutex_drawArena);
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=0;
rt_mutex_release(&mutex_searchArena);
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=1;
rt_mutex_release(&mutex_acquireImage);
} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
cout << "Command Infirm Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=0;
rt_mutex_release(&mutex_searchArena);
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=1;
rt_mutex_release(&mutex_acquireImage);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
rt_mutex_acquire(&mutex_move, TM_INFINITE);
move = msgRcv->GetID();
rt_mutex_release(&mutex_move);
}
delete(msgRcv); // must be deleted manually, no consumer
//Update loop condition
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMonOk = killReceiveFromMon;
rt_mutex_release(&mutex_killReceiveFromMon);
}
cout << "ReceiveFromMon dies" << endl << flush;
}
rt_sem_v(&sem_allowStartReceive);
}
@ -475,34 +561,39 @@ void Tasks::ReceiveFromMonTask(void *arg) {
/**
* @brief Thread opening communication with the robot.
*/
void Tasks::OpenComRobot(void *arg) {
void Tasks::OpenComRobot(void *arg) { //PAS DE SOUCIS AU REDEMARAGE
int status;
int err;
//bool killOpenComRobotOk = 0;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task openComRobot starts here */
/**************************************************************************************/
while (1) {
rt_sem_p(&sem_openComRobot, TM_INFINITE);
cout << "Open serial com (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
status = robot.Open();
rt_mutex_release(&mutex_robot);
cout << status;
cout << ")" << endl << flush;
Message * msgSend;
if (status < 0) {
msgSend = new Message(MESSAGE_ANSWER_NACK);
} else {
msgSend = new Message(MESSAGE_ANSWER_ACK);
/**************************************************************************************/
/* The task openComRobot starts here */
/**************************************************************************************/
while (1) {
rt_sem_p(&sem_openComRobot, TM_INFINITE);
cout << "Open serial com (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
status = robot.Open();
rt_mutex_release(&mutex_robot);
cout << status;
cout << ")" << endl << flush;
Message * msgSend;
if (status < 0) {
msgSend = new Message(MESSAGE_ANSWER_NACK);
} else {
msgSend = new Message(MESSAGE_ANSWER_ACK);
}
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
//Trigger Detection of Communication Loss with Robot
rt_sem_v(&sem_detectLostSupRob);
}
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
}
}
@ -516,39 +607,42 @@ void Tasks::OpenComRobot(void *arg) {
* @brief Thread starting the communication with the robot.
*/
void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
int killBatteryOk=0;
Message * msgSend;
/**************************************************************************************/
/* The task startRobot starts here */
/**************************************************************************************/
//Boolean to get the battery
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBatteryOk=0;
rt_mutex_release(&mutex_killBattery);
rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
cout << "Start robot without watchdog (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
msgSend = robot.Write(robot.StartWithoutWD());
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
while(1){
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
//Boolean to get the battery
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBatteryOk=0;
rt_mutex_release(&mutex_killBattery);
rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
cout << "Start robot without watchdog (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
msgSend = robot.Write(robot.StartWithoutWD());
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);
robotStarted = 1;
rt_mutex_release(&mutex_robotStarted);
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while (killBatteryOk==0) {
rt_task_wait_period(NULL);
rt_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBatteryOk=killBattery;
rt_mutex_release(&mutex_killBattery);
if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
robotStarted = 1;
rt_mutex_release(&mutex_robotStarted);
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while (killBatteryOk==0) {
rt_task_wait_period(NULL);
rt_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBatteryOk=killBattery;
rt_mutex_release(&mutex_killBattery);
}
}
}
}
@ -560,47 +654,58 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
* @brief Thread starting the communication with the robot.
*/
void Tasks::StartRobotTaskWithWatchdog(void *arg) {
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
int killBatteryOk=0;
int cpt=1;
Message * msgSend;
/**************************************************************************************/
/* The task startRobot starts here */
/**************************************************************************************/
//Boolean to get the battery
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=0;
rt_mutex_release(&mutex_killBattery);
rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
cout << "Start robot with watchdog (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
msgSend = robot.Write(robot.StartWithWD());
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
int err;
while(1){
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 */
/**************************************************************************************/
if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
robotStarted = 1;
rt_mutex_release(&mutex_robotStarted);
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while (killBatteryOk==0) {
cpt++;
if(cpt==2){
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(robot.ReloadWD());
rt_mutex_release(&mutex_robot);
cpt=0;
//Boolean to get the battery
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=0;
rt_mutex_release(&mutex_killBattery);
rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
cout << "Start robot with watchdog (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
msgSend = robot.Write(robot.StartWithWD());
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);
robotStarted = 1;
rt_mutex_release(&mutex_robotStarted);
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while (killBatteryOk==0) {
cpt++;
if(cpt==2){
cpt=0;
}
rt_task_wait_period(NULL);
rt_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBatteryOk=killBattery;
rt_mutex_release(&mutex_killBattery);
}
rt_task_wait_period(NULL);
rt_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBatteryOk=killBattery;
rt_mutex_release(&mutex_killBattery);
}
}
}
@ -644,6 +749,86 @@ void Tasks::MoveTask(void *arg) {
}
}
void Tasks::DetectLostSupRob(void *arg){
//counter to detect loss of communication
int cpt=0;
bool kill_detectLostSupRobOk=0;
Message* msgSend;
//Period = 1s
rt_task_set_periodic(NULL, TM_NOW, 1000000000);
while(1){
//Wait the Communication with the Robot to be Set
rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
cout << "Start DetectLostSupRob" << endl << flush;
//Initialize counter to detect loss
cpt = 0;
//Initialize the variable for the loop condition
kill_detectLostSupRobOk = 0;
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
killDetectLostSupRob = 0;
rt_mutex_release(&mutex_killDetectLostSupRob);
while(!kill_detectLostSupRobOk){
rt_task_wait_period(NULL);
//Test Communication with Robot
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
msgSend = robot.Write(robot.Ping());
rt_mutex_release(&mutex_robot);
cout << "J'écris un message" << endl << flush;
if(msgSend->GetID() == MESSAGE_ANSWER_COM_ERROR || msgSend->GetID() == MESSAGE_ANSWER_ROBOT_TIMEOUT){
cout << "Didn't Get Any Answer from Robot" << endl << flush;
cpt++;
if(cpt==3){
//acknowledge loss communication with robot
//WriteInQueue(&q_messageToMon, new Message(MESSAGE_MONITOR_LOST));
cout << "Restart Communication with Robot" << endl << flush;
//Trigger Kill of DetectLostSupRob
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
killDetectLostSupRob=1;
rt_mutex_release(&mutex_killDetectLostSupRob);
//Trigger Kill of the Battery acquisition and therefore Robot with or without WD
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=1;
rt_mutex_release(&mutex_killBattery);
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
robotStarted=0;
rt_mutex_release(&mutex_robotStarted);
rt_sem_v(&sem_openComRobot);
}
}
else{
cout << "I got an Answer from Robot" << endl << flush;
}
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
kill_detectLostSupRobOk=killDetectLostSupRob;
rt_mutex_release(&mutex_killDetectLostSupRob);
}
cout << "DetectLostSupRob dies";
}
}
void Tasks::AskBattery(void *arg){
Message* p_mess_answer_battery;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;

15
software/raspberry/superviseur-robot/tasks.h
View file

@ -71,10 +71,11 @@ private:
bool killVision=0;
bool searchArena=0;
bool killSendMon=0;
bool killDetectlostSupRob=0;
bool killDetectLostSupRob=0;
bool acquireImage=0;
bool getPosition=0;
bool drawArena=0;
bool killOpenComRobot=0;
/* Tasks */
@ -86,6 +87,7 @@ private:
RT_TASK th_startRobotWithoutWatchdog;
RT_TASK th_startRobotWithWatchdog;
RT_TASK th_move;
RT_TASK th_detectLostSupRob;
RT_TASK th_vision;
RT_TASK th_askBattery;
@ -107,6 +109,8 @@ private:
RT_MUTEX mutex_killDetectLostSupRob;
RT_MUTEX mutex_killStartRob;
RT_MUTEX mutex_acquireImage;
RT_MUTEX mutex_killOpenComRobot;
/**********************************************************************/
/* Semaphores */
/**********************************************************************/
@ -115,9 +119,9 @@ private:
RT_SEM sem_serverOk;
RT_SEM sem_startRobotWithoutWatchdog;
RT_SEM sem_startRobotWithWatchdog;
RT_SEM sem_allowStartReceive;
RT_SEM sem_detectLostSupRob;
RT_SEM sem_restart;
RT_SEM sem_askBattery;
RT_SEM sem_allowStartCapture;
/**********************************************************************/
/* Message queues */
@ -163,6 +167,10 @@ private:
*/
void MoveTask(void *arg);
/**
* @brief Thread handling the loss of the communication between the robot and th supervisor.
*/
void DetectLostSupRob(void *arg);
void AskBattery(void *arg);
@ -170,7 +178,6 @@ private:
void Vision(void *arg);
/**********************************************************************/
/* Queue services */
/**********************************************************************/