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robot whitout WD perfect + (with WD and vision not ok)

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This commit is contained in:
Raphael Benistant 2020-03-31 15:39:09 +02:00
parent fc10a54aae
commit 4208c91f0e
3 changed files with 49 additions and 40 deletions
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4
software/raspberry/superviseur-robot/nbproject/private/private.xml
View file

@ -9,10 +9,6 @@
<group>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/main.cpp</file>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/lib/comrobot.h</file>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/lib/messages.h</file>
</group>
</open-files>

81
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -428,6 +428,10 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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);
@ -603,39 +607,42 @@ void Tasks::OpenComRobot(void *arg) { //PAS DE SOUCIS AU REDEMARAGE
* @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);
}
}
}
}
@ -647,18 +654,22 @@ 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 */
/**************************************************************************************/
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 */
/**************************************************************************************/
//Boolean to get the battery
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=0;
@ -795,6 +806,10 @@ void Tasks::DetectLostSupRob(void *arg){
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);

4
software/simulateur/nbproject/private/private.xml
View file

@ -6,8 +6,6 @@
</data>
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/home/raphael/Documents/real_time/software/simulateur/main.cpp</file>
</group>
<group/>
</open-files>
</project-private>