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Modified comments on final doc

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This commit is contained in:
Raphael Benistant 2020-04-03 15:41:49 +02:00
parent 3fabeb9559
commit 9625d6cec5
3 changed files with 37 additions and 51 deletions
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8
software/raspberry/superviseur-robot/nbproject/private/private.xml
View file

@ -7,11 +7,9 @@
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/> <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"> <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group> <group>
<file>file:/home/romainv/Documents/temps_Reel/real_time/software/raspberry/superviseur-robot/lib/messages.h</file> <file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/lib/messages.h</file>
<file>file:/home/romainv/Documents/temps_Reel/real_time/software/raspberry/superviseur-robot/tasks.cpp</file> <file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home/romainv/Documents/temps_Reel/real_time/software/raspberry/superviseur-robot/lib/img.cpp</file> <file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home/romainv/Documents/temps_Reel/real_time/software/raspberry/superviseur-robot/lib/img.h</file>
<file>file:/home/romainv/Documents/temps_Reel/real_time/software/raspberry/superviseur-robot/tasks.h</file>
</group> </group>
</open-files> </open-files>
</project-private> </project-private>

79
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -19,15 +19,15 @@
#include <stdexcept> #include <stdexcept>
// Déclaration des priorités des taches // Déclaration des priorités des taches
#define PRIORITY_TSERVER 10 #define PRIORITY_TSERVER 50 //Important but only once per connection so high priority it doesn't interfer with other tasks
#define PRIORITY_TOPENCOMROBOT 50 #define PRIORITY_TOPENCOMROBOT 45 //Important but only once per connection so high priority it doesn't matter
#define PRIORITY_TMOVE 20 #define PRIORITY_TMOVE 20 //Lower priority because periodicity is high it will interfer with other tasks
#define PRIORITY_TSENDTOMON 22 #define PRIORITY_TSENDTOMON 25 //Second highest priority of the periofic tasks
#define PRIORITY_TRECEIVEFROMMON 50 #define PRIORITY_TRECEIVEFROMMON 30 //Highest priority of the periodic tasks
#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 22 #define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 40 //Important but only once per connection so high priority it doesn't interfer with other tasks
#define PRIORITY_TSTARTROBOTWITHWATCHDOG 22 #define PRIORITY_TSTARTROBOTWITHWATCHDOG 41 //Same as start without WD
#define PRIORITY_TCAMERA 21 #define PRIORITY_TCAMERA 21
#define PRIORITY_DETECTLOSTSUPROB 21 #define PRIORITY_DETECTLOSTSUPROB 26 //Important so high priority compared to other tasks
#define PRIORITY_TVISION 26 #define PRIORITY_TVISION 26
/* /*
@ -157,11 +157,6 @@ void Tasks::Init() {
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
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; cout << "Semaphores created successfully" << endl << flush;
/**************************************************************************************/ /**************************************************************************************/
@ -225,8 +220,6 @@ void Tasks::Init() {
* @brief Démarrage des tâches * @brief Démarrage des tâches
*/ */
void Tasks::Run() { void Tasks::Run() {
cout << "Coucou" << endl << flush;
rt_task_set_priority(NULL, T_LOPRIO); rt_task_set_priority(NULL, T_LOPRIO);
int err; int err;
@ -289,9 +282,6 @@ void Tasks::Stop() {
void Tasks::Join() { void Tasks::Join() {
cout << "Tasks synchronized" << endl << flush; cout << "Tasks synchronized" << endl << flush;
rt_sem_broadcast(&sem_barrier); rt_sem_broadcast(&sem_barrier);
//Initialization for some specific sem: Allow to run the first time
//rt_sem_broadcast(&sem_restart);
pause(); pause();
} }
@ -304,7 +294,8 @@ void Tasks::ServerTask(void *arg) {
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
while(1){ while(1){ //Will be used to restart process
// Synchronization barrier (waiting that all tasks are started) // Synchronization barrier (waiting that all tasks are started)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
@ -364,8 +355,6 @@ void Tasks::SendToMonTask(void* arg) {
rt_mutex_release(&mutex_killSendMon); rt_mutex_release(&mutex_killSendMon);
} }
cout << "SendToMon Task dies" << endl << flush;
} }
} }
@ -382,7 +371,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
while(1){ while(1){ //Will be used to restart process
//Reinitialize control boolean //Reinitialize control boolean
killReceiveFromMonOk = 0; killReceiveFromMonOk = 0;
@ -402,33 +391,40 @@ void Tasks::ReceiveFromMonTask(void *arg) {
if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) { if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
cout << "Connection to monitor lost" << endl; cout << "Connection to monitor lost" << endl;
//Kill this task by exiting the main loop
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE); rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMon=1; killReceiveFromMon=1;
rt_mutex_release(&mutex_killReceiveFromMon); rt_mutex_release(&mutex_killReceiveFromMon);
//Kill the vision taks by exiting the main loop
rt_mutex_acquire(&mutex_killVision, TM_INFINITE); rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
killVision=1; killVision=1;
rt_mutex_release(&mutex_killVision); rt_mutex_release(&mutex_killVision);
//Kill the SendToMon taks by exiting the main loop
rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE); rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
killSendMon=1; killSendMon=1;
rt_mutex_release(&mutex_killSendMon); rt_mutex_release(&mutex_killSendMon);
//Write fake message in queue to unblock Read function //Write fake message in queue to unblock Read function
WriteInQueue(&q_messageToMon, new Message(MESSAGE_EMPTY)); WriteInQueue(&q_messageToMon, new Message(MESSAGE_EMPTY));
//Kill the different start robot tasks (with or without WD) by exiting their main loop
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE); rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=1; killBattery=1;
rt_mutex_release(&mutex_killBattery); rt_mutex_release(&mutex_killBattery);
//Kill the DetectLostSupRon taks by exiting the main loop
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE); rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
killDetectLostSupRob=1; killDetectLostSupRob=1;
rt_mutex_release(&mutex_killDetectLostSupRob); rt_mutex_release(&mutex_killDetectLostSupRob);
//Update variable acquireImage to start or stop acquiring in Vision task
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE); rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=0; acquireImage=0;
rt_mutex_release(&mutex_acquireImage); rt_mutex_release(&mutex_acquireImage);
//Block the move task
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
robotStarted=0; robotStarted=0;
rt_mutex_release(&mutex_robotStarted); rt_mutex_release(&mutex_robotStarted);
@ -447,7 +443,6 @@ void Tasks::ReceiveFromMonTask(void *arg) {
cout << "Close Robot Success" << endl << flush; cout << "Close Robot Success" << endl << flush;
} }
//All closes
rt_mutex_acquire(&mutex_monitor, TM_INFINITE); rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Close(); monitor.Close();
rt_mutex_release(&mutex_monitor); rt_mutex_release(&mutex_monitor);
@ -458,13 +453,10 @@ void Tasks::ReceiveFromMonTask(void *arg) {
} else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) { } else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
cout << "Command Open Camera Received" << endl << flush; cout << "Command Open Camera Received" << endl << flush;
//start task Vision //start task Vision
} else if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) { } else if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
cout << "Command Close Camera Received" << endl << flush; cout << "Command Close Camera Received" << endl << flush;
//Trigger killVision //Trigger killVision
rt_mutex_acquire(&mutex_killVision, TM_INFINITE); rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
killVision=1; killVision=1;
@ -474,7 +466,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
cout << "Command Open Communication with Robot Received" << endl << flush; cout << "Command Open Communication with Robot Received" << endl << flush;
rt_sem_v(&sem_openComRobot); rt_sem_v(&sem_openComRobot);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) { } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) { //Actually we never get this message
cout << "Command Close Communication with Robot Received" << endl << flush; cout << "Command Close Communication with Robot Received" << endl << flush;
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@ -511,25 +503,25 @@ void Tasks::ReceiveFromMonTask(void *arg) {
} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) { } else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
cout << "Command Confirm Arena Received" << endl << flush; cout << "Command Confirm Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_drawArena, TM_INFINITE); rt_mutex_acquire(&mutex_drawArena, TM_INFINITE);
drawArena=1; drawArena=1; //Trigger the drawing of the arena in Vision task
rt_mutex_release(&mutex_drawArena); rt_mutex_release(&mutex_drawArena);
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE); rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=0; searchArena=0; //Stop searching arena in Vision task
rt_mutex_release(&mutex_searchArena); rt_mutex_release(&mutex_searchArena);
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE); rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=1; acquireImage=1; //Start acquiring again because we had to stop during the search of the arena in Vision Task
rt_mutex_release(&mutex_acquireImage); rt_mutex_release(&mutex_acquireImage);
} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) { } else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
cout << "Command Infirm Arena Received" << endl << flush; cout << "Command Infirm Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE); rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=0; searchArena=0; //We stop searching the arena in Vision Task
rt_mutex_release(&mutex_searchArena); rt_mutex_release(&mutex_searchArena);
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE); rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=1; acquireImage=1; //Start acquiring again because we had to stop during the search of the arena in Vision Task
rt_mutex_release(&mutex_acquireImage); rt_mutex_release(&mutex_acquireImage);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) || } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
@ -545,13 +537,10 @@ void Tasks::ReceiveFromMonTask(void *arg) {
delete(msgRcv); // must be deleted manually, no consumer delete(msgRcv); // must be deleted manually, no consumer
//Update loop condition //Update loop condition
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE); rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMonOk = killReceiveFromMon; killReceiveFromMonOk = killReceiveFromMon;
rt_mutex_release(&mutex_killReceiveFromMon); rt_mutex_release(&mutex_killReceiveFromMon);
} }
cout << "ReceiveFromMon dies" << endl << flush;
} }
} }
@ -573,7 +562,7 @@ void Tasks::OpenComRobot(void *arg) { //PAS DE SOUCIS AU REDEMARAGE
/**************************************************************************************/ /**************************************************************************************/
/* The task openComRobot starts here */ /* The task openComRobot starts here */
/**************************************************************************************/ /**************************************************************************************/
while (1) { while (1) { //Is used to restart process
rt_sem_p(&sem_openComRobot, TM_INFINITE); rt_sem_p(&sem_openComRobot, TM_INFINITE);
cout << "Open serial com ("; cout << "Open serial com (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@ -733,7 +722,7 @@ void Tasks::MoveTask(void *arg) {
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
cout << "Periodic movement update"; cout << "Periodic movement update";
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted; rs = robotStarted; //Value is updated in ReceiveFromMon when needed
rt_mutex_release(&mutex_robotStarted); rt_mutex_release(&mutex_robotStarted);
if (rs == 1) { if (rs == 1) {
rt_mutex_acquire(&mutex_move, TM_INFINITE); rt_mutex_acquire(&mutex_move, TM_INFINITE);
@ -760,7 +749,7 @@ void Tasks::DetectLostSupRob(void *arg){
//Period = 1s //Period = 1s
rt_task_set_periodic(NULL, TM_NOW, 1000000000); rt_task_set_periodic(NULL, TM_NOW, 1000000000);
while(1){ while(1){//Used to restart process
//Wait the Communication with the Robot to be Set //Wait the Communication with the Robot to be Set
rt_sem_p(&sem_detectLostSupRob, TM_INFINITE); rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
@ -791,9 +780,9 @@ void Tasks::DetectLostSupRob(void *arg){
cout << "Didn't Get Any Answer from Robot" << endl << flush; cout << "Didn't Get Any Answer from Robot" << endl << flush;
cpt++; cpt++;
if(cpt==3){ if(cpt==3){ //If 3 errors in the row
//acknowledge loss communication with robot //acknowledge loss communication with robot I THINK YOU MADE A MISTAKE IN THE CONCEPTION DOCUMENT THIS MESSAGE DOESN'T WORK
//WriteInQueue(&q_messageToMon, new Message(MESSAGE_MONITOR_LOST)); //WriteInQueue(&q_messageToMon, new Message(MESSAGE_MONITOR_LOST));
cout << "Restart Communication with Robot" << endl << flush; cout << "Restart Communication with Robot" << endl << flush;
@ -821,11 +810,11 @@ void Tasks::DetectLostSupRob(void *arg){
cout << "I got an Answer from Robot" << endl << flush; cout << "I got an Answer from Robot" << endl << flush;
} }
//Update loop variable
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE); rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
kill_detectLostSupRobOk=killDetectLostSupRob; kill_detectLostSupRobOk=killDetectLostSupRob;
rt_mutex_release(&mutex_killDetectLostSupRob); rt_mutex_release(&mutex_killDetectLostSupRob);
} }
cout << "DetectLostSupRob dies";
} }
} }

1
software/raspberry/superviseur-robot/tasks.h
View file

@ -120,7 +120,6 @@ private:
RT_SEM sem_startRobotWithoutWatchdog; RT_SEM sem_startRobotWithoutWatchdog;
RT_SEM sem_startRobotWithWatchdog; RT_SEM sem_startRobotWithWatchdog;
RT_SEM sem_detectLostSupRob; RT_SEM sem_detectLostSupRob;
RT_SEM sem_restart;
RT_SEM sem_askBattery; RT_SEM sem_askBattery;
/**********************************************************************/ /**********************************************************************/