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suppression tasks.cpp tasks.h

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This commit is contained in:
Romain Vitrat 2020-03-28 18:17:13 +01:00
parent dfe5df3a48
commit 9a59bb240b
2 changed files with 0 additions and 860 deletions
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674
software/raspberry/superviseur-robot/tasks.cpp
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@ -1,674 +0,0 @@
/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#include "tasks.h"
#include <stdexcept>
// Déclaration des priorités des taches
#define PRIORITY_TSERVER 30
#define PRIORITY_TOPENCOMROBOT 20
#define PRIORITY_TMOVE 20
#define PRIORITY_TSENDTOMON 22
#define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 22
#define PRIORITY_TSTARTROBOTWITHWATCHDOG 22
#define PRIORITY_TCAMERA 21
/*
* Some remarks:
* 1- This program is mostly a template. It shows you how to create tasks, semaphore
* message queues, mutex ... and how to use them
*
* 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
*
* 3- Data flow is probably not optimal
*
* 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
* time for internal buffer to flush
*
* 5- Same behavior existe for ComMonitor::Write !
*
* 6- When you want to write something in terminal, use cout and terminate with endl and flush
*
* 7- Good luck !
*/
/**
* @brief Initialisation des structures de l'application (tâches, mutex,
* semaphore, etc.)
*/
void Tasks::Init() {
int status;
int err;
/**************************************************************************************/
/* Mutex creation */
/**************************************************************************************/
if (err = rt_mutex_create(&mutex_monitor, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_robot, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_move, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_killReceiveFromMon, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_killVision, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_searchArena, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_drawArena, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_getPosition, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_killSendMon, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_killDetectLostSupRob, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_acquireImage, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
/*if (err = rt_mutex_create(&mutex_robot_on, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}*/
cout << "Mutexes created successfully" << endl << flush;
/**************************************************************************************/
/* Semaphors creation */
/**************************************************************************************/
if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_startRobotWithoutWatchdog, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_startRobotWithWatchdog, 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);
}
//Initialization for some specific sem: Allow to run the first time
rt_sem_v(&sem_allowStartReceive);
cout << "Semaphores created successfully" << endl << flush;
/**************************************************************************************/
/* Tasks creation */
/**************************************************************************************/
if (err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)) {
cerr << "Error task create: " << 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;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
cerr << "Error task create: " << 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;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_startRobotWithoutWatchdog, "th_startRobotWithoutWatchdog", 0, PRIORITY_TSTARTROBOTWITHOUTWATCHDOG, 0)) {
cerr << "Error task create: " << 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;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks created successfully" << endl << flush;
/**************************************************************************************/
/* Message queues creation */
/**************************************************************************************/
if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Queues created successfully" << endl << flush;
}
/**
* @brief Démarrage des tâches
*/
void Tasks::Run() {
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: " << 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);
}
cout << "Tasks launched" << endl << flush;
}
/**
* @brief Arrêt des tâches
*/
void Tasks::Stop() {
monitor.Close();
robot.Close();
}
/**
*/
void Tasks::Join() {
cout << "Tasks synchronized" << endl << flush;
rt_sem_broadcast(&sem_barrier);
pause();
}
/**
* @brief Thread handling server communication with the monitor.
*/
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);
/**************************************************************************************/
/* 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;
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);
}
/**
* @brief Thread sending data to monitor.
*/
void Tasks::SendToMonTask(void* arg) {
Message *msg;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// 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);
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);
}
}
/**
* @brief Thread receiving data from monitor.
*/
void Tasks::ReceiveFromMonTask(void *arg) {
Message *msgRcv;
bool killReceiveFromMonOk=0;
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;
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;
//start task robot with watchdog
} 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
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMonOk=killReceiveFromMon;
rt_mutex_release(&mutex_killReceiveFromMon);
}
rt_sem_v(&sem_allowStartReceive);
}
/**
* @brief Thread opening communication with the robot.
*/
void Tasks::OpenComRobot(void *arg) {
int status;
int err;
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);
}
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
}
}
/**
* @brief Thread starting the communication with the robot.
*//**
* @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 killBattery=0;
/**************************************************************************************/
/* The task startRobot starts here */
/**************************************************************************************/
Message* p_mess_answer_battery;
Message * msgSend;
rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
cout << "Start robot without watchdog (";
//Boolean to get the battery
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=0;
rt_mutex_release(&mutex_killBattery);
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 (killBattery==0) {
rt_task_wait_period(NULL);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot);
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Write(p_mess_answer_battery);
rt_mutex_release(&mutex_monitor);
//cout << endl << flush;
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=killBattery;
rt_mutex_release(&mutex_killBattery);
}
}
}
/**
* @brief Thread starting the communication with the robot.
*//**
* @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);
/**************************************************************************************/
/* The task startRobot starts here */
/**************************************************************************************/
Message* p_mess_answer_battery;
Message * msgSend;
int cpt=1;
int err;
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);
//boolean to ask battery
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=0;
rt_mutex_release(&mutex_killBattery);
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 (1) {
cpt++;
if(cpt%2==0){
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(robot.ReloadWD());
rt_mutex_release(&mutex_robot);
}
rt_task_wait_period(NULL);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot);
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Write(p_mess_answer_battery);
rt_mutex_release(&mutex_monitor);
cout << endl << flush;
}
}
}
/**
* @brief Thread handling control of the robot.
*/
void Tasks::MoveTask(void *arg) {
int rs;
int cpMove;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task starts here */
/**************************************************************************************/
rt_task_set_periodic(NULL, TM_NOW, 100000000);
while (1) {
rt_task_wait_period(NULL);
cout << "Periodic movement update";
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted;
rt_mutex_release(&mutex_robotStarted);
if (rs == 1) {
rt_mutex_acquire(&mutex_move, TM_INFINITE);
cpMove = move;
rt_mutex_release(&mutex_move);
cout << " move: " << cpMove;
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(new Message((MessageID)cpMove));
rt_mutex_release(&mutex_robot);
}
cout << endl << flush;
}
}
/**
* Write a message in a given queue
* @param queue Queue identifier
* @param msg Message to be stored
*/
void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
int err;
if ((err = rt_queue_write(queue, (const void *) &msg, sizeof ((const void *) &msg), Q_NORMAL)) < 0) {
cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
throw std::runtime_error{"Error in write in queue"};
}
}
/**
* Read a message from a given queue, block if empty
* @param queue Queue identifier
* @return Message read
*/
Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
int err;
Message *msg;
if ((err = rt_queue_read(queue, &msg, sizeof ((void*) &msg), TM_INFINITE)) < 0) {
cout << "Read in queue failed: " << strerror(-err) << endl << flush;
throw std::runtime_error{"Error in read in queue"};
}/** else {
cout << "@msg :" << msg << endl << flush;
} /**/
return msg;
}

186
software/raspberry/superviseur-robot/tasks.h
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@ -1,186 +0,0 @@
/*
* Copyright (C) 2018 dimercur
*
* This program is free software: you can redistribute it and/or modify
* it under the terms of the GNU General Public License as published by
* the Free Software Foundation, either version 3 of the License, or
* (at your option) any later version.
*
* This program is distributed in the hope that it will be useful,
* but WITHOUT ANY WARRANTY; without even the implied warranty of
* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
* GNU General Public License for more details.
*
* You should have received a copy of the GNU General Public License
* along with this program. If not, see <http://www.gnu.org/licenses/>.
*/
#ifndef __TASKS_H__
#define __TASKS_H__
#include <unistd.h>
#include <iostream>
#include <sys/mman.h>
#include <alchemy/task.h>
#include <alchemy/timer.h>
#include <alchemy/mutex.h>
#include <alchemy/sem.h>
#include <alchemy/queue.h>
#include "messages.h"
#include "commonitor.h"
#include "comrobot.h"
#include "camera.h"
#include "img.h"
using namespace std;
class Tasks {
public:
/**
* @brief Initializes main structures (semaphores, tasks, mutex, etc.)
*/
void Init();
/**
* @brief Starts tasks
*/
void Run();
/**
* @brief Stops tasks
*/
void Stop();
/**
* @brief Suspends main thread
*/
void Join();
private:
/**********************************************************************/
/* Shared data */
/**********************************************************************/
ComMonitor monitor;
ComRobot robot;
int robotStarted = 0;
int move = MESSAGE_ROBOT_STOP;
bool killBattery = 0;
bool killReceiveFromMon=0;
bool killVision=0;
bool searchArena=0;
bool killSendMon=0;
bool killDetectlostSupRob=0;
bool acquireImage=0;
bool getPosition=0;
bool drawArena=0;
/* Tasks */
/**********************************************************************/
RT_TASK th_server;
RT_TASK th_sendToMon;
RT_TASK th_receiveFromMon;
RT_TASK th_openComRobot;
RT_TASK th_startRobotWithoutWatchdog;
RT_TASK th_startRobotWithWatchdog;
RT_TASK th_move;
/**********************************************************************/
/* Mutex */
/**********************************************************************/
RT_MUTEX mutex_monitor;
RT_MUTEX mutex_robot;
RT_MUTEX mutex_robotStarted;
RT_MUTEX mutex_move;
RT_MUTEX mutex_killBattery;
RT_MUTEX mutex_killReceiveFromMon;
RT_MUTEX mutex_killVision;
RT_MUTEX mutex_searchArena;
RT_MUTEX mutex_drawArena;
RT_MUTEX mutex_getPosition;
RT_MUTEX mutex_killSendMon;
RT_MUTEX mutex_killStartRobWD;
RT_MUTEX mutex_killDetectLostSupRob;
RT_MUTEX mutex_killStartRob;
RT_MUTEX mutex_acquireImage;
/**********************************************************************/
/* Semaphores */
/**********************************************************************/
RT_SEM sem_barrier;
RT_SEM sem_openComRobot;
RT_SEM sem_serverOk;
RT_SEM sem_startRobotWithoutWatchdog;
RT_SEM sem_startRobotWithWatchdog;
RT_SEM sem_allowStartReceive;
/**********************************************************************/
/* Message queues */
/**********************************************************************/
int MSG_QUEUE_SIZE;
RT_QUEUE q_messageToMon;
/**********************************************************************/
/* Tasks' functions */
/**********************************************************************/
/**
* @brief Thread handling server communication with the monitor.
*/
void ServerTask(void *arg);
/**
* @brief Thread sending data to monitor.
*/
void SendToMonTask(void *arg);
/**
* @brief Thread receiving data from monitor.
*/
void ReceiveFromMonTask(void *arg);
/**
* @brief Thread opening communication with the robot.
*/
void OpenComRobot(void *arg);
/**
* @brief Thread starting the communication with the robot without watchdog.
*/
void StartRobotTaskWithoutWatchdog(void *arg);
/**
* @brief Thread starting the communication with the robot with watchdog.
*/
void StartRobotTaskWithWatchdog(void *arg);
/**
* @brief Thread handling control of the robot.
*/
void MoveTask(void *arg);
/**********************************************************************/
/* Queue services */
/**********************************************************************/
/**
* Write a message in a given queue
* @param queue Queue identifier
* @param msg Message to be stored
*/
void WriteInQueue(RT_QUEUE *queue, Message *msg);
/**
* Read a message from a given queue, block if empty
* @param queue Queue identifier
* @return Message read
*/
Message *ReadInQueue(RT_QUEUE *queue);
};
#endif // __TASKS_H__