diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
deleted file mode 100644
index f4acecf..0000000
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ /dev/null
@@ -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 .
- */
-
-#include "tasks.h"
-#include
-
-// 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;
-}
-
diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h
deleted file mode 100644
index 83c57c7..0000000
--- a/software/raspberry/superviseur-robot/tasks.h
+++ /dev/null
@@ -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 .
- */
-
-#ifndef __TASKS_H__
-#define __TASKS_H__
-
-#include
-#include
-
-#include
-#include
-#include
-#include
-#include
-#include
-
-#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__
-