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pull master start with WD

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This commit is contained in:
Raphael Benistant 2020-03-31 15:11:38 +02:00
commit b2f42f72f6
2 changed files with 207 additions and 74 deletions
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268
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -28,7 +28,7 @@
#define PRIORITY_TSTARTROBOTWITHWATCHDOG 22
#define PRIORITY_TCAMERA 21
#define PRIORITY_DETECTLOSTSUPROB 21
#define PRIORITY_TVISION 26
/*
* Some remarks:
@ -80,27 +80,26 @@ void Tasks::Init() {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_killBattery, 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);
@ -114,22 +113,14 @@ void Tasks::Init() {
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_killOpenComRobot, 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;
/**************************************************************************************/
@ -160,6 +151,11 @@ void Tasks::Init() {
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_restart, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
@ -204,7 +200,14 @@ void Tasks::Init() {
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)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_vision, "th_vision", 0, PRIORITY_TVISION, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks created successfully" << endl << flush;
/**************************************************************************************/
@ -262,8 +265,15 @@ void Tasks::Run() {
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;
}
/**
@ -373,7 +383,6 @@ void Tasks::ReceiveFromMonTask(void *arg) {
rt_sem_p(&sem_barrier, TM_INFINITE);
while(1){
//rt_sem_p(&sem_restart,TM_INFINITE);
//Reinitialize control boolean
killReceiveFromMonOk = 0;
@ -457,8 +466,6 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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);
@ -544,6 +551,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
}
}
/**
* @brief Thread opening communication with the robot.
*/
@ -582,29 +592,31 @@ void Tasks::OpenComRobot(void *arg) { //PAS DE SOUCIS AU REDEMARAGE
}
}
/**
* @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;
int killBatteryOk=0;
Message * msgSend;
/**************************************************************************************/
/* 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;
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);
@ -618,17 +630,11 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
robotStarted = 1;
rt_mutex_release(&mutex_robotStarted);
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while (killBattery==0) {
while (killBatteryOk==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_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=killBattery;
killBatteryOk=killBattery;
rt_mutex_release(&mutex_killBattery);
}
}
@ -640,60 +646,54 @@ 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 */
/**************************************************************************************/
Message* p_mess_answer_battery;
Message * msgSend;
int cpt=1;
int err;
while(1){
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
//Boolean to get the battery
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=0;
rt_mutex_release(&mutex_killBattery);
cout << msgSend->GetID();
cout << ")" << endl;
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 (1) {
while (killBatteryOk==0) {
cpt++;
if(cpt%2==0){
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(robot.ReloadWD());
rt_mutex_release(&mutex_robot);
if(cpt==2){
cpt=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_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBatteryOk=killBattery;
rt_mutex_release(&mutex_killBattery);
}
}
}
@ -701,7 +701,6 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
/**
* @brief Thread handling control of the robot.
*/
@ -716,7 +715,7 @@ void Tasks::MoveTask(void *arg) {
/**************************************************************************************/
/* The task starts here */
/**************************************************************************************/
rt_task_set_periodic(NULL, TM_NOW, 100000000);
rt_task_set_periodic(NULL, TM_NOW, 1000000000);
while (1) {
rt_task_wait_period(NULL);
@ -739,6 +738,7 @@ void Tasks::MoveTask(void *arg) {
}
}
void Tasks::DetectLostSupRob(void *arg){
//counter to detect loss of communication
int cpt=0;
@ -813,7 +813,133 @@ void Tasks::DetectLostSupRob(void *arg){
}
}
/**
void Tasks::AskBattery(void *arg){
Message* p_mess_answer_battery;
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 */
/**************************************************************************************/
while(1){
rt_sem_p(&sem_askBattery, TM_INFINITE);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot);
if(p_mess_answer_battery->GetID()==MESSAGE_ROBOT_BATTERY_LEVEL){
WriteInQueue(&q_messageToMon, p_mess_answer_battery);
cout << endl << flush;
}
}
}
//This task works on a difficult principle that fully make it controllable through
// monitor, accessing booleans variables to set getPosition or searchArena
void Tasks::Vision(void *arg){
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
int killVisionOk=0;
Camera camera;
int acquireImageOk=0;
int searchArenaOk=0;
int drawArenaOk=0;
int getPositionOk=0;
Arena arena;
//Img* img;
list<Position> positionList;
list<Position>::iterator it;
string strPos;
//MessagePosition* msgPos;
Message* msgPosMsg;
MessageImg msgImg;
Message* msgImgMsg;
msgImg.SetID(MESSAGE_CAM_IMAGE);
//msgPos->SetID(MESSAGE_CAM_POSITION);
rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
killVision=0;
rt_mutex_release(&mutex_killVision);
rt_task_set_periodic(NULL, TM_NOW, 100000000);
camera.Open();
while(killVisionOk==0){
rt_task_wait_period(NULL);
while(acquireImageOk==1){
rt_task_wait_period(NULL);
cout << "open cam" << endl;
Img img=camera.Grab();
cout << "after camera grab" << endl << endl << endl;
msgImg.SetImage(&img);
cout << "after set image in msgImg" << endl << endl << endl;
if(searchArenaOk==1){
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=0;
rt_mutex_release(&mutex_acquireImage);
arena=img.SearchArena();
img.DrawArena(arena);
}
if(drawArenaOk==1){
img.DrawArena(arena);
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=1;
rt_mutex_release(&mutex_acquireImage);
}
if(getPositionOk==1){
cout << "in GetPos=1" << endl << endl << endl;
//On démarre la recherche du robot dans la zone définie par l'arène
positionList=img.SearchRobot(arena);
//Définitition et assignation de l'itérateur de parcrous de la liste positionList
it=positionList.begin();
//Définition d'un messagePosition qui va contenir l'information (x,y)
//msgPos->SetPosition(*it);
MessagePosition msgPos(MESSAGE_CAM_POSITION,*it);
//Transformation en message classique
msgPosMsg=msgPos.Copy();
//Envoi
cout << "envoi au mon" << endl;
WriteInQueue(&q_messageToMon,&msgPos);
//Dessis du robot sur l'image
img.DrawRobot(*it);
}
//Définition d'un messageImg contenant l'image avec le robot et l'arène dessinés (ou pas)
msgImg.SetImage(&img);
//Transformation en message classique
msgImgMsg=msgImg.Copy();
//Envoi
WriteInQueue(&q_messageToMon,&msgImg);
}
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImageOk=acquireImage;
rt_mutex_release(&mutex_acquireImage);
rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
getPositionOk=getPosition;
rt_mutex_release(&mutex_getPosition);
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArenaOk=searchArena;
rt_mutex_release(&mutex_searchArena);
rt_mutex_acquire(&mutex_drawArena, TM_INFINITE);
drawArenaOk=drawArena;
rt_mutex_release(&mutex_drawArena);
}
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=0;
rt_mutex_release(&mutex_searchArena);
searchArenaOk=0;
rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
getPosition=0;
rt_mutex_release(&mutex_getPosition);
getPositionOk=0;
}
/*
* Write a message in a given queue
* @param queue Queue identifier
* @param msg Message to be stored

13
software/raspberry/superviseur-robot/tasks.h
View file

@ -78,7 +78,6 @@ private:
bool killOpenComRobot=0;
/* Tasks */
/**********************************************************************/
RT_TASK th_server;
@ -89,7 +88,8 @@ private:
RT_TASK th_startRobotWithWatchdog;
RT_TASK th_move;
RT_TASK th_detectLostSupRob;
RT_TASK th_vision;
RT_TASK th_askBattery;
/**********************************************************************/
/* Mutex */
@ -109,8 +109,8 @@ private:
RT_MUTEX mutex_killDetectLostSupRob;
RT_MUTEX mutex_killStartRob;
RT_MUTEX mutex_acquireImage;
RT_MUTEX mutex_killOpenComRobot;
RT_MUTEX mutex_killOpenComRobot;
/**********************************************************************/
/* Semaphores */
/**********************************************************************/
@ -121,6 +121,7 @@ private:
RT_SEM sem_startRobotWithWatchdog;
RT_SEM sem_detectLostSupRob;
RT_SEM sem_restart;
RT_SEM sem_askBattery;
/**********************************************************************/
/* Message queues */
@ -171,6 +172,12 @@ private:
*/
void DetectLostSupRob(void *arg);
void AskBattery(void *arg);
void Vision(void *arg);
/**********************************************************************/
/* Queue services */
/**********************************************************************/