/* * 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 Initialisation des structures de l'application (tâches, mutex, * semaphore, etc.) */ void Init(); /** * @brief Démarrage des tâches */ void Run(); /** * @brief Arrêt des tâches */ void Stop(); /** */ void Join(); /** */ bool AcceptClient() { return monitor.AcceptClient(); } private: ComMonitor monitor; ComRobot robot; bool sendImage=false; bool sendPosition=false; int counter; bool flag; bool showArena=false; RT_TASK th_server; RT_TASK th_sendToMon; RT_TASK th_receiveFromMon; RT_TASK th_openComRobot; RT_TASK th_startRobot; RT_TASK th_move; RT_TASK th_camera; RT_MUTEX mutex_robotStarted; RT_MUTEX mutex_move; RT_SEM sem_barrier; RT_SEM sem_openComRobot; RT_SEM sem_serverOk; RT_SEM sem_startRobot; RT_QUEUE q_messageToMon; int etatCommMoniteur; int robotStarted; char robotMove; int MSG_QUEUE_SIZE; char mode_start; /** * 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); /** * @brief Thread handling server communication. */ void ReceiveFromMonTask(void *arg); /** * @brief Thread handling periodic image capture. */ void CameraTask(void *arg); /** * @brief Thread sending data to monitor. */ void SendToMonTask(void *arg); // /** // * \brief Thread handling server communication. // */ // void f_server(void *arg); // // /** // * \brief Thread handling communication to monitor. // */ // void f_sendToMon(void *arg); // // /** // * \brief Thread handling communication from monitor. // */ // void f_receiveFromMon(void *arg); // // /** // * \brief Thread handling opening of robot communication. // */ // void f_openComRobot(void * arg); // // /** // * \brief Thread handling robot mouvements. // */ // void f_move(void *arg); // // /** // * \brief Thread handling robot activation. // */ // void f_startRobot(void *arg); }; #endif // __TASKS_H__