802 lines
30 KiB
C++
802 lines
30 KiB
C++
/*
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* Copyright (C) 2018 dimercur
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "tasks.h"
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#include <stdexcept>
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// Déclaration des priorités des taches
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#define PRIORITY_TSERVER 30
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#define PRIORITY_TOPENCOMROBOT 50
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#define PRIORITY_TMOVE 20
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#define PRIORITY_TSENDTOMON 22
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#define PRIORITY_TRECEIVEFROMMON 25
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#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 22
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#define PRIORITY_TSTARTROBOTWITHWATCHDOG 22
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#define PRIORITY_TCAMERA 21
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#define PRIORITY_DETECTLOSTSUPROB 21
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/*
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* Some remarks:
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* 1- This program is mostly a template. It shows you how to create tasks, semaphore
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* message queues, mutex ... and how to use them
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*
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* 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
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*
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* 3- Data flow is probably not optimal
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*
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* 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
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* time for internal buffer to flush
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*
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* 5- Same behavior existe for ComMonitor::Write !
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*
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* 6- When you want to write something in terminal, use cout and terminate with endl and flush
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*
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* 7- Good luck !
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*/
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/**
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* @brief Initialisation des structures de l'application (tâches, mutex,
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* semaphore, etc.)
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*/
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void Tasks::Init() {
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int status;
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int err;
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/**************************************************************************************/
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/* Mutex creation */
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/**************************************************************************************/
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if (err = rt_mutex_create(&mutex_monitor, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_robot, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_move, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_killReceiveFromMon, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_killVision, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_searchArena, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_drawArena, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_getPosition, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_killSendMon, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_killDetectLostSupRob, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_acquireImage, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_killOpenComRobot, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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/*if (err = rt_mutex_create(&mutex_robot_on, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}*/
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cout << "Mutexes created successfully" << endl << flush;
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/**************************************************************************************/
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/* Semaphors creation */
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/**************************************************************************************/
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if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_startRobotWithoutWatchdog, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_startRobotWithWatchdog, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_detectLostSupRob, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_restart, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Semaphores created successfully" << endl << flush;
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/**************************************************************************************/
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/* Tasks creation */
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/**************************************************************************************/
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if (err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)) {
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cerr << "Error task create server: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
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cerr << "Error task create sendtoMon: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
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cerr << "Error task create receiveFromMon: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0)) {
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cerr << "Error task create openComRobot: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_startRobotWithoutWatchdog, "th_startRobotWithoutWatchdog", 0, PRIORITY_TSTARTROBOTWITHOUTWATCHDOG, 0)) {
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cerr << "Error task create startRobotWithoutWatchdog: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_startRobotWithWatchdog, "th_startRobotWithWatchdog", 0, PRIORITY_TSTARTROBOTWITHWATCHDOG, 0)) {
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cerr << "Error task create startRobotWithWatchdog: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) {
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cerr << "Error task create move: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_detectLostSupRob, "th_detectLostSupRob", 0, PRIORITY_DETECTLOSTSUPROB, 0)) {
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cerr << "Error task create detectLostSupRob: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Tasks created successfully" << endl << flush;
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/**************************************************************************************/
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/* Message queues creation */
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/**************************************************************************************/
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if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
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cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Queues created successfully" << endl << flush;
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}
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/**
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* @brief Démarrage des tâches
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*/
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void Tasks::Run() {
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cout << "Coucou" << endl << flush;
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rt_task_set_priority(NULL, T_LOPRIO);
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int err;
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if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
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cerr << "Error task start server: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
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cerr << "Error task start sendToMon: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
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cerr << "Error task start receiveFromMon: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_openComRobot, (void(*)(void*)) & Tasks::OpenComRobot, this)) {
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cerr << "Error task start openComRobot: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_startRobotWithoutWatchdog, (void(*)(void*)) & Tasks::StartRobotTaskWithoutWatchdog, this)) {
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cerr << "Error task start startRobotWithoutWatchdog: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_startRobotWithWatchdog, (void(*)(void*)) & Tasks::StartRobotTaskWithWatchdog, this)) {
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cerr << "Error task start startRobotWithWatchdog: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_move, (void(*)(void*)) & Tasks::MoveTask, this)) {
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cerr << "Error task start move: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_detectLostSupRob, (void(*)(void*)) & Tasks::DetectLostSupRob, this)) {
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cerr << "Error task start detectLostSupRob: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Tasks launched" << endl << flush;
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}
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/**
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* @brief Arrêt des tâches
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*/
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void Tasks::Stop() {
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monitor.Close();
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robot.Close();
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}
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/**
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*/
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void Tasks::Join() {
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cout << "Tasks synchronized" << endl << flush;
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rt_sem_broadcast(&sem_barrier);
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//Initialization for some specific sem: Allow to run the first time
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rt_sem_broadcast(&sem_restart);
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pause();
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}
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/**
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* @brief Thread handling server communication with the monitor.
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*/
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void Tasks::ServerTask(void *arg) {
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int status;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are started)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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while(1){
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//First time it's okay after it's managed by receiveFromMon
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//rt_sem_p(&sem_restart, TM_INFINITE);
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/**************************************************************************************/
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/* The task server starts here */
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/**************************************************************************************/
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rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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status = monitor.Open(SERVER_PORT);
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rt_mutex_release(&mutex_monitor);
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cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
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if (status < 0) throw std::runtime_error {
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"Unable to start server on port " + std::to_string(SERVER_PORT)
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};
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monitor.AcceptClient(); // Wait the monitor client
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cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
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rt_sem_broadcast(&sem_serverOk);
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}
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}
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/**
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* @brief Thread sending data to monitor.
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*/
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void Tasks::SendToMonTask(void* arg) {
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Message *msg;
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bool kill_sendToMonOk=0;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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while(1){
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//rt_sem_p(&sem_restart, TM_INFINITE);
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//Initialize the loop condition
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rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
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killSendMon=0; // The message is deleted with the Write
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rt_mutex_release(&mutex_killSendMon);
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/**************************************************************************************/
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/* The task sendToMon starts here */
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/**************************************************************************************/
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rt_sem_p(&sem_serverOk, TM_INFINITE);
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while (!kill_sendToMonOk) {
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cout << "wait msg to send" << endl << flush;
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msg = ReadInQueue(&q_messageToMon);
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cout << "Send msg to mon: " << msg->ToString() << endl << flush;
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rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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monitor.Write(msg); // The message is deleted with the Write
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rt_mutex_release(&mutex_monitor);
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rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
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kill_sendToMonOk=killSendMon; // The message is deleted with the Write
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rt_mutex_release(&mutex_killSendMon);
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}
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}
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}
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/**
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* @brief Thread receiving data from monitor.
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*/
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void Tasks::ReceiveFromMonTask(void *arg) {
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Message *msgRcv;
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bool killReceiveFromMonOk=0;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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while(1){
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//rt_sem_p(&sem_restart,TM_INFINITE);
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//Reinitialize control boolean
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rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
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killReceiveFromMon=0;
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rt_mutex_release(&mutex_killReceiveFromMon);
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/**************************************************************************************/
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/* The task receiveFromMon starts here */
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/**************************************************************************************/
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rt_sem_p(&sem_serverOk, TM_INFINITE);
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cout << "Received message from monitor activated" << endl << flush;
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while (!killReceiveFromMonOk) {
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msgRcv = monitor.Read();
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cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
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if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
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delete(msgRcv);
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cout << "Connection to monitor lost" << endl;
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monitor.Close();
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rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
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killReceiveFromMon=1;
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rt_mutex_release(&mutex_killReceiveFromMon);
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rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
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killVision=1;
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rt_mutex_release(&mutex_killVision);
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rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
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killSendMon=1;
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rt_mutex_release(&mutex_killSendMon);
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rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
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killBattery=1;
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rt_mutex_release(&mutex_killBattery);
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rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
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killDetectLostSupRob=1;
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rt_mutex_release(&mutex_killDetectLostSupRob);
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rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
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acquireImage=0;
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rt_mutex_release(&mutex_acquireImage);
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//Restart all the process
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Tasks::Join();
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rt_sem_v(&sem_restart);
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//exit(-1);
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} else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
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cout << "Command Open Camera Received" << endl << flush;
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//start task Vision
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} else if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
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cout << "Command Close Camera Received" << endl << flush;
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//Trigger killVision
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rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
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killVision=1;
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rt_mutex_release(&mutex_killVision);
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
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cout << "Command Open Communication with Robot Received" << endl << flush;
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rt_sem_v(&sem_openComRobot);
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
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cout << "Command Start Robot without Watchdog Received" << endl << flush;
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rt_sem_v(&sem_startRobotWithoutWatchdog);
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
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cout << "Command Start Robot with Watchdog Received" << endl << flush;
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//start task robot with watchdog
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} else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
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cout << "Command Search Arena Received" << endl << flush;
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rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
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searchArena=1;
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rt_mutex_release(&mutex_searchArena);
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} else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
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cout << "Command Get Robot Position Received" << endl << flush;
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rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
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getPosition=1;
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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);
|
|
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Thread opening communication with the robot.
|
|
*/
|
|
void Tasks::OpenComRobot(void *arg) {
|
|
int status;
|
|
int err;
|
|
bool killOpenComRobotOk = 0;
|
|
|
|
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
|
|
|
|
//Trigger Detection of Communication Loss with Robot
|
|
rt_sem_v(&sem_detectLostSupRob);
|
|
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @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;
|
|
|
|
while(1){
|
|
|
|
rt_sem_p(&sem_restart, TM_INFINITE);
|
|
|
|
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;
|
|
}
|
|
}
|
|
|
|
void Tasks::DetectLostSupRob(void *arg){
|
|
//counter to detect loss of communication
|
|
int cpt=0;
|
|
bool kill_detectLostSupRobOk=0;
|
|
Message* msgSend;
|
|
|
|
//Wait the Communication with the Robot to be Set
|
|
rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
|
|
|
|
//Initialize the variable for the loop condition
|
|
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
|
|
killDetectLostSupRob=0;
|
|
rt_mutex_release(&mutex_killDetectLostSupRob);
|
|
|
|
//Period = 1s
|
|
rt_task_set_periodic(NULL, TM_NOW, 1000000000);
|
|
|
|
while(!kill_detectLostSupRobOk){
|
|
rt_task_wait_period(NULL);
|
|
|
|
//Test Communication with Robot
|
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
msgSend = robot.Write(robot.Ping());
|
|
rt_mutex_release(&mutex_robot);
|
|
|
|
if(msgSend->GetID() == MESSAGE_ANSWER_COM_ERROR || msgSend->GetID() == MESSAGE_ANSWER_ROBOT_TIMEOUT){
|
|
|
|
cout << "Didn't Get Any Answer from Robot" << endl << flush;
|
|
cpt++;
|
|
|
|
if(cpt==3){
|
|
//Trigger Kill of DetectLostSupRob
|
|
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
|
|
killDetectLostSupRob=0;
|
|
rt_mutex_release(&mutex_killDetectLostSupRob);
|
|
|
|
//Trigger Kill of the Battery acquisition
|
|
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
|
|
killBattery=0;
|
|
rt_mutex_release(&mutex_killBattery);
|
|
|
|
}
|
|
}
|
|
|
|
else{
|
|
cout << "I got an Answer from Robot" << endl << flush;
|
|
}
|
|
|
|
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
|
|
kill_detectLostSupRobOk=killDetectLostSupRob;
|
|
rt_mutex_release(&mutex_killDetectLostSupRob);
|
|
}
|
|
}
|
|
|
|
/**
|
|
* 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;
|
|
}
|
|
|