real_time/software/raspberry/superviseur-robot/tasks.h
Sébastien DI MERCURIO a97e849155 Reorganisation de qq fichier
Demande #42: Migrer le code sous xenomai
2019-01-17 15:18:19 +01:00

165 lines
3.5 KiB
C++

/*
* 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 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__