141 lines
3 KiB
C++
141 lines
3 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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#ifndef __TASKS_H__
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#define __TASKS_H__
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#include <unistd.h>
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#include <iostream>
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#include <sys/mman.h>
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#include <alchemy/task.h>
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#include <alchemy/timer.h>
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#include <alchemy/mutex.h>
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#include <alchemy/sem.h>
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#include <alchemy/queue.h>
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#include "messages.h"
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#include "commonitor.h"
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#include "comrobot.h"
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#include "camera.h"
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#include "img.h"
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using namespace std;
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class Tasks {
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public:
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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 Init();
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/**
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* @brief Démarrage des tâches
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*/
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void Run();
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/**
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* @brief Arrêt des tâches
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*/
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void Stop();
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/**
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*/
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void Join();
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private:
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ComMonitor monitor;
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ComRobot robot;
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int robotStarted;
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int move = MESSAGE_ROBOT_STOP;
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RT_TASK th_server;
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RT_TASK th_sendToMon;
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RT_TASK th_receiveFromMon;
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RT_TASK th_openComRobot;
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RT_TASK th_startRobot;
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RT_TASK th_move;
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RT_MUTEX mutex_monitor;
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RT_MUTEX mutex_robot;
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RT_MUTEX mutex_robotStarted;
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RT_MUTEX mutex_move;
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RT_SEM sem_barrier;
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RT_SEM sem_openComRobot;
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RT_SEM sem_serverOk;
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RT_SEM sem_startRobot;
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RT_QUEUE q_messageToMon;
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int MSG_QUEUE_SIZE;
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char mode_start;
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/**
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* Write a message in a given queue
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* @param queue Queue identifier
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* @param msg Message to be stored
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*/
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void WriteInQueue(RT_QUEUE *queue, Message *msg);
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/**
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* Read a message from a given queue, block if empty
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* @param queue Queue identifier
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* @return Message read
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*/
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Message *ReadInQueue(RT_QUEUE *queue);
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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 ServerTask(void *arg);
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/**
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* @brief Thread sending data to monitor.
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*/
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void SendToMonTask(void *arg);
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/**
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* @brief Thread receiving data from monitor.
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*/
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void ReceiveFromMonTask(void *arg);
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/**
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* @brief Thread opening communication with the robot.
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*/
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void OpenComRobot(void *arg);
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/**
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* @brief Thread starting the communication with the robot.
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*/
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void StartRobotTask(void *arg);
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/**
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* @brief Thread handling control of the robot.
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*/
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void MoveTask(void *arg);
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};
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#endif // __TASKS_H__
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