touchais/Projet_RT
1
0
Fork 0
Code Issues Pull requests Releases Activity

Add battery functionality

Browse source
This commit is contained in:
Touchais Julien 2021-02-09 23:18:51 +01:00
parent a3fc2d8815
commit 17f4df45d2
4 changed files with 60 additions and 8 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

2
software/raspberry/superviseur-robot/nbproject/private/configurations.xml
View file

@ -41,7 +41,7 @@
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
<developmentServer>pi@10.105.1.08:22</developmentServer>
<developmentServer>pi@10.105.1.5:22</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">

15
software/raspberry/superviseur-robot/nbproject/private/private.xml
View file

@ -7,12 +7,15 @@
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
<file>file:/home/touchais/Documents/4A/RT/dumber/software/raspberry/superviseur-robot/main.cpp</file>
<file>file:/home/touchais/Documents/4A/RT/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home/touchais/Documents/4A/RT/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
<file>file:/home/touchais/Documents/4A/RT/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
<file>file:/home/touchais/Documents/4A/RT/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
<file>file:/home/touchais/Documents/4A/RT/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
<file>file:/home/touchais/Documents/4A/RT/dumber/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home/touchais/Documents/4A/RT/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
<file>file:/home/touchais/Documents/4A/RT/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
</group>
</open-files>
</project-private>

44
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -26,6 +26,7 @@
#define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TSTARTROBOT 20
#define PRIORITY_TCAMERA 21
#define PRIORITY_TBATTERY 31
/*
* Some remarks:
@ -123,6 +124,10 @@ void Tasks::Init() {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_checkBattery, "th_checkBattery", 0, PRIORITY_TBATTERY, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks created successfully" << endl << flush;
/**************************************************************************************/
@ -167,6 +172,10 @@ void Tasks::Run() {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_checkBattery, (void(*)(void*)) & Tasks::CheckBatteryTask, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks launched" << endl << flush;
}
@ -383,6 +392,41 @@ void Tasks::MoveTask(void *arg) {
}
}
/**
* @brief Thread printing the robot battery
*/
void Tasks::CheckBatteryTask(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 starts here */
/**************************************************************************************/
MessageBattery * batLevel;
int rs;
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while(1) {
rt_task_wait_period(NULL);
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted;
rt_mutex_release(&mutex_robotStarted);
if (rs == 1) {
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
batLevel = (MessageBattery*)robot.Write(new Message(MESSAGE_ROBOT_BATTERY_GET));
rt_mutex_release(&mutex_robot);
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Write(batLevel);
rt_mutex_release(&mutex_monitor);
}
}
}
/**
* Write a message in a given queue
* @param queue Queue identifier

7
software/raspberry/superviseur-robot/tasks.h
View file

@ -14,7 +14,6 @@
* 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__
@ -76,6 +75,7 @@ private:
RT_TASK th_openComRobot;
RT_TASK th_startRobot;
RT_TASK th_move;
RT_TASK th_checkBattery;
/**********************************************************************/
/* Mutex */
@ -132,6 +132,11 @@ private:
*/
void MoveTask(void *arg);
/**
* @brief Thread handling control of the robot.
*/
void CheckBatteryTask(void *arg);
/**********************************************************************/
/* Queue services */
/**********************************************************************/