demonstrateur pour les JPO2019

software/install-opencv.sh

@@ -20,7 +20,8 @@
 
 OPENCV_VERSION='3.4.2'
 
-
+mkdir opencv
+cd opencv
 # 1. KEEP UBUNTU OR DEBIAN UP TO DATE
 
 sudo apt-get -y update
@@ -82,6 +83,22 @@ make -j5
 sudo make install
 sudo ldconfig
 
+# 4. Compile raspicam
+cd ~
+cd opencv
+
+wget https://sourceforge.net/projects/raspicam/files/latest/raspicam.zip
+unzip raspicam.zip
+cd raspicam-0.1.6
+
+mkdir build
+cd build
+cmake ..
+
+make -j5
+sudo make install
+sudo ldconfig
+
 
 # 4. EXECUTE SOME OPENCV EXAMPLES AND COMPILE A DEMONSTRATION
 

software/raspberry/superviseur-robot/main.cpp

@@ -29,6 +29,7 @@
 int main(int argc, char **argv) {
     Tasks tasks;
     
+    
     //Lock the memory to avoid memory swapping for this program
     mlockall(MCL_CURRENT | MCL_FUTURE);
 

software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk

@@ -42,7 +42,7 @@ OBJECTFILES= \
 	${OBJECTDIR}/lib/img.o \
 	${OBJECTDIR}/lib/messages.o \
 	${OBJECTDIR}/main.o \
-	${OBJECTDIR}/tasks.o
+	${OBJECTDIR}/tasks_pthread.o
 
 
 # C Compiler Flags
@@ -104,10 +104,10 @@ ${OBJECTDIR}/main.o: main.cpp
 	${RM} "$@.d"
 	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
 
-${OBJECTDIR}/tasks.o: tasks.cpp
+${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
 	${MKDIR} -p ${OBJECTDIR}
 	${RM} "$@.d"
-	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv`   -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
 
 # Subprojects
 .build-subprojects:

software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk

@@ -0,0 +1,125 @@
+#
+# Generated Makefile - do not edit!
+#
+# Edit the Makefile in the project folder instead (../Makefile). Each target
+# has a -pre and a -post target defined where you can add customized code.
+#
+# This makefile implements configuration specific macros and targets.
+
+
+# Environment
+MKDIR=mkdir
+CP=cp
+GREP=grep
+NM=nm
+CCADMIN=CCadmin
+RANLIB=ranlib
+CC=gcc
+CCC=g++
+CXX=g++
+FC=gfortran
+AS=as
+
+# Macros
+CND_PLATFORM=GNU-Linux
+CND_DLIB_EXT=so
+CND_CONF=JPO2019_RPI_
+CND_DISTDIR=dist
+CND_BUILDDIR=build
+
+# Include project Makefile
+include ./Makefile
+
+# Object Directory
+OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}
+
+# Object Files
+OBJECTFILES= \
+	${OBJECTDIR}/lib/base64/base64.o \
+	${OBJECTDIR}/lib/camera.o \
+	${OBJECTDIR}/lib/commonitor.o \
+	${OBJECTDIR}/lib/comrobot.o \
+	${OBJECTDIR}/lib/img.o \
+	${OBJECTDIR}/lib/messages.o \
+	${OBJECTDIR}/main.o \
+	${OBJECTDIR}/tasks_pthread.o
+
+
+# C Compiler Flags
+CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
+
+# CC Compiler Flags
+CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
+CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
+
+# Fortran Compiler Flags
+FFLAGS=
+
+# Assembler Flags
+ASFLAGS=
+
+# Link Libraries and Options
+LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam  
+
+# Build Targets
+.build-conf: ${BUILD_SUBPROJECTS}
+	"${MAKE}"  -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot
+
+${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
+	${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
+	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -lpthread -lrt
+
+${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib/base64
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp
+
+${OBJECTDIR}/lib/camera.o: lib/camera.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp
+
+${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp
+
+${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp
+
+${OBJECTDIR}/lib/img.o: lib/img.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp
+
+${OBJECTDIR}/lib/messages.o: lib/messages.cpp
+	${MKDIR} -p ${OBJECTDIR}/lib
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp
+
+${OBJECTDIR}/main.o: main.cpp
+	${MKDIR} -p ${OBJECTDIR}
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp
+
+${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp
+	${MKDIR} -p ${OBJECTDIR}
+	${RM} "$@.d"
+	$(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11  -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp
+
+# Subprojects
+.build-subprojects:
+
+# Clean Targets
+.clean-conf: ${CLEAN_SUBPROJECTS}
+	${RM} -r ${CND_BUILDDIR}/${CND_CONF}
+
+# Subprojects
+.clean-subprojects:
+
+# Enable dependency checking
+.dep.inc: .depcheck-impl
+
+include .dep.inc

software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk

@@ -31,7 +31,7 @@ DEFAULTCONF=Debug__PC_
 CONF=${DEFAULTCONF}
 
 # All Configurations
-ALLCONFS=Debug__PC_ Debug__RPI_ 
+ALLCONFS=Debug__PC_ Debug__RPI_ JPO2019_RPI_ 
 
 
 # build

software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk

@@ -22,6 +22,14 @@ CND_ARTIFACT_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/superviseur-robot
 CND_PACKAGE_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package
 CND_PACKAGE_NAME_Debug__RPI_=superviseur-robot.tar
 CND_PACKAGE_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package/superviseur-robot.tar
+# JPO2019_RPI_ configuration
+CND_PLATFORM_JPO2019_RPI_=GNU-Linux
+CND_ARTIFACT_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux
+CND_ARTIFACT_NAME_JPO2019_RPI_=superviseur-robot
+CND_ARTIFACT_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/superviseur-robot
+CND_PACKAGE_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package
+CND_PACKAGE_NAME_JPO2019_RPI_=superviseur-robot.tar
+CND_PACKAGE_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package/superviseur-robot.tar
 #
 # include compiler specific variables
 #

software/raspberry/superviseur-robot/nbproject/Package-JPO2019_RPI_.bash

@@ -0,0 +1,76 @@
+#!/bin/bash -x
+
+#
+# Generated - do not edit!
+#
+
+# Macros
+TOP=`pwd`
+CND_PLATFORM=GNU-Linux
+CND_CONF=JPO2019_RPI_
+CND_DISTDIR=dist
+CND_BUILDDIR=build
+CND_DLIB_EXT=so
+NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging
+TMPDIRNAME=tmp-packaging
+OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot
+OUTPUT_BASENAME=superviseur-robot
+PACKAGE_TOP_DIR=superviseur-robot/
+
+# Functions
+function checkReturnCode
+{
+    rc=$?
+    if [ $rc != 0 ]
+    then
+        exit $rc
+    fi
+}
+function makeDirectory
+# $1 directory path
+# $2 permission (optional)
+{
+    mkdir -p "$1"
+    checkReturnCode
+    if [ "$2" != "" ]
+    then
+      chmod $2 "$1"
+      checkReturnCode
+    fi
+}
+function copyFileToTmpDir
+# $1 from-file path
+# $2 to-file path
+# $3 permission
+{
+    cp "$1" "$2"
+    checkReturnCode
+    if [ "$3" != "" ]
+    then
+        chmod $3 "$2"
+        checkReturnCode
+    fi
+}
+
+# Setup
+cd "${TOP}"
+mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package
+rm -rf ${NBTMPDIR}
+mkdir -p ${NBTMPDIR}
+
+# Copy files and create directories and links
+cd "${TOP}"
+makeDirectory "${NBTMPDIR}/superviseur-robot/bin"
+copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755
+
+
+# Generate tar file
+cd "${TOP}"
+rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar
+cd ${NBTMPDIR}
+tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar *
+checkReturnCode
+
+# Cleanup
+cd "${TOP}"
+rm -rf ${NBTMPDIR}

software/raspberry/superviseur-robot/nbproject/configurations.xml

@@ -11,6 +11,7 @@
       <itemPath>./lib/img.h</itemPath>
       <itemPath>./lib/messages.h</itemPath>
       <itemPath>./tasks.h</itemPath>
+      <itemPath>./tasks_pthread.h</itemPath>
     </logicalFolder>
     <logicalFolder name="ResourceFiles"
                    displayName="Resource Files"
@@ -28,6 +29,7 @@
       <itemPath>./main.cpp</itemPath>
       <itemPath>./lib/messages.cpp</itemPath>
       <itemPath>./tasks.cpp</itemPath>
+      <itemPath>./tasks_pthread.cpp</itemPath>
     </logicalFolder>
     <logicalFolder name="TestFiles"
                    displayName="Test Files"
@@ -113,6 +115,8 @@
       </item>
       <item path="./tasks.h" ex="false" tool="3" flavor2="0">
       </item>
+      <item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
+      </item>
     </conf>
     <conf name="Debug__RPI_" type="1">
       <toolsSet>
@@ -180,10 +184,87 @@
       </item>
       <item path="./main.cpp" ex="false" tool="1" flavor2="0">
       </item>
-      <item path="./tasks.cpp" ex="false" tool="1" flavor2="0">
+      <item path="./tasks.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./tasks_pthread.cpp" ex="false" tool="1" flavor2="0">
+      </item>
+      <item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
+      </item>
+    </conf>
+    <conf name="JPO2019_RPI_" type="1">
+      <toolsSet>
+        <compilerSet>GNU|GNU</compilerSet>
+        <dependencyChecking>true</dependencyChecking>
+        <rebuildPropChanged>false</rebuildPropChanged>
+      </toolsSet>
+      <compileType>
+        <cTool>
+          <incDir>
+            <pElem>./</pElem>
+            <pElem>./lib</pElem>
+            <pElem>/usr/xenomai/include</pElem>
+            <pElem>/usr/xenomai/include/mercury</pElem>
+          </incDir>
+          <commandLine>-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy</commandLine>
+        </cTool>
+        <ccTool>
+          <standard>8</standard>
+          <incDir>
+            <pElem>./</pElem>
+            <pElem>./lib</pElem>
+          </incDir>
+          <commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11</commandLine>
+          <preprocessorList>
+            <Elem>_WITH_TRACE_</Elem>
+            <Elem>__WITH_ARUCO__</Elem>
+            <Elem>__WITH_PTHREAD__</Elem>
+          </preprocessorList>
+        </ccTool>
+        <linkerTool>
+          <linkerLibItems>
+            <linkerOptionItem>`pkg-config --libs opencv`</linkerOptionItem>
+            <linkerLibLibItem>raspicam_cv</linkerLibLibItem>
+            <linkerLibLibItem>raspicam</linkerLibLibItem>
+          </linkerLibItems>
+          <commandLine>-Wl,--no-as-needed -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -lpthread -lrt</commandLine>
+        </linkerTool>
+      </compileType>
+      <item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/base64/base64.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/base64/base64.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/camera.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/camera.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/commonitor.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/commonitor.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/comrobot.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/comrobot.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/img.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/img.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./lib/messages.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./lib/messages.h" ex="false" tool="3" flavor2="0">
+      </item>
+      <item path="./main.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./tasks.cpp" ex="true" tool="1" flavor2="8">
       </item>
       <item path="./tasks.h" ex="false" tool="3" flavor2="0">
       </item>
+      <item path="./tasks_pthread.cpp" ex="false" tool="1" flavor2="8">
+      </item>
+      <item path="./tasks_pthread.h" ex="false" tool="3" flavor2="0">
+      </item>
     </conf>
   </confs>
 </configurationDescriptor>

software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk

@@ -5,3 +5,4 @@
 #
 # Debug__PC_ configuration
 # Debug__RPI_ configuration
+# JPO2019_RPI_ configuration

software/raspberry/superviseur-robot/nbproject/private/configurations.xml

@@ -41,7 +41,40 @@
     </conf>
     <conf name="Debug__RPI_" type="1">
       <toolsSet>
-        <developmentServer>pi@10.105.1.13:22</developmentServer>
+        <developmentServer>pi@10.105.1.11:22</developmentServer>
+        <platform>2</platform>
+      </toolsSet>
+      <dbx_gdbdebugger version="1">
+        <gdb_pathmaps>
+        </gdb_pathmaps>
+        <gdb_interceptlist>
+          <gdbinterceptoptions gdb_all="false" gdb_unhandled="true" gdb_unexpected="true"/>
+        </gdb_interceptlist>
+        <gdb_options>
+          <DebugOptions>
+          </DebugOptions>
+        </gdb_options>
+        <gdb_buildfirst gdb_buildfirst_overriden="false" gdb_buildfirst_old="false"/>
+      </dbx_gdbdebugger>
+      <nativedebugger version="1">
+        <engine>gdb</engine>
+      </nativedebugger>
+      <runprofile version="9">
+        <runcommandpicklist>
+          <runcommandpicklistitem>"${OUTPUT_PATH}"</runcommandpicklistitem>
+        </runcommandpicklist>
+        <runcommand>"${OUTPUT_PATH}"</runcommand>
+        <rundir></rundir>
+        <buildfirst>true</buildfirst>
+        <terminal-type>0</terminal-type>
+        <remove-instrumentation>0</remove-instrumentation>
+        <environment>
+        </environment>
+      </runprofile>
+    </conf>
+    <conf name="JPO2019_RPI_" type="1">
+      <toolsSet>
+        <developmentServer>pi@10.105.1.11:22</developmentServer>
         <platform>2</platform>
       </toolsSet>
       <dbx_gdbdebugger version="1">

software/raspberry/superviseur-robot/nbproject/private/private.xml

@@ -2,18 +2,19 @@
 <project-private xmlns="http://www.netbeans.org/ns/project-private/1">
     <data xmlns="http://www.netbeans.org/ns/make-project-private/1">
         <activeConfTypeElem>1</activeConfTypeElem>
-        <activeConfIndexElem>0</activeConfIndexElem>
+        <activeConfIndexElem>2</activeConfIndexElem>
     </data>
     <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/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
+            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp</file>
             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h</file>
         </group>
     </open-files>

software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.11-pi-22

@@ -0,0 +1,456 @@
+#Wed Jan 23 10:36:49 CET 2019
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_0.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h_source.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_3.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_position__coll__graph.md5=c1547564861000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1547735186000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_4.js=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_1.html=c1547565563000
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__inherit__graph.md5=c1547560339000
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+VERSION=1.3
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software/raspberry/superviseur-robot/nbproject/project.xml

@@ -21,6 +21,10 @@
                     <name>Debug__RPI_</name>
                     <type>1</type>
                 </confElem>
+                <confElem>
+                    <name>JPO2019_RPI_</name>
+                    <type>1</type>
+                </confElem>
             </confList>
             <formatting>
                 <project-formatting-style>false</project-formatting-style>

software/raspberry/superviseur-robot/tasks.cpp

@@ -212,7 +212,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
             msgSend = new Message(MESSAGE_ANSWER_ACK);
             isActive = true;
 
-            delete(msgRcv); // mus be deleted manually, no consumer
+            delete(msgRcv); // must be deleted manually, no consumer
         }
 
         if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {

software/raspberry/superviseur-robot/tasks_pthread.cpp

@@ -0,0 +1,305 @@
+/*
+ * 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/>.
+ */
+
+#include "tasks_pthread.h"
+#include <time.h>
+
+#ifdef __WITH_PTHREAD__
+
+// Déclaration des priorités des taches
+#define PRIORITY_TSERVER 30
+#define PRIORITY_TOPENCOMROBOT 20
+#define PRIORITY_TMOVE 10
+#define PRIORITY_TSENDTOMON 25
+#define PRIORITY_TRECEIVEFROMMON 22
+#define PRIORITY_TSTARTROBOT 20
+
+/*
+ * Some remarks:
+ * 1- This program is mostly a template. It shows you how to create tasks, semaphore
+ *   message queues, mutex ... and how to use them
+ * 
+ * 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
+ * 
+ * 3- Data flow is probably not optimal
+ * 
+ * 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
+ *   time for internal buffer to flush
+ * 
+ * 5- Same behavior existe for ComMonitor::Write !
+ * 
+ * 6- When you want to write something in terminal, use cout and terminate with endl and flush
+ * 
+ * 7- Good luck !
+ */
+
+void Tasks::Init() {
+    int status;
+
+    /* Open com port with STM32 */
+    cout << "Open serial com (";
+    status = robot.Open();
+    cout << status;
+    cout << ")" << endl;
+
+    if (status >= 0) {
+        // Open server
+
+        status = monitor.Open(SERVER_PORT);
+        cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
+
+        if (status < 0) throw std::runtime_error {
+            "Unable to start server on port " + std::to_string(SERVER_PORT)
+        };
+    } else
+        throw std::runtime_error {
+        "Unable to open serial port /dev/ttyS0 "
+    };
+}
+
+void Tasks::Run() {
+    threadTimer = new thread((void (*)(void*)) & Tasks::TimerTask, this);
+    threadServer = new thread((void (*)(void*)) & Tasks::ServerTask, this);
+
+    cout << "Tasks launched" << endl << flush;
+}
+
+void Tasks::Stop() {
+    monitor.Close();
+    robot.Close();
+}
+
+void Tasks::ServerTask(void *arg) {
+    Message *msgRcv;
+    Message *msgSend;
+    bool isActive = true;
+
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+
+    while (isActive) {
+        msgRcv = NULL;
+        msgSend = NULL;
+
+        msgRcv = monitor.Read();
+        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            isActive = true;
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+            cout << "isActive = false!" << msgRcv->ToString() << endl << flush;
+            isActive = false;
+
+            delete(msgRcv); // mus be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
+            msgSend = robot.Write(msgRcv);
+            cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
+            msgSend = robot.Write(msgRcv);
+            cout << "Start without wd answer: " << msgSend->ToString() << endl << flush;
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
+            msgSend = robot.Write(msgRcv);
+            cout << "Reset answer: " << msgSend->ToString() << endl << flush;
+        }
+
+        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)) {
+            msgSend = robot.Write(msgRcv);
+
+            cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+
+            if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
+                delete (msgSend);
+                msgSend = NULL;
+            }
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
+            sendImage = true;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
+            sendImage = false;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
+            sendPosition = true;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
+            sendPosition = false;
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
+            msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
+            showArena = true;
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
+            showArena = false;
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
+            showArena = false;
+
+            delete(msgRcv); // must be deleted manually, no consumer
+        }
+
+        if (msgSend != NULL) monitor.Write(msgSend);
+    }
+}
+
+void Tasks::TimerTask(void* arg) {
+    struct timespec tim, tim2;
+    Message *msgSend;
+    int counter;
+    int cntFrame = 0;
+    Position pos;
+    Arena arena;
+    int counter_img;
+
+    tim.tv_sec = 0;
+    tim.tv_nsec = 50000000; // 50ms (20fps)
+
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+
+    Camera camera = Camera(sm, 15);
+    cout << "Try opening camera" << endl << flush;
+    if (camera.Open()) cout << "Camera opened successfully" << endl << flush;
+    else {
+        cout << "Failed to open camera" << endl << flush;
+
+        exit(0);
+    }
+
+    pos.angle = 0.0;
+    pos.robotId = -1;
+    pos.center = cv::Point2f(0, 0);
+    pos.direction = cv::Point2f(0, 0);
+
+    counter_img = 0;
+
+    while (1) {
+        Img image = camera.Grab(); // 15fps
+        cntFrame++;
+        cout << "cnt: " << to_string(cntFrame) << endl << flush;
+
+        if (sendPosition == true) {
+            counter++;
+
+            if (counter >= 5) { // div =15
+                counter = 0;
+
+                //if (!arena.IsEmpty()) {
+                image.dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3));
+
+                std::list<Position> poses = image.SearchRobot(arena);
+                cout << "Nbr of pos detected: " << to_string(poses.size()) << endl << flush;
+
+                if (poses.size() > 0) {
+                    Position firstPos = poses.front();
+
+                    pos.angle = firstPos.angle;
+                    pos.robotId = firstPos.robotId;
+                    pos.center = firstPos.center;
+                    pos.direction = firstPos.direction;
+                } else {
+                    // Nothing found
+                    pos.angle = 0.0;
+                    pos.robotId = -1;
+                    pos.center = cv::Point2f(0, 0);
+                    pos.direction = cv::Point2f(0, 0);
+                }
+
+                MessagePosition *msgp = new MessagePosition(MESSAGE_CAM_POSITION, pos);
+                monitor.Write(msgp);
+                cout << "Position sent" << endl << flush;
+            }
+        }
+
+        if (sendImage == true) {
+            counter_img++;
+
+            if (counter_img >= 1) {
+                counter_img = 0;
+
+                if (showArena) {
+                    arena = image.SearchArena();
+
+                    if (!arena.IsEmpty()) image.DrawArena(arena);
+                    else cout << "Arena not found" << endl << flush;
+                }
+
+                if (sendPosition == true) {
+                    image.DrawRobot(pos);
+                }
+
+                if (!arena.IsEmpty()) image.DrawArena(arena);
+
+                MessageImg *msg = new MessageImg(MESSAGE_CAM_IMAGE, &image);
+
+                monitor.Write(msg);
+                cout << "Image sent" << endl << flush;
+            }
+        }
+    }
+}
+
+void Tasks::SendToMonTask(void* arg) {
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+
+    while (1) {
+
+    }
+}
+
+#endif //__WITH_PTHREAD__

software/raspberry/superviseur-robot/tasks_pthread.h

@@ -0,0 +1,104 @@
+/*
+ * 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__
+
+#ifdef __WITH_PTHREAD__
+#include <stdio.h>
+#include <stdlib.h>
+#include <unistd.h>
+
+#include "camera.h"
+#include "img.h"
+
+#include "messages.h"
+#include "commonitor.h"
+#include "comrobot.h"
+
+#include <thread>
+#include <mutex>
+#include <condition_variable>
+
+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() {
+        threadServer->join();
+        threadTimer->join();
+        threadSendToMon->join();
+    }
+    
+    /**
+     */
+    bool AcceptClient() {
+        return monitor.AcceptClient();
+    }
+    
+     /**
+     * @brief Thread handling server communication.
+     */
+    void ServerTask(void *arg);
+
+    /**
+     * @brief Thread handling server communication.
+     */
+    void TimerTask(void *arg);
+    
+    /**
+     * @brief Thread handling communication to monitor.
+     */
+    void SendToMonTask(void *arg);
+private:
+    ComMonitor monitor;
+    ComRobot robot;
+    
+    bool sendImage=false;
+    bool sendPosition=false;
+    
+    int counter;
+    bool flag;
+    
+    bool showArena=false;
+    
+    thread *threadServer;
+    thread *threadSendToMon;
+    thread *threadTimer;
+    
+    mutex mutexTimer;
+};
+
+#endif // __WITH_PTHREAD__
+#endif /* __TASKS_H__ */
+