Browse Source

projet init

pehladik 2 years ago
parent
commit
c38909f5cc

BIN
software/monitor/monitor/monitor View File


+ 0
- 2
software/monitor/monitor/monitor.csproj View File

@@ -46,8 +46,6 @@
46 46
     <Reference Include="pango-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
47 47
     <Reference Include="atk-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
48 48
     <Reference Include="glade-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
49
-    <Reference Include="pango-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
50
-    <Reference Include="atk-sharp, Version=2.12.0.0, Culture=neutral, PublicKeyToken=35e10195dab3c99f" />
51 49
   </ItemGroup>
52 50
   <ItemGroup>
53 51
     <EmbeddedResource Include="gtk-gui\gui.stetic">

+ 6
- 0
software/raspberry/superviseur-robot/lib/commonitor.cpp View File

@@ -178,10 +178,16 @@ Message *ComMonitor::Read() {
178 178
     if (clientID > 0) {
179 179
         while (!endReception) {
180 180
             if ((length = recv(clientID, (void*) &data, 1, MSG_WAITALL)) > 0) {
181
+                //cout << "length = " << to_string(length) << endl << flush;
181 182
                 if (data != '\n') {
182 183
                     s += data;
183 184
                 } else endReception = true;
184 185
             }
186
+            else {
187
+                endReception = true;
188
+            }
189
+            
190
+            //cout << "2- length = " << to_string(length) << endl << flush;
185 191
         }
186 192
 
187 193
         if (length <= 0) msg = new Message(MESSAGE_MONITOR_LOST);

+ 4
- 2
software/raspberry/superviseur-robot/main.cpp View File

@@ -37,13 +37,15 @@ int main(int argc, char **argv) {
37 37
     cout<<"#################################"<<endl;
38 38
 
39 39
     tasks.Init();
40
+    tasks.Run();
41
+    tasks.Join();
40 42
     
41
-    if (tasks.AcceptClient()) {
43
+    /*if (tasks.AcceptClient()) {
42 44
         cout << "Rock'n'Roll baby, client accepted!"<<endl<<flush;
43 45
         tasks.Run();
44 46
         
45 47
         tasks.Join();
46
-    }
48
+    }*/
47 49
     
48 50
     tasks.Stop();
49 51
     

+ 7
- 9
software/raspberry/superviseur-robot/nbproject/private/private.xml View File

@@ -2,19 +2,17 @@
2 2
 <project-private xmlns="http://www.netbeans.org/ns/project-private/1">
3 3
     <data xmlns="http://www.netbeans.org/ns/make-project-private/1">
4 4
         <activeConfTypeElem>1</activeConfTypeElem>
5
-        <activeConfIndexElem>0</activeConfIndexElem>
5
+        <activeConfIndexElem>1</activeConfIndexElem>
6 6
     </data>
7 7
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
8 8
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
9 9
         <group>
10
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
11
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
12
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
13
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
14
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>
15
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
16
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
17
-            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h</file>
10
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/main.cpp</file>
11
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
12
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
13
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
14
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
15
+            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
18 16
         </group>
19 17
     </open-files>
20 18
 </project-private>

+ 99
- 53
software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22 View File

@@ -1,4 +1,4 @@
1
-#Thu Jan 17 13:32:55 CET 2019
1
+#Fri Feb 08 17:01:19 CET 2019
2 2
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_0.js=c1547565563000
3 3
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_3.html=c1547565563000
4 4
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h_source.html=c1547565563000
@@ -19,6 +19,7 @@
19 19
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/nomatches.html=c1547565563000
20 20
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot.html=c1547565563000
21 21
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string-members.html=c1547565563000
22
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1548424346000
22 23
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.map=c1547564949000
23 24
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__dep__incl.md5=c1547560339000
24 25
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp=c1542105130000
@@ -35,15 +36,18 @@
35 36
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1542120848000
36 37
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_d.html=c1547565563000
37 38
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_b.html=c1547565563000
39
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/uiExample.cpp=c1548953827000
38 40
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug__RPI_.mk=c1542104029000
39 41
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_4.md5=c1547563913000
40 42
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/.dep.inc=c1547717148000
41 43
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_3.html=c1547565563000
42 44
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/navtreedata.js=c1547565563000
43 45
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__coll__graph.map=c1547560340000
46
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1548424346000
44 47
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.js=c1547565563000
45 48
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena.js=c1547565563000
46 49
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_7.js=c1547565563000
50
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/rtvideoExample.cpp=c1548953827000
47 51
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.cpp=c1544778298000
48 52
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherits.html=c1547565563000
49 53
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/CMakeLists.txt=c1542120848000
@@ -74,6 +78,7 @@
74 78
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/files.html=c1547565563000
75 79
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_1.js=c1547565563000
76 80
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__dep__incl.pdf=c1547560339000
81
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/.gitignore=c1548424346000
77 82
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/private/Makefile-variables.mk=c1542029322000
78 83
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_13.js=c1547565563000
79 84
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_1.html=c1547565563000
@@ -111,6 +116,7 @@
111 116
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message__inherit__graph.pdf=c1547564949000
112 117
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_0.js=c1547565563000
113 118
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_position__inherit__graph.pdf=c1547560340000
119
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1548424346000
114 120
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_a.html=c1547565563000
115 121
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string.html=c1547565563000
116 122
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_c.html=c1547565563000
@@ -120,9 +126,13 @@
120 126
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1547728285000
121 127
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/nav_g.png=c1547565563000
122 128
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_2.html=c1547565563000
129
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1549622533000
123 130
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_9.html=c1547565563000
124 131
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1547728293000
132
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/img.h=c1548424346000
125 133
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int-members.html=c1547565563000
134
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1548424346000
135
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serialTest.cpp=c1548953827000
126 136
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/camera_8h__incl.md5=c1547560339000
127 137
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img-members.html=c1547565563000
128 138
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_0.html=c1547565563000
@@ -131,6 +141,7 @@
131 141
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__inherit__graph.map=c1547560340000
132 142
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_8.js=c1547565563000
133 143
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_img__coll__graph.md5=c1547563913000
144
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1548953827000
134 145
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_2.html=c1547565563000
135 146
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message__inherit__graph.md5=c1547564949000
136 147
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_2.map=c1547560340000
@@ -155,13 +166,16 @@
155 166
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.html=c1547565563000
156 167
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/nav_f.png=c1547565563000
157 168
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/.gitignore=c1547565649000
169
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/CMakeLists.txt=c1548953827000
158 170
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_2.js=c1547565563000
159 171
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h__dep__incl.md5=c1547560339000
160 172
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_img__inherit__graph.md5=c1547560339000
161 173
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_string__coll__graph.md5=c1547560339000
162 174
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_14.js=c1547565563000
163 175
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/close.png=c1547565563000
176
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1548424347000
164 177
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_1.html=c1547565563000
178
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1548424346000
165 179
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message__inherit__graph.map=c1547564949000
166 180
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1518398687000
167 181
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_6.html=c1547565563000
@@ -171,9 +185,11 @@
171 185
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h=c1544778298000
172 186
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor.html=c1547565563000
173 187
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/img_8h__dep__incl.pdf=c1547560339000
188
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1548953827000
174 189
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.h=c1544797217000
175 190
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug.bash=c1544780526000
176 191
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk=c1542104029000
192
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h=c1549641678000
177 193
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/Makefile=c1547565563000
178 194
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_4.html=c1547565563000
179 195
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_2.js=c1547565563000
@@ -191,6 +207,7 @@
191 207
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/.gitignore=c1541685829000
192 208
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_b.html=c1547565563000
193 209
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Debug__RPI_.bash=c1542029322000
210
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1548424346000
194 211
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__incl.md5=c1547560339000
195 212
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.html=c1547565563000
196 213
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tab_h.png=c1547565563000
@@ -198,16 +215,21 @@
198 215
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_1.js=c1547565563000
199 216
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_0.js=c1547565563000
200 217
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena-members.html=c1547565563000
218
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1548953827000
201 219
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Package-Release.bash=c1541685829000
202 220
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_f.js=c1547565563000
221
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1548424347000
203 222
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_camera.js=c1547565563000
204 223
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_0.js=c1547565563000
205 224
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals.html=c1547565563000
206 225
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_13.html=c1547565563000
226
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/pthread_version/tasks_pthread.h=c1548953827000
207 227
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string__inherit__graph.md5=c1547560339000
228
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1548424346000
208 229
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery-members.html=c1547565563000
209 230
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/base64_8h.tex=c1547565563000
210 231
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk=c1547717055000
232
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1548953827000
211 233
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery__inherit__graph.md5=c1547560339000
212 234
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_0.map=c1547564862000
213 235
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_9.js=c1547565563000
@@ -243,6 +265,7 @@
243 265
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery__coll__graph.png=c1547560339000
244 266
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_3.js=c1547565563000
245 267
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h__incl.map=c1547560339000
268
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/pthread_version/tasks_pthread.cpp=c1548953827000
246 269
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1547728371000
247 270
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h=c1547565126000
248 271
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1544778298000
@@ -252,6 +275,7 @@
252 275
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_string__coll__graph.pdf=c1547560340000
253 276
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/commonitor_8h.js=c1547565563000
254 277
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/ProjDestijl.cbp=c1542120848000
278
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1548424346000
255 279
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/doc.png=c1547565563000
256 280
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.core.runtime/.settings/com.digi.xctung.prefs=c1547722800000
257 281
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_3.js=c1547565563000
@@ -272,6 +296,7 @@
272 296
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1546527039000
273 297
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1547717999000
274 298
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/files.js=c1547565563000
299
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/main.cpp=c1549276684000
275 300
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menu.js=c1547565563000
276 301
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_type.html=c1547565563000
277 302
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__incl.pdf=c1547560339000
@@ -280,44 +305,51 @@
280 305
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery__inherit__graph.md5=c1547560339000
281 306
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string__coll__graph.map=c1547560340000
282 307
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h_source.html=c1547565563000
308
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1548424346000
283 309
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/dir_96aba1edb3024c67427e5e41410f3c29.tex=c1547565563000
284 310
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/annotated.tex=c1547565563000
285 311
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_c.html=c1547565563000
286 312
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.cpp=c1544778298000
287 313
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__incl.map=c1547560339000
288 314
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/comrobot_8h__incl.md5=c1547560339000
315
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/.gitignore=c1548953827000
289 316
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread__RPI.bash=c1546855871000
290 317
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp=c1542105181000
291 318
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/struct_position.js=c1547565563000
292 319
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_a.js=c1547565563000
293 320
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_5.js=c1547565563000
294 321
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/comrobot_8h__incl.pdf=c1547560339000
295
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_4.html=c1547565563000
296 322
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_2.html=c1547565563000
323
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_4.html=c1547565563000
297 324
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serialTest.cpp=c1542120848000
298
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h.html=c1547565563000
299 325
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_2.js=c1547565563000
326
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h.html=c1547565563000
300 327
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_9.html=c1547565563000
328
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1548424346000
301 329
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_arena.tex=c1547565563000
302 330
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/dir_97aefd0d527b934f1d99a682da8fe6a9.html=c1547565563000
303 331
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_f.js=c1547565563000
304
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__inherit__graph.pdf=c1547560339000
305 332
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery.html=c1547565563000
333
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__inherit__graph.pdf=c1547560339000
306 334
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tab_s.png=c1547565563000
307 335
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h_source.html=c1547565563000
308
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/comrobot_8h__incl.map=c1547560339000
309 336
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_img.tex=c1547565563000
310
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_4.js=c1547565563000
337
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/comrobot_8h__incl.map=c1547560339000
311 338
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/robot-icon.resized.png=c1547565563000
312
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1518398687000
339
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_4.js=c1547565563000
313 340
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/sync_on.png=c1547565563000
341
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1518398687000
342
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1548424346000
314 343
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_2.html=c1547565563000
344
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serialExample.cpp=c1548953827000
315 345
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/typedefs_0.js=c1547565563000
316 346
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_string.js=c1547565563000
347
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1548424346000
317 348
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/compile_commands.json=c1542120848000
318 349
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery__coll__graph.md5=c1547560339000
319 350
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__inherit__graph.md5=c1547560339000
320 351
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/doxygen.sty=c1547565563000
352
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/videoExample.cpp=c1548953827000
321 353
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread_.bash=c1545062469000
322 354
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp=c1542104053000
323 355
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h__incl.png=c1547560339000
@@ -330,11 +362,12 @@
330 362
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1547564899000
331 363
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_enum.html=c1547565563000
332 364
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1546526752000
333
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__inherit__graph.map=c1547560340000
334 365
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_string.tex=c1547565563000
335
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.png=c1547560339000
366
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__inherit__graph.map=c1547560340000
336 367
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery__coll__graph.md5=c1547560339000
368
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.png=c1547560339000
337 369
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search_m.png=c1547565563000
370
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1548953827000
338 371
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_func.html=c1547565563000
339 372
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/jquery.js=c1547565563000
340 373
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/files_3.js=c1547565563000
@@ -342,25 +375,30 @@
342 375
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_2.js=c1547565563000
343 376
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1547564761000
344 377
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor.js=c1547565563000
378
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1548424346000
345 379
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_2.js=c1547565563000
346 380
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_b.html=c1547565563000
381
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp=c1548953827000
347 382
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_defs.html=c1547565563000
348 383
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.png=c1547564862000
349
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search.css=c1547565563000
350 384
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_camera.html=c1547565563000
385
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search.css=c1547565563000
386
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1548424346000
351 387
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery__inherit__graph.pdf=c1547560339000
352
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message.html=c1547565563000
353 388
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery__coll__graph.map=c1547560339000
354
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.h=c1544778298000
389
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message.html=c1547565563000
355 390
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/classes.html=c1547565563000
391
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.h=c1544778298000
356 392
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1518398687000
357
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_3.html=c1547565563000
393
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/.dep.inc=c1548953904000
358 394
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_1.html=c1547565563000
359
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_8.html=c1547565563000
395
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_3.html=c1547565563000
360 396
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_b.js=c1547565563000
397
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_8.html=c1547565563000
361 398
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_6.js=c1547565563000
362
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__coll__graph.md5=c1547564861000
363 399
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tabs.css=c1547565563000
400
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__coll__graph.md5=c1547564861000
401
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/README.md=c1548424346000
364 402
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position-members.html=c1547565563000
365 403
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position.html=c1547565563000
366 404
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search_l.png=c1547565563000
@@ -368,86 +406,88 @@
368 406
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_3.js=c1547565563000
369 407
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_1.html=c1547565563000
370 408
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serverTest.cpp=c1542120848000
371
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/folderopen.png=c1547565563000
372 409
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.js=c1547565563000
373
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img.js=c1547565563000
410
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/folderopen.png=c1547565563000
374 411
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/typedefs_1.html=c1547565563000
412
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img.js=c1547565563000
375 413
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h=c1546961074000
376 414
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/dir_97aefd0d527b934f1d99a682da8fe6a9.tex=c1547565563000
377 415
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/struct_position-members.html=c1547565563000
378
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_a.js=c1547565563000
379 416
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h.tex=c1547565563000
417
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_a.js=c1547565563000
380 418
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_5.js=c1547565563000
381 419
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/typedefs_1.js=c1547565563000
382
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.png=c1547564949000
383
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/.dep.inc=c1542102478000
384 420
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tab_b.png=c1547565563000
421
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/.dep.inc=c1542102478000
422
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.png=c1547564949000
385 423
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h_source.html=c1547565563000
386 424
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_0.js=c1547565563000
387 425
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_f.html=c1547565563000
388
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__coll__graph.map=c1547564862000
389 426
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/annotated.html=c1547565563000
427
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__coll__graph.map=c1547564862000
390 428
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position__inherit__graph.png=c1547560340000
391 429
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_5.html=c1547565563000
392 430
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_com_monitor.tex=c1547565563000
393
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_eval.html=c1547565563000
394 431
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/mag_sel.png=c1547565563000
395
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk=c1542029322000
432
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_eval.html=c1547565563000
396 433
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_a.js=c1547565563000
434
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk=c1542029322000
397 435
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_5.js=c1547565563000
398 436
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_10.html=c1547565563000
399
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/bdwn.png=c1547565563000
400 437
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery__coll__graph.pdf=c1547560339000
438
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/bdwn.png=c1547565563000
401 439
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__coll__graph.png=c1547560339000
402 440
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.ui.prefs=c1547721237000
403
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/resize.js=c1547565563000
404 441
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/functions_func.html=c1547565563000
405
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_11.js=c1547565563000
442
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/resize.js=c1547565563000
406 443
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/open.png=c1547565563000
407
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__dep__incl.png=c1547560339000
444
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_11.js=c1547565563000
408 445
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_camera-members.html=c1547565563000
446
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/messages_8h__dep__incl.png=c1547560339000
409 447
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serialExample.cpp=c1542120848000
410 448
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/CMakeLists.txt=c1542120848000
411 449
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/functions_vars.html=c1547565563000
412
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/gdbsudo.sh=c1541685829000
413 450
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h.js=c1547565563000
414
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot.js=c1547565563000
451
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/gdbsudo.sh=c1541685829000
415 452
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/rtvideoExample.cpp=c1542120848000
453
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot.js=c1547565563000
416 454
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_monitor-members.html=c1547565563000
417
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h=c1547716000000
418 455
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_a.html=c1547565563000
456
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h=c1547716000000
419 457
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1518398687000
420
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_4.png=c1547563913000
421 458
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/tab_a.png=c1547565563000
459
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_4.png=c1547563913000
422 460
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Package-Release.bash=c1544780526000
423 461
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_3.js=c1547565563000
424
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__coll__graph.png=c1547563913000
425
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h=c1542117699000
462
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1548424346000
426 463
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/struct_position.tex=c1547565563000
464
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h=c1542117699000
465
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__coll__graph.png=c1547563913000
427 466
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/image.cpp=c1544778298000
428
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h__incl.md5=c1547560339000
429 467
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_4.html=c1547565563000
430
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.html=c1547565563000
431
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/uiExample.cpp=c1542120848000
468
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h__incl.md5=c1547560339000
432 469
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_2.html=c1547565563000
470
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/uiExample.cpp=c1542120848000
471
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.html=c1547565563000
433 472
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/graph_legend.md5=c1547560339000
434
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_9.html=c1547565563000
435 473
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_7.html=c1547565563000
474
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_9.html=c1547565563000
436 475
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img.html=c1547565563000
437 476
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp=c1542105162000
438 477
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp=c1547195899000
439
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__coll__graph.md5=c1547560339000
440 478
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/doxygen.png=c1547565563000
479
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__coll__graph.md5=c1547560339000
441 480
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/commonitor_8h__incl.png=c1547560339000
442 481
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk=c1547649766000
443
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk=c1542104029000
444 482
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/project.properties=c1542103467000
445
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_c.js=c1547565563000
483
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Debug.mk=c1542104029000
446 484
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_0.html=c1547565563000
447
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi=c1547722800000
485
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_c.js=c1547565563000
448 486
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_7.js=c1547565563000
487
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.e4.workbench/workbench.xmi=c1547722800000
449 488
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1546855871000
450 489
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/typedefs_0.html=c1547565563000
490
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1548424346000
451 491
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_com_robot.tex=c1547565563000
452 492
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.md5=c1547560339000
453 493
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/dir_96aba1edb3024c67427e5e41410f3c29.html=c1547565563000
@@ -457,48 +497,54 @@
457 497
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h__incl.map=c1547560339000
458 498
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_3.png=c1547560340000
459 499
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery.tex=c1547565563000
500
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1549641580000
501
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1548424346000
460 502
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_b.js=c1547565563000
461 503
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_6.js=c1547565563000
462
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/commonitor_8h__incl.md5=c1547560339000
463
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.html=c1547565563000
464 504
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_e.html=c1547565563000
505
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.html=c1547565563000
506
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/commonitor_8h__incl.md5=c1547560339000
465 507
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/closed.png=c1547565563000
466
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1546855871000
467
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk=c1547649766000
468 508
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.html=c1547565563000
509
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk=c1547649766000
510
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1546855871000
469 511
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/index.html=c1547565563000
470 512
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_4.html=c1547565563000
471 513
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/message.cpp=c1544778298000
472 514
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.md5=c1547564861000
473 515
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/refman.tex=c1547565563000
474 516
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.js=c1547565563000
475
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
476 517
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position.js=c1547565563000
518
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
477 519
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena.html=c1547565563000
478
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/.gitignore=c1542120848000
479 520
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot-members.html=c1547565563000
521
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/.gitignore=c1542120848000
480 522
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.map=c1547560339000
523
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1548424346000
481 524
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/messages_8h__dep__incl.md5=c1547560339000
525
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/Makefile=c1548424346000
482 526
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/doxygen.css=c1547565563000
527
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1548424346000
483 528
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_b.js=c1547565563000
484 529
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_6.js=c1547565563000
485 530
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/struct_position.html=c1547565563000
486 531
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/videoExample.cpp=c1542120848000
487 532
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__inherit__graph.png=c1547560339000
488
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.js=c1547565563000
489 533
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery.js=c1547565563000
490
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_12.js=c1547565563000
491
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_img.js=c1547565563000
534
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.js=c1547565563000
492 535
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/bc_s.png=c1547565563000
536
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_img.js=c1547565563000
537
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_12.js=c1547565563000
493 538
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.map=c1547564862000
494 539
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/README.md=c1541685829000
495 540
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_2.png=c1547560340000
541
+/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1548424346000
496 542
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_2.html=c1547565563000
497 543
 VERSION=1.3
498 544
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/robot-icon.resized.png=c1547565563000
499 545
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs=c1547722800000
500
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
501 546
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h.html=c1547565563000
502
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000
503
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h=c1544778298000
547
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
504 548
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile=c1542100687000
549
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h=c1544778298000
550
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000

+ 168
- 159
software/raspberry/superviseur-robot/tasks.cpp View File

@@ -21,7 +21,7 @@
21 21
 // Déclaration des priorités des taches
22 22
 #define PRIORITY_TSERVER 30
23 23
 #define PRIORITY_TOPENCOMROBOT 20
24
-#define PRIORITY_TMOVE 10
24
+#define PRIORITY_TMOVE 20
25 25
 #define PRIORITY_TSENDTOMON 22
26 26
 #define PRIORITY_TRECEIVEFROMMON 25
27 27
 #define PRIORITY_TSTARTROBOT 20
@@ -57,6 +57,14 @@ void Tasks::Init() {
57 57
     /**************************************************************************************/
58 58
     /* 	Mutex creation                                                                    */
59 59
     /**************************************************************************************/
60
+    if (err = rt_mutex_create(&mutex_monitor, NULL)) {
61
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
62
+        exit(EXIT_FAILURE);
63
+    }
64
+    if (err = rt_mutex_create(&mutex_robot, NULL)) {
65
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
66
+        exit(EXIT_FAILURE);
67
+    }
60 68
     if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
61 69
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
62 70
         exit(EXIT_FAILURE);
@@ -95,11 +103,11 @@ void Tasks::Init() {
95 103
         cerr << "Error task create: " << strerror(-err) << endl << flush;
96 104
         exit(EXIT_FAILURE);
97 105
     }
98
-    if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
106
+    if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
99 107
         cerr << "Error task create: " << strerror(-err) << endl << flush;
100 108
         exit(EXIT_FAILURE);
101 109
     }
102
-    if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
110
+    if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
103 111
         cerr << "Error task create: " << strerror(-err) << endl << flush;
104 112
         exit(EXIT_FAILURE);
105 113
     }
@@ -115,10 +123,6 @@ void Tasks::Init() {
115 123
         cerr << "Error task create: " << strerror(-err) << endl << flush;
116 124
         exit(EXIT_FAILURE);
117 125
     }
118
-    if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) {
119
-        cerr << "Error task create: " << strerror(-err) << endl << flush;
120
-        exit(EXIT_FAILURE);
121
-    }
122 126
     cout << "Tasks created successfully" << endl << flush;
123 127
 
124 128
     /**************************************************************************************/
@@ -130,47 +134,39 @@ void Tasks::Init() {
130 134
     }
131 135
     cout << "Queues created successfully" << endl << flush;
132 136
 
133
-    /* Open com port with STM32 */
134
-    cout << "Open serial com (";
135
-    status = robot.Open();
136
-    cout << status;
137
-    cout << ")" << endl;
138
-
139
-    if (status >= 0) {
140
-        // Open server
141
-
142
-        status = monitor.Open(SERVER_PORT);
143
-        cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
144
-
145
-        if (status < 0) throw std::runtime_error {
146
-            "Unable to start server on port " + std::to_string(SERVER_PORT)
147
-        };
148
-    } else
149
-        throw std::runtime_error {
150
-        "Unable to open serial port /dev/ttyS0 "
151
-    };
152 137
 }
153 138
 
154 139
 /**
155 140
  * @brief Démarrage des tâches
156 141
  */
157 142
 void Tasks::Run() {
143
+    rt_task_set_priority(NULL, T_LOPRIO);
158 144
     int err;
159 145
 
160
-    if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
146
+    if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
161 147
         cerr << "Error task start: " << strerror(-err) << endl << flush;
162 148
         exit(EXIT_FAILURE);
163 149
     }
164
-
165
-    if (err = rt_task_start(&th_camera, (void(*)(void*)) & Tasks::CameraTask, this)) {
150
+    /**/if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
151
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
152
+        exit(EXIT_FAILURE);
153
+    }/**/
154
+    /**/if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
155
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
156
+        exit(EXIT_FAILURE);
157
+    }/**/
158
+    /**/if (err = rt_task_start(&th_openComRobot, (void(*)(void*)) & Tasks::OpenComRobot, this)) {
159
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
160
+        exit(EXIT_FAILURE);
161
+    }/**/
162
+    if (err = rt_task_start(&th_startRobot, (void(*)(void*)) & Tasks::StartRobotTask, this)) {
163
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
164
+        exit(EXIT_FAILURE);
165
+    }
166
+    if (err = rt_task_start(&th_move, (void(*)(void*)) & Tasks::MoveTask, this)) {
166 167
         cerr << "Error task start: " << strerror(-err) << endl << flush;
167 168
         exit(EXIT_FAILURE);
168 169
     }
169
-
170
-    //    if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
171
-    //        cerr << "Error task start: " << strerror(-err) << endl << flush;
172
-    //        exit(EXIT_FAILURE);
173
-    //    }
174 170
 
175 171
     cout << "Tasks launched" << endl << flush;
176 172
 }
@@ -186,167 +182,179 @@ void Tasks::Stop() {
186 182
 /**
187 183
  */
188 184
 void Tasks::Join() {
185
+    cout << "Tasks synchronized" << endl << flush;
189 186
     rt_sem_broadcast(&sem_barrier);
190 187
     pause();
191 188
 }
192 189
 
193 190
 /**
194
- * @brief Thread handling server communication.
191
+ * @brief Thread handling server communication with the monitor.
195 192
  */
196
-
197
-void Tasks::ReceiveFromMonTask(void *arg) {
198
-    Message *msgRcv;
199
-    Message *msgSend;
200
-    bool isActive = true;
201
-
193
+void Tasks::ServerTask(void *arg) {
202 194
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
195
+    // Synchronization barrier (waiting that all tasks are started)
196
+    rt_sem_p(&sem_barrier, TM_INFINITE);
203 197
 
204
-    while (isActive) {
205
-        msgRcv = NULL;
206
-        msgSend = NULL;
198
+    rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
199
+    int status = monitor.Open(SERVER_PORT);
200
+    rt_mutex_release(&mutex_monitor);
207 201
 
208
-        msgRcv = monitor.Read();
209
-        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
202
+    cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
210 203
 
211
-        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
212
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
213
-            isActive = true;
204
+    if (status < 0) throw std::runtime_error {
205
+        "Unable to start server on port " + std::to_string(SERVER_PORT)
206
+    };
207
+    monitor.AcceptClient(); // Wait the monitor client
208
+    cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
209
+    rt_sem_broadcast(&sem_serverOk);
210
+}
214 211
 
215
-            delete(msgRcv); // mus be deleted manually, no consumer
216
-        }
212
+/**
213
+ * @brief Thread sending data to monitor.
214
+ */
215
+void Tasks::SendToMonTask(void* arg) {
216
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
217
+    // Synchronization barrier (waiting that all tasks are starting)
218
+    rt_sem_p(&sem_barrier, TM_INFINITE);
217 219
 
218
-        if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) {
219
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
220
-            cout << "isActive = false!" << msgRcv->ToString() << endl << flush;
221
-            isActive = false;
220
+    rt_sem_p(&sem_serverOk, TM_INFINITE);
222 221
 
223
-            delete(msgRcv); // mus be deleted manually, no consumer
224
-        }
222
+    while (1) {
223
+        cout << "wait msg to send" << endl << flush;
224
+        Message *msg = ReadInQueue(&q_messageToMon);
225
+        cout << "Send msg to mon: " << msg->ToString() << endl << flush;
226
+        rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
227
+        monitor.Write(msg);
228
+        rt_mutex_release(&mutex_monitor);
229
+    }
230
+}
225 231
 
226
-        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
227
-            msgSend = robot.Write(msgRcv);
228
-            cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
229
-        }
232
+/**
233
+ * @brief Thread receiving data from monitor.
234
+ */
235
+void Tasks::ReceiveFromMonTask(void *arg) {
236
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
237
+    // Synchronization barrier (waiting that all tasks are starting)
238
+    rt_sem_p(&sem_barrier, TM_INFINITE);
230 239
 
231
-        if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
232
-            msgSend = robot.Write(msgRcv);
233
-            cout << "Start without wd answer: " << msgSend->ToString() << endl << flush;
234
-        }
240
+    rt_sem_p(&sem_serverOk, TM_INFINITE);
241
+    cout << "Received message from monitor activated" << endl << flush;
235 242
 
236
-        if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
237
-            msgSend = robot.Write(msgRcv);
238
-            cout << "Reset answer: " << msgSend->ToString() << endl << flush;
239
-        }
243
+    while (1) {
244
+        Message *msgRcv;
245
+        msgRcv = monitor.Read();
246
+        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
240 247
 
241
-        if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
248
+        if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
249
+            delete(msgRcv);
250
+            exit(-1);
251
+        } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
252
+            rt_sem_v(&sem_openComRobot);
253
+        } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
254
+            rt_sem_v(&sem_startRobot);
255
+        } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
242 256
                 msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
243 257
                 msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
244 258
                 msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
245 259
                 msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
246
-            msgSend = robot.Write(msgRcv);
247
-
248
-            cout << "Movement answer: " << msgSend->ToString() << endl << flush;
249
-
250
-            if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
251
-                delete (msgSend);
252
-                msgSend = NULL;
253
-            }
254
-        }
255
-
256
-        if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
257
-            sendImage = true;
258
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
259
-
260
-            delete(msgRcv); // must be deleted manually, no consumer
261
-        }
262
-
263
-        if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
264
-            sendImage = false;
265
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
266 260
 
267
-            delete(msgRcv); // must be deleted manually, no consumer
261
+            rt_mutex_acquire(&mutex_move, TM_INFINITE);
262
+            move = msgRcv->GetID();
263
+            rt_mutex_release(&mutex_move);
268 264
         }
265
+        delete msgRcv; // mus be deleted manually, no consumer
266
+    }
267
+}
269 268
 
270
-        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
271
-            sendPosition = true;
272
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
269
+/**
270
+ * @brief Thread opening communication with the robot.
271
+ */
272
+void Tasks::OpenComRobot(void *arg) {
273
+    int status;
274
+    int err;
273 275
 
274
-            delete(msgRcv); // must be deleted manually, no consumer
275
-        }
276
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
277
+    // Synchronization barrier (waiting that all tasks are starting)
278
+    rt_sem_p(&sem_barrier, TM_INFINITE);
276 279
 
277
-        if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
278
-            sendPosition = false;
280
+    while (1) {
281
+        rt_sem_p(&sem_openComRobot, TM_INFINITE);
282
+        cout << "Open serial com (";
283
+        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
284
+        status = robot.Open();
285
+        rt_mutex_release(&mutex_robot);
286
+        cout << status;
287
+        cout << ")" << endl << flush;
288
+
289
+        Message * msgSend;
290
+        if (status < 0) {
291
+            msgSend = new Message(MESSAGE_ANSWER_NACK);
292
+        } else {
279 293
             msgSend = new Message(MESSAGE_ANSWER_ACK);
280
-
281
-            delete(msgRcv); // must be deleted manually, no consumer
282
-        }
283
-
284
-        if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
285
-            msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL);
286
-
287
-            delete(msgRcv); // must be deleted manually, no consumer
288
-        }
289
-
290
-        if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
291
-            showArena = true;
292
-
293
-            delete(msgRcv); // must be deleted manually, no consumer
294
-        }
295
-
296
-        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
297
-            showArena = false;
298
-
299
-            delete(msgRcv); // must be deleted manually, no consumer
300 294
         }
301
-
302
-        if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
303
-            showArena = false;
304
-
305
-            delete(msgRcv); // must be deleted manually, no consumer
306
-        }
307
-
308
-        if (msgSend != NULL) monitor.Write(msgSend);
295
+        WriteInQueue(&q_messageToMon, msgSend);
309 296
     }
310 297
 }
311 298
 
312 299
 /**
313
- * @brief Thread handling periodic image capture.
300
+ * @brief Thread starting the communication with the robot.
314 301
  */
315
-void Tasks::CameraTask(void* arg) {
316
-    struct timespec tim, tim2;
317
-    Message *msgSend;
318
-    int counter;
319
-    int cntFrame = 0;
320
-    Position pos;
321
-    Arena arena;
322
-
323
-    tim.tv_sec = 0;
324
-    tim.tv_nsec = 50000000; // 50ms (20fps)
325
-
302
+void Tasks::StartRobotTask(void *arg) {
326 303
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
327
-
328
-    Camera camera = Camera(sm, 20);
329
-    cout << "Try opening camera" << endl << flush;
330
-    if (camera.Open()) cout << "Camera opened successfully" << endl << flush;
331
-    else {
332
-        cout << "Failed to open camera" << endl << flush;
333
-
334
-        exit(0);
335
-    }
304
+    // Synchronization barrier (waiting that all tasks are starting)
305
+    rt_sem_p(&sem_barrier, TM_INFINITE);
336 306
 
337 307
     while (1) {
338
-        
308
+
309
+        Message * msgSend;
310
+        rt_sem_p(&sem_startRobot, TM_INFINITE);
311
+        cout << "Start robot without watchdog (";
312
+        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
313
+        msgSend = robot.Write(robot.StartWithoutWD());
314
+        rt_mutex_release(&mutex_robot);
315
+        cout << msgSend->GetID();
316
+        cout << ")" << endl;
317
+
318
+        cout << "Movement answer: " << msgSend->ToString() << endl << flush;
319
+        WriteInQueue(&q_messageToMon, msgSend);
320
+
321
+        if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
322
+            rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
323
+            robotStarted = 1;
324
+            rt_mutex_release(&mutex_robotStarted);
325
+        }
339 326
     }
340 327
 }
341 328
 
342 329
 /**
343
- * @brief Thread sending data to monitor.
330
+ * @brief Thread handling control of the robot.
344 331
  */
345
-void Tasks::SendToMonTask(void* arg) {
332
+void Tasks::MoveTask(void *arg) {
333
+    int rs;
334
+    int cpMove;
346 335
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
336
+    // Synchronization barrier (waiting that all tasks are starting)
337
+    rt_sem_p(&sem_barrier, TM_INFINITE);
338
+    rt_task_set_periodic(NULL, TM_NOW, 1000000000);
347 339
 
348 340
     while (1) {
349
-
341
+        rt_task_wait_period(NULL);
342
+        cout << "Periodic movement update";
343
+        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
344
+        rs = robotStarted;
345
+        rt_mutex_release(&mutex_robotStarted);
346
+        if (rs == 1) {
347
+            rt_mutex_acquire(&mutex_move, TM_INFINITE);
348
+            cpMove = move;
349
+            rt_mutex_release(&mutex_move);
350
+            
351
+            cout << " move: " << cpMove;
352
+            
353
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
354
+            robot.Write(new Message((MessageID)cpMove));
355
+            rt_mutex_release(&mutex_robot);
356
+        }
357
+        cout << endl << flush;
350 358
     }
351 359
 }
352 360
 
@@ -355,10 +363,9 @@ void Tasks::SendToMonTask(void* arg) {
355 363
  * @param queue Queue identifier
356 364
  * @param msg Message to be stored
357 365
  */
358
-void WriteInQueue(RT_QUEUE &queue, Message *msg) {
366
+void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
359 367
     int err;
360
-
361
-    if ((err = rt_queue_send(&queue, (const void *) msg, sizeof ((const void *) msg), Q_NORMAL)) < 0) {
368
+    if ((err = rt_queue_write(queue, (const void *) &msg, sizeof ((const void *) &msg), Q_NORMAL)) < 0) {
362 369
         cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
363 370
         throw std::runtime_error{"Error in write in queue"};
364 371
     }
@@ -369,14 +376,16 @@ void WriteInQueue(RT_QUEUE &queue, Message *msg) {
369 376
  * @param queue Queue identifier
370 377
  * @return Message read
371 378
  */
372
-Message *ReadInQueue(RT_QUEUE &queue) {
379
+Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
373 380
     int err;
374 381
     Message *msg;
375 382
 
376
-    if ((err = rt_queue_read(&queue, (void*) msg, sizeof ((void*) msg), TM_INFINITE)) < 0) {
377
-        cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
378
-        throw std::runtime_error{"Error in write in queue"};
379
-    }
383
+    if ((err = rt_queue_read(queue, &msg, sizeof ((void*) &msg), TM_INFINITE)) < 0) {
384
+        cout << "Read in queue failed: " << strerror(-err) << endl << flush;
385
+        throw std::runtime_error{"Error in read in queue"};
386
+    }/** else {
387
+        cout << "@msg :" << msg << endl << flush;
388
+    } /**/
380 389
 
381 390
     return msg;
382 391
 }

+ 31
- 55
software/raspberry/superviseur-robot/tasks.h View File

@@ -58,32 +58,23 @@ public:
58 58
      */
59 59
     void Join();
60 60
     
61
-    /**
62
-     */
63
-    bool AcceptClient() {
64
-        return monitor.AcceptClient();
65
-    }
61
+
66 62
     
67 63
 private:
68 64
     ComMonitor monitor;
69 65
     ComRobot robot;
70
-    
71
-    bool sendImage=false;
72
-    bool sendPosition=false;
73
-    
74
-    int counter;
75
-    bool flag;
76
-    
77
-    bool showArena=false;
78
-    
66
+    int robotStarted;
67
+    int move = MESSAGE_ROBOT_STOP;
68
+        
79 69
     RT_TASK th_server;
80 70
     RT_TASK th_sendToMon;
81 71
     RT_TASK th_receiveFromMon;
82 72
     RT_TASK th_openComRobot;
83 73
     RT_TASK th_startRobot;
84 74
     RT_TASK th_move;
85
-    RT_TASK th_camera;
86
-
75
+    
76
+    RT_MUTEX mutex_monitor;
77
+    RT_MUTEX mutex_robot;
87 78
     RT_MUTEX mutex_robotStarted;
88 79
     RT_MUTEX mutex_move;
89 80
 
@@ -94,10 +85,6 @@ private:
94 85
 
95 86
     RT_QUEUE q_messageToMon;
96 87
 
97
-    int etatCommMoniteur;
98
-    int robotStarted;
99
-    char robotMove;
100
-
101 88
     int MSG_QUEUE_SIZE;
102 89
 
103 90
     char mode_start;
@@ -115,50 +102,39 @@ private:
115 102
      * @return Message read
116 103
      */
117 104
     Message *ReadInQueue(RT_QUEUE *queue);
118
-    
105
+
119 106
     /**
120
-     * @brief Thread handling server communication.
107
+     * @brief Thread handling server communication with the monitor.
108
+     */
109
+    void ServerTask(void *arg);
110
+     
111
+    /**
112
+     * @brief Thread sending data to monitor.
113
+     */
114
+    void SendToMonTask(void *arg);
115
+        
116
+    /**
117
+     * @brief Thread receiving data from monitor.
121 118
      */
122 119
     void ReceiveFromMonTask(void *arg);
120
+    
121
+    /**
122
+     * @brief Thread opening communication with the robot.
123
+     */
124
+    void OpenComRobot(void *arg);
123 125
 
126
+    
124 127
     /**
125
-     * @brief Thread handling periodic image capture.
128
+     * @brief Thread starting the communication with the robot.
126 129
      */
127
-    void CameraTask(void *arg);
130
+    void StartRobotTask(void *arg);
128 131
     
132
+        
129 133
     /**
130
-     * @brief Thread sending data to monitor.
134
+     * @brief Thread handling control of the robot.
131 135
      */
132
-    void SendToMonTask(void *arg);
133
-//    /**
134
-//     * \brief       Thread handling server communication.
135
-//     */
136
-//    void f_server(void *arg);
137
-//
138
-//    /**
139
-//     * \brief       Thread handling communication to monitor.
140
-//     */
141
-//    void f_sendToMon(void *arg);
142
-//
143
-//    /**
144
-//     * \brief       Thread handling communication from monitor.
145
-//     */
146
-//    void f_receiveFromMon(void *arg);
147
-//
148
-//    /**
149
-//     * \brief       Thread handling opening of robot communication.
150
-//     */
151
-//    void f_openComRobot(void * arg);
152
-//
153
-//    /**
154
-//     * \brief       Thread handling robot mouvements.
155
-//     */
156
-//    void f_move(void *arg);
157
-//
158
-//    /**
159
-//     * \brief       Thread handling robot activation.
160
-//     */
161
-//    void f_startRobot(void *arg);
136
+    void MoveTask(void *arg);
137
+
162 138
 };
163 139
 
164 140
 #endif // __TASKS_H__ 

Loading…
Cancel
Save