Browse Source

robot class + serial class ok. Tcp server class seems ok

Sébastien DI MERCURIO 3 years ago
parent
commit
d6c8a54215
58 changed files with 2210 additions and 1717 deletions
  1. 16
    0
      .vscode/c_cpp_properties.json
  2. 16
    0
      .vscode/tasks.json
  3. 7
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      software/raspberry/superviseur-robot/Essai_VSC/CMakeLists.txt
  4. 3
    3
      software/raspberry/superviseur-robot/Essai_VSC/main.cpp
  5. 145
    0
      software/raspberry/superviseur-robot/example/.cproject
  6. 2
    0
      software/raspberry/superviseur-robot/example/.gitignore
  7. 0
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  8. 27
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  10. 0
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      software/raspberry/superviseur-robot/example/CMakeLists.txt
  11. 1
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      software/raspberry/superviseur-robot/example/lib
  12. 28
    0
      software/raspberry/superviseur-robot/example/serialTest/lib/subdir.mk
  13. 56
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      software/raspberry/superviseur-robot/example/serialTest/makefile
  14. 8
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      software/raspberry/superviseur-robot/example/serialTest/objects.mk
  15. 28
    0
      software/raspberry/superviseur-robot/example/serialTest/sources.mk
  16. 22
    0
      software/raspberry/superviseur-robot/example/serialTest/src/subdir.mk
  17. 186
    0
      software/raspberry/superviseur-robot/example/src/serialTest.cpp
  18. 111
    0
      software/raspberry/superviseur-robot/example/src/serverTest.cpp
  19. 0
    8
      software/raspberry/superviseur-robot/example/stress/.gitignore
  20. 0
    29
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  38. 0
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  39. BIN
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  40. 0
    100
      software/raspberry/superviseur-robot/example/stress/cmake-build-debug/stress.cbp
  41. 57
    0
      software/raspberry/superviseur-robot/src.sav/definitions.h
  42. 211
    0
      software/raspberry/superviseur-robot/src.sav/image.cpp
  43. 128
    0
      software/raspberry/superviseur-robot/src.sav/image.h
  44. 29
    0
      software/raspberry/superviseur-robot/src.sav/message.cpp
  45. 33
    0
      software/raspberry/superviseur-robot/src.sav/message.h
  46. 161
    0
      software/raspberry/superviseur-robot/src.sav/monitor.cpp
  47. 115
    0
      software/raspberry/superviseur-robot/src.sav/monitor.h
  48. 18
    8
      software/raspberry/superviseur-robot/src.sav/robot.cpp
  49. 1
    1
      software/raspberry/superviseur-robot/src.sav/robot.h
  50. 349
    0
      software/raspberry/superviseur-robot/src/Robot.cpp
  51. 84
    0
      software/raspberry/superviseur-robot/src/Robot.h
  52. 164
    0
      software/raspberry/superviseur-robot/src/Serial.cpp
  53. 49
    0
      software/raspberry/superviseur-robot/src/Serial.h
  54. 93
    0
      software/raspberry/superviseur-robot/src/TcpServer.cpp
  55. 35
    0
      software/raspberry/superviseur-robot/src/TcpServer.h
  56. 0
    24
      software/raspberry/superviseur-robot/src/definitions.h
  57. 1
    1
      software/raspberry/superviseur-robot/src/image.cpp
  58. 1
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+            "includePath": [
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+                "${workspaceFolder}/**"
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+            ],
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+            "defines": [],
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+            "compilerPath": "/usr/bin/clang",
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+            "cStandard": "c11",
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+            "cppStandard": "c++17",
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+            "intelliSenseMode": "clang-x64"
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+    // for the documentation about the tasks.json format
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+    "version": "2.0.0",
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+    "tasks": [
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+        {
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+            "taskName": "Compile on raspberry",
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+            "command": "rsync -az '${file}' 10.105.1.6:~ && ssh server.example.org 'chmod +x ./${fileBasename}; ./${fileBasename}'",
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+            "type": "shell",
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+}

+ 7
- 0
software/raspberry/superviseur-robot/Essai_VSC/CMakeLists.txt View File

@@ -0,0 +1,7 @@
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+cmake_minimum_required(VERSION 3.9)
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+project(stress)
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+
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+set(CMAKE_CXX_STANDARD 11)
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+
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+set(SOURCE_FILES main.cpp ../src/robot.cpp ../src/robot.h)
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+add_executable(stress ${SOURCE_FILES})

software/raspberry/superviseur-robot/example/stress/main.cpp → software/raspberry/superviseur-robot/Essai_VSC/main.cpp View File

@@ -1,6 +1,6 @@
1 1
 #include <iostream>
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-#include "../../src/definitions.h"
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-#include "../../src/robot.h"
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+#include "../src/definitions.h"
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+#include "../src/robot.h"
4 4
 #include <ctime>
5 5
 
6 6
 #define NB_TEST 50
@@ -19,7 +19,7 @@ int nb_unknown_cmd;
19 19
 int flipflop;
20 20
 
21 21
 int main() {
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-    if (open_communication_robot("/dev/ttyUSB0") != 0) {
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+    if (open_communication_robot() != 0) {
23 23
         std::cout << "Unable to open com port" << std::endl;
24 24
 
25 25
         return -1;

+ 145
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software/raspberry/superviseur-robot/example/.cproject View File

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+								<option id="com.atollic.pctools.gnu.c.compiler.option.include.paths.967863685" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
95
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
96
+									<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
97
+								</option>
98
+								<inputType id="com.atollic.managedbuild.pctools.gnu.c.compiler.input.1991549921" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.input"/>
99
+							</tool>
100
+							<tool id="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug.1530079011" name="C Linker" superClass="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug"/>
101
+							<tool id="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug.1993338495" name="C++ Linker" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug">
102
+								<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.linker.input.774293629" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.input">
103
+									<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
104
+									<additionalInput kind="additionalinput" paths="$(LIBS)"/>
105
+								</inputType>
106
+							</tool>
107
+							<tool id="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug.210875902" name="Assembler" superClass="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug">
108
+								<inputType id="com.atollic.managedbuild.pctools.gnu.assembler.input.61333264" superClass="com.atollic.managedbuild.pctools.gnu.assembler.input"/>
109
+							</tool>
110
+						</toolChain>
111
+					</folderInfo>
112
+					<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353.lib/image.h" name="image.h" rcbsApplicability="disable" resourcePath="lib/image.h" toolsToInvoke=""/>
113
+					<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353.src/Makefile" name="Makefile" rcbsApplicability="disable" resourcePath="src/Makefile" toolsToInvoke=""/>
114
+					<sourceEntries>
115
+						<entry excluding="monitor.cpp|image.h|image.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="lib"/>
116
+						<entry excluding="serialTest.cpp|Makefile|videoExample.cpp|uiExample.cpp|serialExample.cpp|rtvideoExample.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
117
+					</sourceEntries>
118
+				</configuration>
119
+			</storageModule>
120
+			<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
121
+		</cconfiguration>
122
+	</storageModule>
123
+	<storageModule moduleId="cdtBuildSystem" version="4.0.0">
124
+		<project id="Dumber-Robot-Exemple.com.atollic.pctools.managedbuild.target.gnu.exe.162302072" name="Executable" projectType="com.atollic.pctools.managedbuild.target.gnu.exe"/>
125
+	</storageModule>
126
+	<storageModule moduleId="scannerConfiguration">
127
+		<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
128
+	</storageModule>
129
+	<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
130
+	<storageModule moduleId="refreshScope" versionNumber="2">
131
+		<configuration configurationName="Server test">
132
+			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
133
+		</configuration>
134
+		<configuration configurationName="serialTest">
135
+			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
136
+		</configuration>
137
+		<configuration configurationName="Debug">
138
+			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
139
+		</configuration>
140
+		<configuration configurationName="Release">
141
+			<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
142
+		</configuration>
143
+	</storageModule>
144
+	<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
145
+</cproject>

+ 2
- 0
software/raspberry/superviseur-robot/example/.gitignore View File

@@ -0,0 +1,2 @@
1
+/Debug/
2
+/Server test/

+ 0
- 0
software/raspberry/superviseur-robot/example/.gitignores View File


+ 27
- 0
software/raspberry/superviseur-robot/example/.project View File

@@ -0,0 +1,27 @@
1
+<?xml version="1.0" encoding="UTF-8"?>
2
+<projectDescription>
3
+	<name>Dumber-Robot-Exemple</name>
4
+	<comment></comment>
5
+	<projects>
6
+	</projects>
7
+	<buildSpec>
8
+		<buildCommand>
9
+			<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
10
+			<triggers>clean,full,incremental,</triggers>
11
+			<arguments>
12
+			</arguments>
13
+		</buildCommand>
14
+		<buildCommand>
15
+			<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
16
+			<triggers>full,incremental,</triggers>
17
+			<arguments>
18
+			</arguments>
19
+		</buildCommand>
20
+	</buildSpec>
21
+	<natures>
22
+		<nature>org.eclipse.cdt.core.cnature</nature>
23
+		<nature>org.eclipse.cdt.core.ccnature</nature>
24
+		<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
25
+		<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
26
+	</natures>
27
+</projectDescription>

+ 25
- 0
software/raspberry/superviseur-robot/example/.settings/language.settings.xml View File

@@ -0,0 +1,25 @@
1
+<?xml version="1.0" encoding="UTF-8" standalone="no"?>
2
+<project>
3
+	<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" name="serialTest">
4
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
5
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
6
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
7
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
8
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="205429042390110507" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
9
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
10
+				<language-scope id="org.eclipse.cdt.core.g++"/>
11
+			</provider>
12
+		</extension>
13
+	</configuration>
14
+	<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" name="Server test">
15
+		<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
16
+			<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
17
+			<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
18
+			<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
19
+			<provider class="org.eclipse.cdt.managedbuilder.language.settings.providers.GCCBuiltinSpecsDetector" console="false" env-hash="205429042390110507" id="org.eclipse.cdt.managedbuilder.core.GCCBuiltinSpecsDetector" keep-relative-paths="false" name="CDT GCC Built-in Compiler Settings" parameter="${COMMAND} ${FLAGS} -E -P -v -dD &quot;${INPUTS}&quot;" prefer-non-shared="true">
20
+				<language-scope id="org.eclipse.cdt.core.gcc"/>
21
+				<language-scope id="org.eclipse.cdt.core.g++"/>
22
+			</provider>
23
+		</extension>
24
+	</configuration>
25
+</project>

software/raspberry/superviseur-robot/example/stress/CMakeLists.txt → software/raspberry/superviseur-robot/example/CMakeLists.txt View File


+ 1
- 0
software/raspberry/superviseur-robot/example/lib View File

@@ -0,0 +1 @@
1
+../src/

+ 28
- 0
software/raspberry/superviseur-robot/example/serialTest/lib/subdir.mk View File

@@ -0,0 +1,28 @@
1
+################################################################################
2
+# Automatically-generated file. Do not edit!
3
+################################################################################
4
+
5
+# Add inputs and outputs from these tool invocations to the build variables 
6
+CPP_SRCS += \
7
+../lib/Robot.cpp \
8
+../lib/Serial.cpp \
9
+../lib/TcpServer.cpp \
10
+../lib/message.cpp 
11
+
12
+OBJS += \
13
+./lib/Robot.o \
14
+./lib/Serial.o \
15
+./lib/TcpServer.o \
16
+./lib/message.o 
17
+
18
+CPP_DEPS += \
19
+./lib/Robot.d \
20
+./lib/Serial.d \
21
+./lib/TcpServer.d \
22
+./lib/message.d 
23
+
24
+
25
+# Each subdirectory must supply rules for building sources it contributes
26
+lib/%.o: ../lib/%.cpp
27
+	g++ -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/lib" -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/src" -O0 -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
28
+

+ 56
- 0
software/raspberry/superviseur-robot/example/serialTest/makefile View File

@@ -0,0 +1,56 @@
1
+################################################################################
2
+# Automatically-generated file. Do not edit!
3
+################################################################################
4
+
5
+-include ../makefile.init
6
+
7
+RM := rm -rf
8
+
9
+# All of the sources participating in the build are defined here
10
+-include sources.mk
11
+-include src/subdir.mk
12
+-include lib/subdir.mk
13
+-include subdir.mk
14
+-include objects.mk
15
+
16
+ifneq ($(MAKECMDGOALS),clean)
17
+ifneq ($(strip $(CC_DEPS)),)
18
+-include $(CC_DEPS)
19
+endif
20
+ifneq ($(strip $(C++_DEPS)),)
21
+-include $(C++_DEPS)
22
+endif
23
+ifneq ($(strip $(C_UPPER_DEPS)),)
24
+-include $(C_UPPER_DEPS)
25
+endif
26
+ifneq ($(strip $(CXX_DEPS)),)
27
+-include $(CXX_DEPS)
28
+endif
29
+ifneq ($(strip $(CPP_DEPS)),)
30
+-include $(CPP_DEPS)
31
+endif
32
+ifneq ($(strip $(C_DEPS)),)
33
+-include $(C_DEPS)
34
+endif
35
+endif
36
+
37
+-include ../makefile.defs
38
+
39
+# Add inputs and outputs from these tool invocations to the build variables 
40
+
41
+# All Target
42
+all: Dumber-Robot-Exemple
43
+
44
+# Tool invocations
45
+Dumber-Robot-Exemple: $(OBJS) $(USER_OBJS)
46
+	g++  -o "Dumber-Robot-Exemple" $(OBJS) $(USER_OBJS) $(LIBS)
47
+
48
+# Other Targets
49
+clean:
50
+	-$(RM) $(CC_DEPS)$(C++_DEPS)$(EXECUTABLES)$(C_UPPER_DEPS)$(CXX_DEPS)$(OBJS)$(CPP_DEPS)$(C_DEPS) Dumber-Robot-Exemple
51
+	-@echo ' '
52
+
53
+.PHONY: all clean dependents
54
+.SECONDARY:
55
+
56
+-include ../makefile.targets

+ 8
- 0
software/raspberry/superviseur-robot/example/serialTest/objects.mk View File

@@ -0,0 +1,8 @@
1
+################################################################################
2
+# Automatically-generated file. Do not edit!
3
+################################################################################
4
+
5
+USER_OBJS :=
6
+
7
+LIBS :=
8
+

+ 28
- 0
software/raspberry/superviseur-robot/example/serialTest/sources.mk View File

@@ -0,0 +1,28 @@
1
+################################################################################
2
+# Automatically-generated file. Do not edit!
3
+################################################################################
4
+
5
+C_UPPER_SRCS := 
6
+CXX_SRCS := 
7
+C++_SRCS := 
8
+OBJ_SRCS := 
9
+CC_SRCS := 
10
+ASM_SRCS := 
11
+CPP_SRCS := 
12
+C_SRCS := 
13
+O_SRCS := 
14
+S_UPPER_SRCS := 
15
+CC_DEPS := 
16
+C++_DEPS := 
17
+EXECUTABLES := 
18
+C_UPPER_DEPS := 
19
+CXX_DEPS := 
20
+OBJS := 
21
+CPP_DEPS := 
22
+C_DEPS := 
23
+
24
+# Every subdirectory with source files must be described here
25
+SUBDIRS := \
26
+lib \
27
+src \
28
+

+ 22
- 0
software/raspberry/superviseur-robot/example/serialTest/src/subdir.mk View File

@@ -0,0 +1,22 @@
1
+################################################################################
2
+# Automatically-generated file. Do not edit!
3
+################################################################################
4
+
5
+# Add inputs and outputs from these tool invocations to the build variables 
6
+CPP_SRCS += \
7
+../src/serialTest.cpp \
8
+../src/serverTest.cpp 
9
+
10
+OBJS += \
11
+./src/serialTest.o \
12
+./src/serverTest.o 
13
+
14
+CPP_DEPS += \
15
+./src/serialTest.d \
16
+./src/serverTest.d 
17
+
18
+
19
+# Each subdirectory must supply rules for building sources it contributes
20
+src/%.o: ../src/%.cpp
21
+	g++ -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/lib" -I"/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/example/src" -O0 -g3 -Wall -c -fmessage-length=0 -MMD -MP -MF"$(@:%.o=%.d)" -MT"$(@)" -o "$@" "$<"
22
+

+ 186
- 0
software/raspberry/superviseur-robot/example/src/serialTest.cpp View File

@@ -0,0 +1,186 @@
1
+/*******************************************************************************
2
+ * Copyright (c) 2018 INSA - GEI, Toulouse, France.
3
+ * All rights reserved. This program and the accompanying materials
4
+ * are made available "AS IS", without any warranty of any kind.
5
+ *
6
+ * INSA assumes no responsibility for errors or omissions in the 
7
+ * software or documentation available. 
8
+ *
9
+ * Part of code Copyright ST Microelectronics.
10
+ *
11
+ * Contributors:
12
+ *     Lucien Senaneuch - Initial API and implementation
13
+ *     Sebastien DI MERCURIO - Maintainer since Octobre 2018
14
+ *******************************************************************************/
15
+
16
+#include <iostream>
17
+#include <ctime>
18
+#include "Robot.h"
19
+#include <unistd.h>
20
+
21
+using namespace std;
22
+
23
+#define NB_TEST 50
24
+#define DELAY_BETWEEN_TEST 1000000 // 1 seconde
25
+
26
+int nb_retries;
27
+int nb_test;
28
+
29
+int laststatus;
30
+int nb_success;
31
+int nb_timeout;
32
+int nb_unknown_cmd;
33
+
34
+int flipflop;
35
+
36
+int Test(Robot rob) {
37
+    try {
38
+        if (flipflop == 0) {
39
+            rob.Move(100);
40
+        } else {
41
+            rob.Move(-100);
42
+        }
43
+    } catch (string e) {
44
+        //if (e.find("Timeout")==string.npos)
45
+        //    status=ROBOT_TIMED_OUT;
46
+
47
+
48
+    }
49
+
50
+    return rob.GetLastCommandStatus();;
51
+}
52
+
53
+int main() {
54
+    Robot myRobot;
55
+
56
+    if (myRobot.Open("/dev/ttyUSB0") == SUCCESS) { // ouverture de la com avec le robot
57
+
58
+        std::cout << "Start robot: ";
59
+        try {
60
+            myRobot.StartWithoutWatchdog();
61
+        } catch ( string e ) {
62
+            std::cerr << std::endl << e << std::endl;
63
+            return 1;
64
+        }
65
+
66
+        if (myRobot.GetLastCommandStatus()==SUCCESS)
67
+            std::cout << "Ok" <<std::endl;
68
+        else {
69
+            std::cout << " Error: GetLastCommand returns " << myRobot.GetLastCommandStatus() <<std::endl;
70
+            return 2;
71
+        }
72
+
73
+        std::cout << "Start stress test" << std::endl;
74
+        time_t t_debut, t_fin;
75
+        struct tm *tm_debut, *tm_fin;
76
+
77
+        time(&t_debut);
78
+        tm_debut = localtime((const time_t*)&t_debut);
79
+        std::cout << "[start time]: " << asctime(tm_debut) << std::endl;
80
+
81
+        nb_success =0;
82
+        nb_timeout =0;
83
+        nb_unknown_cmd =0;
84
+        flipflop = 0;
85
+
86
+        for (nb_test=0; nb_test < NB_TEST; nb_test++) {
87
+            laststatus=Test(myRobot);
88
+
89
+            if (flipflop ==0) flipflop=1;
90
+            else flipflop =0;
91
+
92
+            if (laststatus == SUCCESS) nb_success++;
93
+            else if (laststatus == TIMEOUT_COMMAND) nb_timeout++;
94
+            else if ((laststatus == INVALID_ANSWER) || (laststatus == INVALID_COMMAND)) nb_unknown_cmd ++;
95
+
96
+            std::cout << "Test " << nb_test << " [s " << nb_success
97
+                    << ": t " << nb_timeout << ": u " << nb_unknown_cmd
98
+                    << "]"<< "\x1B" <<"[30D"<<std::flush;
99
+
100
+            usleep(DELAY_BETWEEN_TEST);
101
+        }
102
+
103
+        time(&t_fin);
104
+        tm_fin = localtime((const time_t*)&t_fin);
105
+        std::cout << std::endl << std::endl << "[end time]: " << asctime(tm_fin) << std::endl;
106
+
107
+        std::cout << "Reset robot" <<std::endl;
108
+        myRobot.Reset();
109
+
110
+        std::cout << "Close com" <<std::endl;
111
+        myRobot.Close();
112
+
113
+    } else {
114
+        std::cerr << "Unable to open \\dev\\ttyUSB0" << std::endl;
115
+
116
+        return 2;
117
+    }
118
+
119
+    //    if (open_communication_robot("/dev/ttyUSB0") != 0) {
120
+    //        std::cout << "Unable to open com port" << std::endl;
121
+    //
122
+    //        return -1;
123
+    //    }
124
+    //
125
+    //    std::cout << "Debut du test de stress" << std::endl;
126
+    //    time_t t_debut, t_fin;
127
+    //    struct tm *tm_debut, *tm_fin;
128
+    //
129
+    //    time(&t_debut);
130
+    //    tm_debut = localtime((const time_t*)&t_debut);
131
+    //
132
+    //    std::cout << "[heure debut]: " << asctime(tm_debut) << std::endl;
133
+    //
134
+    //    nb_retries=-1;
135
+    //    do {
136
+    //        usleep(DELAY_BETWEEN_RETRIES);
137
+    //        nb_retries++;
138
+    //        laststatus = send_command_to_robot(DMB_START_WITHOUT_WD);
139
+    //    } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
140
+    //
141
+    //    if(nb_retries == NB_RETRIES_MAX) {
142
+    //        std::cout << "Unable to start robot" <<std::endl;
143
+    //
144
+    //        return -1;
145
+    //    }
146
+    //
147
+    //    nb_success =0;
148
+    //    nb_timeout =0;
149
+    //    nb_unknown_cmd =0;
150
+    //    flipflop = 0;
151
+    //
152
+    //    for (nb_test=0; nb_test < NB_TEST; nb_test++) {
153
+    //        nb_retries=-1;
154
+    //
155
+    //        do {
156
+    //            usleep(DELAY_BETWEEN_RETRIES);
157
+    //            nb_retries++;
158
+    //            if (flipflop == 0) {
159
+    //                laststatus = send_command_to_robot(DMB_TURN, "100");
160
+    //            } else {
161
+    //                laststatus = send_command_to_robot(DMB_TURN, "-100");
162
+    //            }
163
+    //
164
+    //        } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
165
+    //
166
+    //        if (flipflop ==0) flipflop=1;
167
+    //        else flipflop =0;
168
+    //
169
+    //        if (laststatus == 0) nb_success++;
170
+    //        else if (laststatus == ROBOT_TIMED_OUT) nb_timeout++;
171
+    //        else if (laststatus == ROBOT_UKNOWN_CMD) nb_unknown_cmd ++;
172
+    //
173
+    //        std::cout << "Test " << nb_test << " [s " << nb_success
174
+    //                  << ": t " << nb_timeout << ": u " << nb_unknown_cmd
175
+    //                  << "]"<< "\x1B" <<"[30D"<<std::flush;
176
+    //
177
+    //        usleep(DELAY_BETWEEN_TEST);
178
+    //    }
179
+    //
180
+    //    time(&t_fin);
181
+    //    tm_fin = localtime((const time_t*)&t_fin);
182
+    //
183
+    //    std::cout << std::endl << std::endl << "[heure fin]: " << asctime(tm_fin) << std::endl;
184
+
185
+    return 0;
186
+}

+ 111
- 0
software/raspberry/superviseur-robot/example/src/serverTest.cpp View File

@@ -0,0 +1,111 @@
1
+/*******************************************************************************
2
+ * Copyright (c) 2018 INSA - GEI, Toulouse, France.
3
+ * All rights reserved. This program and the accompanying materials
4
+ * are made available "AS IS", without any warranty of any kind.
5
+ *
6
+ * INSA assumes no responsibility for errors or omissions in the 
7
+ * software or documentation available. 
8
+ *
9
+ * Part of code Copyright ST Microelectronics.
10
+ *
11
+ * Contributors:
12
+ *     Lucien Senaneuch - Initial API and implementation
13
+ *     Sebastien DI MERCURIO - Maintainer since Octobre 2018
14
+ *******************************************************************************/
15
+
16
+#include <iostream>
17
+#include "Robot.h"
18
+#include "TcpServer.h"
19
+
20
+int main (void)
21
+{
22
+    TcpServer server;
23
+    int clientFD;
24
+    string msgIn, msgOut,tmp;
25
+    bool finish;
26
+
27
+    Robot robot;
28
+
29
+    cout << "TCP server example" << endl;
30
+
31
+    cout << "Bind and listen on port 1337: ";
32
+    try {
33
+        server.Listen(1337);
34
+    }
35
+    catch ( const invalid_argument &ia ) {
36
+        cerr << "Error binding server: " << ia.what() << endl;
37
+        return 1;
38
+    }
39
+
40
+    cout << "Ok" <<endl;
41
+
42
+    cout << "Open com with robot: ";
43
+    try {
44
+        robot.Open ("/dev/ttyUSB0");
45
+    } catch (string e)
46
+    {
47
+        cerr << e << endl;
48
+        return 3;
49
+    }
50
+
51
+    cout << "Ok" <<endl;
52
+
53
+    while (1)
54
+    {
55
+        cout << "Wait for client to connect: ";
56
+        try {
57
+            clientFD= server.AcceptClient();
58
+        }
59
+        catch ( const invalid_argument &ia ) {
60
+            cerr << "Error during client accept: " << ia.what() << endl;
61
+            return 2;
62
+        }
63
+
64
+        cout << to_string(clientFD) << endl;
65
+
66
+        msgIn.clear();
67
+        finish=false;
68
+
69
+        do {
70
+            msgIn = server.Receive(clientFD, 2); // cmd + \n
71
+
72
+            if (msgIn.empty()) finish=true;
73
+            else {
74
+                try {
75
+                    switch (msgIn[0]) {
76
+                        case 's':
77
+                            // Start robot
78
+                            robot.StartWithoutWatchdog();
79
+                            break;
80
+                        case 'f':
81
+                            robot.Move(100);
82
+                            break;
83
+                        case 'b':
84
+                            robot.Move(-100);
85
+                            break;
86
+                        case 'r':
87
+                            robot.Turn(90);
88
+                            break;
89
+                        case 'l':
90
+                            robot.Turn(-90);
91
+                            break;
92
+                        case 'Q':
93
+                            robot.Reset();
94
+                            break;
95
+                    }
96
+                } catch (string e) {
97
+                    cerr << e;
98
+                }
99
+
100
+                if (robot.GetLastCommandStatus() == SUCCESS)
101
+                    server.Send(clientFD, "OK\n");
102
+                else server.Send(clientFD, "ERR\n");
103
+            }
104
+        } while (finish==false);
105
+
106
+        cout << "Client disconnected" <<endl;
107
+        clientFD=-1;
108
+    }
109
+
110
+    return 0;
111
+}

+ 0
- 8
software/raspberry/superviseur-robot/example/stress/.gitignore View File

@@ -1,8 +0,0 @@
1
-*.o
2
-*.d
3
-CMakeTmp
4
-stress.dir
5
-3.9.6
6
-*.log
7
-*.bin
8
-

+ 0
- 29
software/raspberry/superviseur-robot/example/stress/.idea/codeStyles/Project.xml View File

@@ -1,29 +0,0 @@
1
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-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Typedef" />
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-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Enum" />
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-      <class>
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-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Property" />
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-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Synthesize" />
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-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InitMethod" />
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-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="StaticMethod" />
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-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InstanceMethod" />
21
-        <option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="DeallocMethod" />
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-      </class>
23
-      <extensions>
24
-        <pair source="cpp" header="h" fileNamingConvention="NONE" />
25
-        <pair source="c" header="h" fileNamingConvention="NONE" />
26
-      </extensions>
27
-    </Objective-C-extensions>
28
-  </code_scheme>
29
-</component>

+ 0
- 4
software/raspberry/superviseur-robot/example/stress/.idea/misc.xml View File

@@ -1,4 +0,0 @@
1
-<?xml version="1.0" encoding="UTF-8"?>
2
-<project version="4">
3
-  <component name="CMakeWorkspace" PROJECT_DIR="$PROJECT_DIR$" />
4
-</project>

+ 0
- 8
software/raspberry/superviseur-robot/example/stress/.idea/modules.xml View File

@@ -1,8 +0,0 @@
1
-<?xml version="1.0" encoding="UTF-8"?>
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-<project version="4">
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-  <component name="ProjectModuleManager">
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-    <modules>
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-      <module fileurl="file://$PROJECT_DIR$/.idea/stress.iml" filepath="$PROJECT_DIR$/.idea/stress.iml" />
6
-    </modules>
7
-  </component>
8
-</project>

+ 0
- 2
software/raspberry/superviseur-robot/example/stress/.idea/stress.iml View File

@@ -1,2 +0,0 @@
1
-<?xml version="1.0" encoding="UTF-8"?>
2
-<module classpath="CMake" type="CPP_MODULE" version="4" />

+ 0
- 6
software/raspberry/superviseur-robot/example/stress/.idea/vcs.xml View File

@@ -1,6 +0,0 @@
1
-<?xml version="1.0" encoding="UTF-8"?>
2
-<project version="4">
3
-  <component name="VcsDirectoryMappings">
4
-    <mapping directory="$PROJECT_DIR$/../.." vcs="Git" />
5
-  </component>
6
-</project>

+ 0
- 294
software/raspberry/superviseur-robot/example/stress/.idea/workspace.xml View File

@@ -1,294 +0,0 @@
1
-<?xml version="1.0" encoding="UTF-8"?>
2
-<project version="4">
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-  <component name="CMakeRunConfigurationManager" shouldGenerate="true" shouldDeleteObsolete="true" buildAllGenerated="true">
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-    <generated>
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-      <config projectName="stress" targetName="stress" />
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-    </generated>
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-  </component>
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-  <component name="CMakeSettings">
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-    <configurations>
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-      <configuration PROFILE_NAME="Debug" CONFIG_NAME="Debug" />
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-    </configurations>
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-  </component>
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-  <component name="ChangeListManager">
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-    <list default="true" id="6f68a0e1-52e9-471a-8d47-af63db94b711" name="Default" comment="">
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-      <change beforePath="" afterPath="$PROJECT_DIR$/.idea/codeStyles/Project.xml" />
16
-      <change beforePath="" afterPath="$PROJECT_DIR$/.idea/misc.xml" />
17
-      <change beforePath="" afterPath="$PROJECT_DIR$/.idea/vcs.xml" />
18
-    </list>
19
-    <ignored path="$PROJECT_DIR$/cmake-build-debug/" />
20
-    <option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
21
-    <option name="TRACKING_ENABLED" value="true" />
22
-    <option name="SHOW_DIALOG" value="false" />
23
-    <option name="HIGHLIGHT_CONFLICTS" value="true" />
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-    <option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
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-    <option name="LAST_RESOLUTION" value="IGNORE" />
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-  <component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
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-  <component name="FileEditorManager">
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-    <leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
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-      <file leaf-file-name="CMakeLists.txt" pinned="false" current-in-tab="false">
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-        <entry file="file://$PROJECT_DIR$/CMakeLists.txt">
32
-          <provider selected="true" editor-type-id="text-editor">
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-              <caret line="6" column="16" lean-forward="false" selection-start-line="6" selection-start-column="16" selection-end-line="6" selection-end-column="16" />
35
-              <folding />
36
-            </state>
37
-          </provider>
38
-        </entry>
39
-      </file>
40
-      <file leaf-file-name="main.cpp" pinned="false" current-in-tab="false">
41
-        <entry file="file://$PROJECT_DIR$/main.cpp">
42
-          <provider selected="true" editor-type-id="text-editor">
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-            <state relative-caret-position="144">
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-              <caret line="8" column="28" lean-forward="false" selection-start-line="8" selection-start-column="28" selection-end-line="8" selection-end-column="28" />
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-              <folding>
46
-                <element signature="e#0#19#0" expanded="true" />
47
-              </folding>
48
-            </state>
49
-          </provider>
50
-        </entry>
51
-      </file>
52
-      <file leaf-file-name="robot.h" pinned="false" current-in-tab="false">
53
-        <entry file="file://$PROJECT_DIR$/../../src/robot.h">
54
-          <provider selected="true" editor-type-id="text-editor">
55
-            <state relative-caret-position="-378">
56
-              <caret line="18" column="19" lean-forward="true" selection-start-line="18" selection-start-column="19" selection-end-line="18" selection-end-column="19" />
57
-              <folding />
58
-            </state>
59
-          </provider>
60
-        </entry>
61
-      </file>
62
-      <file leaf-file-name="robot.cpp" pinned="false" current-in-tab="true">
63
-        <entry file="file://$PROJECT_DIR$/../../src/robot.cpp">
64
-          <provider selected="true" editor-type-id="text-editor">
65
-            <state relative-caret-position="-1890">
66
-              <caret line="6" column="9" lean-forward="true" selection-start-line="6" selection-start-column="9" selection-end-line="6" selection-end-column="9" />
67
-              <folding />
68
-            </state>
69
-          </provider>
70
-        </entry>
71
-      </file>
72
-      <file leaf-file-name="definitions.h" pinned="false" current-in-tab="false">
73
-        <entry file="file://$PROJECT_DIR$/../../src/definitions.h">
74
-          <provider selected="true" editor-type-id="text-editor">
75
-            <state relative-caret-position="252">
76
-              <caret line="35" column="24" lean-forward="false" selection-start-line="35" selection-start-column="8" selection-end-line="35" selection-end-column="24" />
77
-              <folding />
78
-            </state>
79
-          </provider>
80
-        </entry>
81
-      </file>
82
-    </leaf>
83
-  </component>
84
-  <component name="Git.Settings">
85
-    <option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$/../.." />
86
-  </component>
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-  <component name="IdeDocumentHistory">
88
-    <option name="CHANGED_PATHS">
89
-      <list>
90
-        <option value="$PROJECT_DIR$/CMakeLists.txt" />
91
-        <option value="$PROJECT_DIR$/main.cpp" />
92
-      </list>
93
-    </option>
94
-  </component>
95
-  <component name="JsBuildToolGruntFileManager" detection-done="true" sorting="DEFINITION_ORDER" />
96
-  <component name="JsBuildToolPackageJson" detection-done="true" sorting="DEFINITION_ORDER" />
97
-  <component name="JsGulpfileManager">
98
-    <detection-done>true</detection-done>
99
-    <sorting>DEFINITION_ORDER</sorting>
100
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102
-    <option name="x" value="331" />
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106
-  </component>
107
-  <component name="ProjectLevelVcsManager" settingsEditedManually="true" />
108
-  <component name="ProjectView">
109
-    <navigator currentView="ProjectPane" proportions="" version="1">
110
-      <flattenPackages />
111
-      <showMembers />
112
-      <showModules />
113
-      <showLibraryContents />
114
-      <hideEmptyPackages />
115
-      <abbreviatePackageNames />
116
-      <autoscrollToSource />
117
-      <autoscrollFromSource />
118
-      <sortByType />
119
-      <manualOrder />
120
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121
-    </navigator>
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123
-      <pane id="ProjectPane">
124
-        <subPane>
125
-          <expand>
126
-            <path>
127
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129
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-            <path>
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-            <path>
136
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137
-              <item name="External Libraries" type="cb654da1:ExternalLibrariesNode" />
138
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139
-            <path>
140
-              <item name="stress" type="dad4c3:CidrFilesViewHelper$MyProjectTreeStructure$1" />
141
-              <item name="External Libraries" type="cb654da1:ExternalLibrariesNode" />
142
-              <item name="Header Search Paths" type="70bed36:NamedLibraryElementNode" />
143
-            </path>
144
-          </expand>
145
-          <select />
146
-        </subPane>
147
-      </pane>
148
-    </panes>
149
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150
-  <component name="PropertiesComponent">
151
-    <property name="nodejs_interpreter_path.stuck_in_default_project" value="undefined stuck path" />
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-    <option name="ruleStates">
158
-      <list>
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164
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166
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167
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168
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169
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170
-      <envs />
171
-    </configuration>
172
-    <configuration name="stress" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" PROJECT_NAME="stress" TARGET_NAME="stress" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="stress" RUN_TARGET_NAME="stress">
173
-      <envs />
174
-    </configuration>
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-    <list size="2">
176
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177
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178
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179
-  </component>
180
-  <component name="ShelveChangesManager" show_recycled="false">
181
-    <option name="remove_strategy" value="false" />
182
-  </component>
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-  <component name="TaskManager">
184
-    <task active="true" id="Default" summary="Default task">
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-      <option name="presentableId" value="Default" />
189
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190
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191
-      <workItem from="1518169334602" duration="6358000" />
192
-    </task>
193
-    <servers />
194
-  </component>
195
-  <component name="TimeTrackingManager">
196
-    <option name="totallyTimeSpent" value="6464000" />
197
-  </component>
198
-  <component name="ToolWindowManager">
199
-    <frame x="331" y="64" width="1400" height="873" extended-state="0" />
200
-    <editor active="true" />
201
-    <layout>
202
-      <window_info id="Project" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.18785714" sideWeight="0.5" order="0" side_tool="false" content_ui="combo" />
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-# Install script for directory: /home/dimercur/Travail/git/C-TP-RT/example/stress
2
-
3
-# Set the install prefix
4
-if(NOT DEFINED CMAKE_INSTALL_PREFIX)
5
-  set(CMAKE_INSTALL_PREFIX "/usr/local")
6
-endif()
7
-string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
8
-
9
-# Set the install configuration name.
10
-if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
11
-  if(BUILD_TYPE)
12
-    string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
13
-           CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
14
-  else()
15
-    set(CMAKE_INSTALL_CONFIG_NAME "Debug")
16
-  endif()
17
-  message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
18
-endif()
19
-
20
-# Set the component getting installed.
21
-if(NOT CMAKE_INSTALL_COMPONENT)
22
-  if(COMPONENT)
23
-    message(STATUS "Install component: \"${COMPONENT}\"")
24
-    set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
25
-  else()
26
-    set(CMAKE_INSTALL_COMPONENT)
27
-  endif()
28
-endif()
29
-
30
-# Install shared libraries without execute permission?
31
-if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
32
-  set(CMAKE_INSTALL_SO_NO_EXE "1")
33
-endif()
34
-
35
-if(CMAKE_INSTALL_COMPONENT)
36
-  set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
37
-else()
38
-  set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
39
-endif()
40
-
41
-string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
42
-       "${CMAKE_INSTALL_MANIFEST_FILES}")
43
-file(WRITE "/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/${CMAKE_INSTALL_MANIFEST}"
44
-     "${CMAKE_INSTALL_MANIFEST_CONTENT}")

BIN
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/stress View File


+ 0
- 100
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/stress.cbp View File

@@ -1,100 +0,0 @@
1
-<?xml version="1.0" encoding="UTF-8"?>
2
-<CodeBlocks_project_file>
3
-	<FileVersion major="1" minor="6"/>
4
-	<Project>
5
-		<Option title="stress"/>
6
-		<Option makefile_is_custom="1"/>
7
-		<Option compiler="gcc"/>
8
-		<Option virtualFolders="CMake Files\;"/>
9
-		<Build>
10
-			<Target title="all">
11
-				<Option working_dir="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug"/>
12
-				<Option type="4"/>
13
-				<MakeCommands>
14
-					<Build command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 all"/>
15
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
16
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
17
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
18
-				</MakeCommands>
19
-			</Target>
20
-			<Target title="rebuild_cache">
21
-				<Option working_dir="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug"/>
22
-				<Option type="4"/>
23
-				<MakeCommands>
24
-					<Build command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 rebuild_cache"/>
25
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
26
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
27
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
28
-				</MakeCommands>
29
-			</Target>
30
-			<Target title="edit_cache">
31
-				<Option working_dir="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug"/>
32
-				<Option type="4"/>
33
-				<MakeCommands>
34
-					<Build command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 edit_cache"/>
35
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
36
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
37
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
38
-				</MakeCommands>
39
-			</Target>
40
-			<Target title="stress">
41
-				<Option output="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/stress" prefix_auto="0" extension_auto="0"/>
42
-				<Option working_dir="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug"/>
43
-				<Option object_output="./"/>
44
-				<Option type="1"/>
45
-				<Option compiler="gcc"/>
46
-				<Compiler>
47
-					<Add directory="/usr/include/c++/7"/>
48
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
49
-					<Add directory="/usr/include/c++/7/backward"/>
50
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
51
-					<Add directory="/usr/local/include"/>
52
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
53
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
54
-					<Add directory="/usr/include"/>
55
-				</Compiler>
56
-				<MakeCommands>
57
-					<Build command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 stress"/>
58
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
59
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
60
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
61
-				</MakeCommands>
62
-			</Target>
63
-			<Target title="stress/fast">
64
-				<Option output="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/stress" prefix_auto="0" extension_auto="0"/>
65
-				<Option working_dir="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug"/>
66
-				<Option object_output="./"/>
67
-				<Option type="1"/>
68
-				<Option compiler="gcc"/>
69
-				<Compiler>
70
-					<Add directory="/usr/include/c++/7"/>
71
-					<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
72
-					<Add directory="/usr/include/c++/7/backward"/>
73
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
74
-					<Add directory="/usr/local/include"/>
75
-					<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
76
-					<Add directory="/usr/include/x86_64-linux-gnu"/>
77
-					<Add directory="/usr/include"/>
78
-				</Compiler>
79
-				<MakeCommands>
80
-					<Build command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 stress/fast"/>
81
-					<CompileFile command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 &quot;$file&quot;"/>
82
-					<Clean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
83
-					<DistClean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot;  VERBOSE=1 clean"/>
84
-				</MakeCommands>
85
-			</Target>
86
-		</Build>
87
-		<Unit filename="/home/dimercur/Travail/git/C-TP-RT/example/stress/main.cpp">
88
-			<Option target="stress"/>
89
-		</Unit>
90
-		<Unit filename="/home/dimercur/Travail/git/C-TP-RT/src/robot.cpp">
91
-			<Option target="stress"/>
92
-		</Unit>
93
-		<Unit filename="/home/dimercur/Travail/git/C-TP-RT/src/robot.h">
94
-			<Option target="stress"/>
95
-		</Unit>
96
-		<Unit filename="/home/dimercur/Travail/git/C-TP-RT/example/stress/CMakeLists.txt">
97
-			<Option virtualFolder="CMake Files\"/>
98
-		</Unit>
99
-	</Project>
100
-</CodeBlocks_project_file>

+ 57
- 0
software/raspberry/superviseur-robot/src.sav/definitions.h View File

@@ -0,0 +1,57 @@
1
+/*
2
+ * To change this license header, choose License Headers in Project Properties.
3
+ * To change this template file, choose Tools | Templates
4
+ * and open the template in the editor.
5
+ */
6
+
7
+/* 
8
+ * File:   msg.h
9
+ * Author: pehladik
10
+ *
11
+ * Created on 15 janvier 2018, 20:45
12
+ */
13
+
14
+#ifndef DEFINITIONS_H
15
+#define DEFINITIONS_H
16
+
17
+#define OPEN_COM_DMB  'o'
18
+#define CLOSE_COM_DMB 'C'
19
+
20
+#define DMB_PING                'p'
21
+#define DMB_IDLE                'r'
22
+#define DMB_START_WITHOUT_WD    'u'
23
+#define DMB_START_WITH_WD       'W'
24
+#define DMB_RELOAD_WD           'w'
25
+#define DMB_GET_VBAT            'v'
26
+#define DMB_IS_BUSY             'b'
27
+#define DMB_MOVE                'M'
28
+#define DMB_TURN                'T'
29
+#define DMB_GO_FORWARD          'F'
30
+#define DMB_GO_BACK             'B'
31
+#define DMB_GO_LEFT             'L'
32
+#define DMB_GO_RIGHT            'R'
33
+#define DMB_STOP_MOVE           'S'
34
+
35
+#define ROBOT_TIMED_OUT -3
36
+#define ROBOT_UKNOWN_CMD -2
37
+#define ROBOT_ERROR  -1
38
+#define ROBOT_CHECKSUM  -4
39
+#define ROBOT_OK    0
40
+
41
+#define CAM_OPEN                    'A'
42
+#define CAM_CLOSE                   'I'
43
+#define CAM_ASK_ARENA               'y'
44
+#define CAM_ARENA_CONFIRM           'x'
45
+#define CAM_ARENA_INFIRM            'z'
46
+#define CAM_COMPUTE_POSITION        'p'
47
+#define CAM_STOP_COMPUTE_POSITION   's'
48
+
49
+#define DMB_BAT_LOW 0
50
+#define DMB_BAT_MEDIUM 1
51
+#define DMB_BAT_HIGHT 2
52
+
53
+#define DMB_BUSY 1
54
+#define DMB_DO_NOTHING 0
55
+
56
+#endif /* MSG_H */
57
+

+ 211
- 0
software/raspberry/superviseur-robot/src.sav/image.cpp View File

@@ -0,0 +1,211 @@
1
+/**
2
+ * \file      image.cpp
3
+ * \author    L.Senaneuch
4
+ * \version   1.0
5
+ * \date      06/06/2017
6
+ * \brief     Fonctions de traitement d'image utilisable pour la détection du robot.
7
+ *
8
+ * \details   Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl.
9
+ *            Il permet de faciliter la détection de l'arène et la détection du robot.
10
+ *			  /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet.
11
+ */
12
+
13
+#include "image.h"
14
+#include <iostream>
15
+
16
+using namespace cv;
17
+#ifndef __STUB__
18
+using namespace raspicam;
19
+#else
20
+Image stubImg;
21
+#endif
22
+using namespace std;
23
+
24
+float calculAngle(Position * positionRobot);
25
+int cropArena(Image *imgInput, Image *imgOutput, Arene *AreneInput);
26
+float euclideanDist(Point& p, Point& q);
27
+
28
+void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene)
29
+{
30
+    if(imgInput!=imgOutput)
31
+        *imgOutput=imgInput->clone();
32
+    rectangle(*imgOutput,monArene->tl(),monArene->br(),Scalar(0,0,125),2,8,0);
33
+}
34
+
35
+int open_camera(Camera  *camera)
36
+{
37
+#ifndef __STUB__
38
+    camera->set(CV_CAP_PROP_FORMAT, CV_8UC3);
39
+    camera->set(CV_CAP_PROP_FRAME_WIDTH,WIDTH);
40
+    camera->set(CV_CAP_PROP_FRAME_HEIGHT,HEIGHT);
41
+
42
+    printf("Opening Camera...\n");
43
+    if (!(camera->open())) {
44
+        perror("Can't open Camera\n") ;
45
+        return -1;
46
+    }
47
+    else
48
+    {
49
+        printf("Camera warmup 2sec\n");
50
+        sleep(2);
51
+        printf("Start capture\n");
52
+        return 0;
53
+    }   
54
+#endif
55
+}
56
+
57
+void get_image(Camera *camera, Image * monImage, const char  * fichier) // getImg(Camera, Image img);
58
+{
59
+#ifndef __STUB__
60
+    camera->grab();
61
+    camera->retrieve(*monImage);
62
+    cvtColor(*monImage,*monImage,CV_BGR2RGB);
63
+#else
64
+    stubImg = imread(fichier, CV_LOAD_IMAGE_COLOR);
65
+    stubImg.copyTo(*monImage);
66
+#endif
67
+}
68
+
69
+void close_camera(Camera *camera) // closeCam(Camera) : camera Entrer
70
+{
71
+#ifndef __STUB__
72
+    camera->release();
73
+#endif
74
+}
75
+
76
+
77
+int detect_arena(Image *monImage, Arene *rectangle) // Image en entrée // rectangle en sortie
78
+{
79
+    vector<vector<Point> > contours;
80
+    vector<Point> approx;
81
+    vector<Vec4i> hierarchy;
82
+
83
+    Image imageTrt;
84
+    cvtColor(*monImage,imageTrt,CV_RGB2GRAY); // conversion en niveau de gris
85
+    threshold(imageTrt,imageTrt,128,255,CV_THRESH_BINARY); // Threshold les éléments les plus clair
86
+    Canny(imageTrt, imageTrt, 100,200,3); // detection d'angle
87
+
88
+    findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
89
+    for(unsigned int i = 0; i < contours.size();i++)
90
+	{
91
+        approxPolyDP(Image(contours[i]), approx, arcLength(Image(contours[i]), true)*0.1, true);
92
+        if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000)
93
+        {
94
+            *rectangle = boundingRect(Image(contours[i]));
95
+            return 0;
96
+        }
97
+    }
98
+    return -1;
99
+}
100
+
101
+int cropArena(Image *imgInput, Image *imgOutput, Arene *areneInput) // image // rectangle // image2
102
+{
103
+    Image img;
104
+    img=imgInput->clone();
105
+
106
+    *imgOutput = img(*areneInput);
107
+    return 0;
108
+}
109
+
110
+float euclideanDist(Point& p, Point& q) {
111
+    Point diff = p - q;
112
+    return cv::sqrt(diff.x*diff.x + diff.y*diff.y);
113
+}
114
+
115
+void compress_image(Image *imgInput, Jpg *imageCompress) // image entrée // imageEncodé en sortie
116
+{
117
+    imencode(".jpg",*imgInput,*imageCompress);
118
+}
119
+
120
+
121
+int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene) // entree : image  / sortie tab pos
122
+{
123
+    vector<vector<Point> > contours;
124
+    vector<Point> approx;
125
+    vector<Vec4i> hierarchy;
126
+
127
+    Image imgTraitment;
128
+
129
+    if(monArene==NULL)
130
+        imgTraitment=imgInput->clone();
131
+    else
132
+        cropArena(imgInput,&imgTraitment, monArene);
133
+
134
+    cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY);
135
+    threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY);
136
+    findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
137
+
138
+    int nbrTriangle = 0;
139
+    for(unsigned int i = 0;i < contours.size();i++)
140
+	{
141
+        approxPolyDP(Mat(contours[i]), approx, arcLength(Mat(contours[i]), true)*0.17, true);
142
+        if(approx.size() == 3 && fabs(contourArea(contours[i])) > 200 && fabs(contourArea(contours[i])) < 700)
143
+        {
144
+
145
+            Point a,b,c;
146
+            Point center;
147
+
148
+
149
+            a = approx[0];
150
+            b = approx[1];
151
+            c = approx[2];
152
+
153
+
154
+            if(monArene !=NULL) // ajout de l'offset de l'arène
155
+            {
156
+               a.x += monArene->x;
157
+               a.y += monArene->y;
158
+               b.x += monArene->x;
159
+               b.y += monArene->y;
160
+               c.x += monArene->x;
161
+               c.y += monArene->y;		    
162
+            }
163
+		
164
+            center.x = (a.x + b.x + c.x)/3;
165
+            center.y = (a.y + b.y + c.y)/3;
166
+
167
+            posTriangle[nbrTriangle].center=center;
168
+
169
+            if(euclideanDist(center,b) > euclideanDist(center,a) && euclideanDist(center,b) > euclideanDist(center,c) )
170
+            {
171
+
172
+                posTriangle[nbrTriangle].direction=b;
173
+                //line(img,center,b,Scalar(0,125,0),2,8,0);
174
+            }
175
+            else if(euclideanDist(center,a) > euclideanDist(center,c))
176
+            {
177
+                posTriangle[nbrTriangle].direction=a;
178
+                //line(img,center,a,Scalar(0,125,0),2,8,0);
179
+
180
+            }
181
+            else
182
+            {
183
+                posTriangle[nbrTriangle].direction=c;
184
+                //line(img,center,c,Scalar(0,125,0),2,8,0);
185
+            }
186
+            posTriangle[nbrTriangle].angle=calculAngle(&posTriangle[nbrTriangle]);
187
+
188
+            nbrTriangle++;
189
+
190
+        }
191
+    }
192
+    return nbrTriangle;
193
+}
194
+
195
+void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot) // img E/S   pos : E
196
+{
197
+    if(imgInput!=imgOutput)
198
+    {
199
+        *imgOutput=imgInput->clone();
200
+    }
201
+    line(*imgOutput,positionRobot->center,positionRobot->direction,Scalar(0,125,0),2,8,0);
202
+}
203
+
204
+float calculAngle(Position * positionRobot) // position en entree
205
+{
206
+    float a = positionRobot->direction.x - positionRobot->center.x;
207
+    float b = positionRobot->direction.y - positionRobot->center.y ;
208
+    float angle = atan2(b,a);
209
+    return angle * 180.f/M_PI;
210
+
211
+}

+ 128
- 0
software/raspberry/superviseur-robot/src.sav/image.h View File

@@ -0,0 +1,128 @@
1
+/**
2
+ * \file      image.h
3
+ * \author    L.Senaneuch
4
+ * \version   1.0
5
+ * \date      06/06/2017
6
+ * \brief     Fonctions de traitement d'image utilisable pour la d�tection du robot.
7
+ *
8
+ * \details   Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl.
9
+ *            Il permet de faciliter la d�tection de l'ar�ne et la d�tection du robot.
10
+ *			  /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet.
11
+ */
12
+
13
+
14
+#ifndef IMAGERIE_H
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+#define IMAGERIE_H
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+
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+#ifndef __STUB__
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+#include <raspicam/raspicam_cv.h>
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+#else
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+#include <opencv2/highgui/highgui.hpp>
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+#endif
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+#include "opencv2/imgproc/imgproc.hpp"
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+#include <unistd.h>
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+#include <math.h>
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+
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+#define WIDTH 480 //1280 1024 640 480
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+#define HEIGHT 360 // 960 768 480 360
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+
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+using namespace std;
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+using namespace cv;
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+#ifndef __STUB__
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+using namespace raspicam;
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+#endif
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+
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+typedef Mat Image;
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+#ifndef __STUB__
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+typedef RaspiCam_Cv Camera;
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+#else
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+typedef int Camera;
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+#endif