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

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

Browse source
This commit is contained in:
Sébastien DI MERCURIO 2018-10-12 16:43:25 +02:00
parent 5beb9ad12d
commit d6c8a54215
58 changed files with 2210 additions and 1720 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

16
.vscode/c_cpp_properties.json vendored Normal file
View file

@ -0,0 +1,16 @@
{
"configurations": [
{
"name": "Linux",
"includePath": [
"${workspaceFolder}/**"
],
"defines": [],
"compilerPath": "/usr/bin/clang",
"cStandard": "c11",
"cppStandard": "c++17",
"intelliSenseMode": "clang-x64"
}
],
"version": 4
}

16
.vscode/tasks.json vendored Normal file
View file

@ -0,0 +1,16 @@
{
// See https://go.microsoft.com/fwlink/?LinkId=733558
// for the documentation about the tasks.json format
"version": "2.0.0",
"tasks": [
{
"taskName": "Compile on raspberry",
"command": "rsync -az '${file}' 10.105.1.6:~ && ssh server.example.org 'chmod +x ./${fileBasename}; ./${fileBasename}'",
"type": "shell",
"group": {
"kind": "build",
"isDefault": true
}
}
]
}

7
software/raspberry/superviseur-robot/Essai_VSC/CMakeLists.txt Normal file
View file

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

6
software/raspberry/superviseur-robot/example/stress/main.cpp → software/raspberry/superviseur-robot/Essai_VSC/main.cpp
View file

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

145
software/raspberry/superviseur-robot/example/.cproject Normal file
View file

@ -0,0 +1,145 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<?fileVersion 4.0.0?><cproject storage_type_id="org.eclipse.cdt.core.XmlProjectDescriptionStorage">
<storageModule moduleId="org.eclipse.cdt.core.settings">
<cconfiguration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" moduleId="org.eclipse.cdt.core.settings" name="serialTest">
<externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="${ProjName}" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="Test RF quality" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" name="serialTest" parent="com.atollic.managedbuild.pctools.config.gnu.exe.debug">
<folderInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908." name="/" resourcePath="">
<toolChain id="com.atollic.managedbuild.pctoolschain.gnu.exe.debug.1644719303" name="Atollic Linux PC Tools" superClass="com.atollic.managedbuild.pctoolschain.gnu.exe.debug">
<targetPlatform id="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug.444948895" name="Debug Platform" superClass="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug"/>
<builder buildPath="${workspace_loc:/Dumber-Robot-Exemple}/Debug" customBuilderProperties="toolChainpathType=1|toolChainpathString=/opt/Atollic_TrueSTUDIO_for_STM32_x86_64_9.0.0/ARMTools/bin|" id="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug.703691933" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="GNU Make Builder" superClass="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug"/>
<tool id="com.atollic.managedbuild.pctools.gnu.archiver.base.754185313" name="Archiver" superClass="com.atollic.managedbuild.pctools.gnu.archiver.base"/>
<tool id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug.460714726" name="C++ Compiler" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug">
<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level.759860919" name="Optimization Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level.1134609705" name="Debug Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
<option id="com.atollic.pctools.gnu.cpp.compiler.option.include.paths.1092205484" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
</option>
<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input.18466674" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input"/>
</tool>
<tool id="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug.1524457175" name="C Compiler" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug">
<option defaultValue="com.atollic.pctools.gnu.c.optimization.level.none" id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level.602619486" name="Optimization Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
<option id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level.1202784327" name="Debug Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.c.debugging.level.max" valueType="enumerated"/>
<option id="com.atollic.pctools.gnu.c.compiler.option.include.paths.608880272" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
</option>
<inputType id="com.atollic.managedbuild.pctools.gnu.c.compiler.input.978460249" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.input"/>
</tool>
<tool id="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug.650018959" name="C Linker" superClass="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug"/>
<tool id="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug.949894658" name="C++ Linker" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug">
<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.linker.input.520817887" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
</inputType>
</tool>
<tool id="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug.1090002007" name="Assembler" superClass="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug">
<inputType id="com.atollic.managedbuild.pctools.gnu.assembler.input.665455269" superClass="com.atollic.managedbuild.pctools.gnu.assembler.input"/>
</tool>
</toolChain>
</folderInfo>
<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.107079152" name="image.h" rcbsApplicability="disable" resourcePath="lib/image.h" toolsToInvoke=""/>
<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.2136136082" name="Makefile" rcbsApplicability="disable" resourcePath="src/Makefile" toolsToInvoke=""/>
<sourceEntries>
<entry excluding="monitor.cpp|image.h|image.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="lib"/>
<entry excluding="Makefile|videoExample.cpp|uiExample.cpp|serialExample.cpp|rtvideoExample.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
</sourceEntries>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
<cconfiguration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353">
<storageModule buildSystemId="org.eclipse.cdt.managedbuilder.core.configurationDataProvider" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" moduleId="org.eclipse.cdt.core.settings" name="Server test">
<externalSettings/>
<extensions>
<extension id="org.eclipse.cdt.core.GNU_ELF" point="org.eclipse.cdt.core.BinaryParser"/>
<extension id="org.eclipse.cdt.core.GASErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GmakeErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GLDErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.CWDLocator" point="org.eclipse.cdt.core.ErrorParser"/>
<extension id="org.eclipse.cdt.core.GCCErrorParser" point="org.eclipse.cdt.core.ErrorParser"/>
</extensions>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<configuration artifactName="ServerTest" buildArtefactType="org.eclipse.cdt.build.core.buildArtefactType.exe" buildProperties="org.eclipse.cdt.build.core.buildArtefactType=org.eclipse.cdt.build.core.buildArtefactType.exe,org.eclipse.cdt.build.core.buildType=org.eclipse.cdt.build.core.buildType.debug" cleanCommand="rm -rf" description="Test server setup" id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" name="Server test" parent="com.atollic.managedbuild.pctools.config.gnu.exe.debug">
<folderInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353." name="/" resourcePath="">
<toolChain id="com.atollic.managedbuild.pctoolschain.gnu.exe.debug.1769978487" name="Atollic Linux PC Tools" superClass="com.atollic.managedbuild.pctoolschain.gnu.exe.debug">
<targetPlatform id="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug.1135891617" name="Debug Platform" superClass="com.atollic.pctools.managedbuild.target.gnu.platform.exe.debug"/>
<builder buildPath="${workspace_loc:/Dumber-Robot-Exemple}/Debug" customBuilderProperties="toolChainpathType=1|toolChainpathString=/opt/Atollic_TrueSTUDIO_for_STM32_x86_64_9.0.0/ARMTools/bin|" id="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug.1461439116" keepEnvironmentInBuildfile="false" managedBuildOn="true" name="GNU Make Builder" superClass="com.atollic.pctools.managedbuild.target.gnu.builder.exe.debug"/>
<tool id="com.atollic.managedbuild.pctools.gnu.archiver.base.1426655308" name="Archiver" superClass="com.atollic.managedbuild.pctools.gnu.archiver.base"/>
<tool id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug.115182827" name="C++ Compiler" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.exe.debug">
<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level.1103169709" name="Optimization Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.optimization.level.none" valueType="enumerated"/>
<option id="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level.1900144654" name="Debug Level" superClass="com.atollic.pctools.gnu.cpp.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.cpp.compiler.debugging.level.max" valueType="enumerated"/>
<option id="com.atollic.pctools.gnu.cpp.compiler.option.include.paths.2096629070" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.cpp.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
</option>
<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input.928183158" superClass="com.atollic.managedbuild.pctools.gnu.cpp.compiler.input"/>
</tool>
<tool id="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug.1435027661" name="C Compiler" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.exe.debug">
<option defaultValue="com.atollic.pctools.gnu.c.optimization.level.none" id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level.169974575" name="Optimization Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.optimization.level" useByScannerDiscovery="false" valueType="enumerated"/>
<option id="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level.980419679" name="Debug Level" superClass="com.atollic.pctools.gnu.c.compiler.exe.debug.option.debugging.level" useByScannerDiscovery="false" value="com.atollic.pctools.gnu.c.debugging.level.max" valueType="enumerated"/>
<option id="com.atollic.pctools.gnu.c.compiler.option.include.paths.967863685" name="Include paths (-I)" superClass="com.atollic.pctools.gnu.c.compiler.option.include.paths" useByScannerDiscovery="false" valueType="includePath">
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/lib}&quot;"/>
<listOptionValue builtIn="false" value="&quot;${workspace_loc:/${ProjName}/src}&quot;"/>
</option>
<inputType id="com.atollic.managedbuild.pctools.gnu.c.compiler.input.1991549921" superClass="com.atollic.managedbuild.pctools.gnu.c.compiler.input"/>
</tool>
<tool id="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug.1530079011" name="C Linker" superClass="com.atollic.managedbuild.pctools.gnu.c.linker.exe.debug"/>
<tool id="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug.1993338495" name="C++ Linker" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.exe.debug">
<inputType id="com.atollic.managedbuild.pctools.gnu.cpp.linker.input.774293629" superClass="com.atollic.managedbuild.pctools.gnu.cpp.linker.input">
<additionalInput kind="additionalinputdependency" paths="$(USER_OBJS)"/>
<additionalInput kind="additionalinput" paths="$(LIBS)"/>
</inputType>
</tool>
<tool id="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug.210875902" name="Assembler" superClass="com.atollic.managedbuild.pctools.gnu.assembler.exe.debug">
<inputType id="com.atollic.managedbuild.pctools.gnu.assembler.input.61333264" superClass="com.atollic.managedbuild.pctools.gnu.assembler.input"/>
</tool>
</toolChain>
</folderInfo>
<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=""/>
<fileInfo id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353.src/Makefile" name="Makefile" rcbsApplicability="disable" resourcePath="src/Makefile" toolsToInvoke=""/>
<sourceEntries>
<entry excluding="monitor.cpp|image.h|image.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="lib"/>
<entry excluding="serialTest.cpp|Makefile|videoExample.cpp|uiExample.cpp|serialExample.cpp|rtvideoExample.cpp" flags="VALUE_WORKSPACE_PATH|RESOLVED" kind="sourcePath" name="src"/>
</sourceEntries>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.externalSettings"/>
</cconfiguration>
</storageModule>
<storageModule moduleId="cdtBuildSystem" version="4.0.0">
<project id="Dumber-Robot-Exemple.com.atollic.pctools.managedbuild.target.gnu.exe.162302072" name="Executable" projectType="com.atollic.pctools.managedbuild.target.gnu.exe"/>
</storageModule>
<storageModule moduleId="scannerConfiguration">
<autodiscovery enabled="true" problemReportingEnabled="true" selectedProfileId=""/>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.core.LanguageSettingsProviders"/>
<storageModule moduleId="refreshScope" versionNumber="2">
<configuration configurationName="Server test">
<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
</configuration>
<configuration configurationName="serialTest">
<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
</configuration>
<configuration configurationName="Debug">
<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
</configuration>
<configuration configurationName="Release">
<resource resourceType="PROJECT" workspacePath="/Dumber-Robot-Exemple"/>
</configuration>
</storageModule>
<storageModule moduleId="org.eclipse.cdt.make.core.buildtargets"/>
</cproject>

2
software/raspberry/superviseur-robot/example/.gitignore vendored Normal file
View file

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

0
software/raspberry/superviseur-robot/example/.gitignores Normal file
View file

27
software/raspberry/superviseur-robot/example/.project Normal file
View file

@ -0,0 +1,27 @@
<?xml version="1.0" encoding="UTF-8"?>
<projectDescription>
<name>Dumber-Robot-Exemple</name>
<comment></comment>
<projects>
</projects>
<buildSpec>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.genmakebuilder</name>
<triggers>clean,full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
<buildCommand>
<name>org.eclipse.cdt.managedbuilder.core.ScannerConfigBuilder</name>
<triggers>full,incremental,</triggers>
<arguments>
</arguments>
</buildCommand>
</buildSpec>
<natures>
<nature>org.eclipse.cdt.core.cnature</nature>
<nature>org.eclipse.cdt.core.ccnature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.managedBuildNature</nature>
<nature>org.eclipse.cdt.managedbuilder.core.ScannerConfigNature</nature>
</natures>
</projectDescription>

25
software/raspberry/superviseur-robot/example/.settings/language.settings.xml Normal file
View file

@ -0,0 +1,25 @@
<?xml version="1.0" encoding="UTF-8" standalone="no"?>
<project>
<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908" name="serialTest">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<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">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
</extension>
</configuration>
<configuration id="com.atollic.managedbuild.pctools.config.gnu.exe.debug.119910908.1158593353" name="Server test">
<extension point="org.eclipse.cdt.core.LanguageSettingsProvider">
<provider copy-of="extension" id="org.eclipse.cdt.ui.UserLanguageSettingsProvider"/>
<provider-reference id="org.eclipse.cdt.core.ReferencedProjectsLanguageSettingsProvider" ref="shared-provider"/>
<provider-reference id="org.eclipse.cdt.managedbuilder.core.MBSLanguageSettingsProvider" ref="shared-provider"/>
<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">
<language-scope id="org.eclipse.cdt.core.gcc"/>
<language-scope id="org.eclipse.cdt.core.g++"/>
</provider>
</extension>
</configuration>
</project>

0
software/raspberry/superviseur-robot/example/stress/CMakeLists.txt → software/raspberry/superviseur-robot/example/CMakeLists.txt
View file

1
software/raspberry/superviseur-robot/example/lib Symbolic link
View file

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

28
software/raspberry/superviseur-robot/example/serialTest/lib/subdir.mk Normal file
View file

@ -0,0 +1,28 @@
################################################################################
# Automatically-generated file. Do not edit!
################################################################################
# Add inputs and outputs from these tool invocations to the build variables
CPP_SRCS += \
../lib/Robot.cpp \
../lib/Serial.cpp \
../lib/TcpServer.cpp \
../lib/message.cpp
OBJS += \
./lib/Robot.o \
./lib/Serial.o \
./lib/TcpServer.o \
./lib/message.o
CPP_DEPS += \
./lib/Robot.d \
./lib/Serial.d \
./lib/TcpServer.d \
./lib/message.d
# Each subdirectory must supply rules for building sources it contributes
lib/%.o: ../lib/%.cpp
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 "$@" "$<"

56
software/raspberry/superviseur-robot/example/serialTest/makefile Normal file
View file

@ -0,0 +1,56 @@
################################################################################
# Automatically-generated file. Do not edit!
################################################################################
-include ../makefile.init
RM := rm -rf
# All of the sources participating in the build are defined here
-include sources.mk
-include src/subdir.mk
-include lib/subdir.mk
-include subdir.mk
-include objects.mk
ifneq ($(MAKECMDGOALS),clean)
ifneq ($(strip $(CC_DEPS)),)
-include $(CC_DEPS)
endif
ifneq ($(strip $(C++_DEPS)),)
-include $(C++_DEPS)
endif
ifneq ($(strip $(C_UPPER_DEPS)),)
-include $(C_UPPER_DEPS)
endif
ifneq ($(strip $(CXX_DEPS)),)
-include $(CXX_DEPS)
endif
ifneq ($(strip $(CPP_DEPS)),)
-include $(CPP_DEPS)
endif
ifneq ($(strip $(C_DEPS)),)
-include $(C_DEPS)
endif
endif
-include ../makefile.defs
# Add inputs and outputs from these tool invocations to the build variables
# All Target
all: Dumber-Robot-Exemple
# Tool invocations
Dumber-Robot-Exemple: $(OBJS) $(USER_OBJS)
g++ -o "Dumber-Robot-Exemple" $(OBJS) $(USER_OBJS) $(LIBS)
# Other Targets
clean:
-$(RM) $(CC_DEPS)$(C++_DEPS)$(EXECUTABLES)$(C_UPPER_DEPS)$(CXX_DEPS)$(OBJS)$(CPP_DEPS)$(C_DEPS) Dumber-Robot-Exemple
-@echo ' '
.PHONY: all clean dependents
.SECONDARY:
-include ../makefile.targets

8
software/raspberry/superviseur-robot/example/serialTest/objects.mk Normal file
View file

@ -0,0 +1,8 @@
################################################################################
# Automatically-generated file. Do not edit!
################################################################################
USER_OBJS :=
LIBS :=

28
software/raspberry/superviseur-robot/example/serialTest/sources.mk Normal file
View file

@ -0,0 +1,28 @@
################################################################################
# Automatically-generated file. Do not edit!
################################################################################
C_UPPER_SRCS :=
CXX_SRCS :=
C++_SRCS :=
OBJ_SRCS :=
CC_SRCS :=
ASM_SRCS :=
CPP_SRCS :=
C_SRCS :=
O_SRCS :=
S_UPPER_SRCS :=
CC_DEPS :=
C++_DEPS :=
EXECUTABLES :=
C_UPPER_DEPS :=
CXX_DEPS :=
OBJS :=
CPP_DEPS :=
C_DEPS :=
# Every subdirectory with source files must be described here
SUBDIRS := \
lib \
src \

22
software/raspberry/superviseur-robot/example/serialTest/src/subdir.mk Normal file
View file

@ -0,0 +1,22 @@
################################################################################
# Automatically-generated file. Do not edit!
################################################################################
# Add inputs and outputs from these tool invocations to the build variables
CPP_SRCS += \
../src/serialTest.cpp \
../src/serverTest.cpp
OBJS += \
./src/serialTest.o \
./src/serverTest.o
CPP_DEPS += \
./src/serialTest.d \
./src/serverTest.d
# Each subdirectory must supply rules for building sources it contributes
src/%.o: ../src/%.cpp
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 "$@" "$<"

186
software/raspberry/superviseur-robot/example/src/serialTest.cpp Normal file
View file

@ -0,0 +1,186 @@
/*******************************************************************************
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
* All rights reserved. This program and the accompanying materials
* are made available "AS IS", without any warranty of any kind.
*
* INSA assumes no responsibility for errors or omissions in the
* software or documentation available.
*
* Part of code Copyright ST Microelectronics.
*
* Contributors:
* Lucien Senaneuch - Initial API and implementation
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
*******************************************************************************/
#include <iostream>
#include <ctime>
#include "Robot.h"
#include <unistd.h>
using namespace std;
#define NB_TEST 50
#define DELAY_BETWEEN_TEST 1000000 // 1 seconde
int nb_retries;
int nb_test;
int laststatus;
int nb_success;
int nb_timeout;
int nb_unknown_cmd;
int flipflop;
int Test(Robot rob) {
try {
if (flipflop == 0) {
rob.Move(100);
} else {
rob.Move(-100);
}
} catch (string e) {
//if (e.find("Timeout")==string.npos)
// status=ROBOT_TIMED_OUT;
}
return rob.GetLastCommandStatus();;
}
int main() {
Robot myRobot;
if (myRobot.Open("/dev/ttyUSB0") == SUCCESS) { // ouverture de la com avec le robot
std::cout << "Start robot: ";
try {
myRobot.StartWithoutWatchdog();
} catch ( string e ) {
std::cerr << std::endl << e << std::endl;
return 1;
}
if (myRobot.GetLastCommandStatus()==SUCCESS)
std::cout << "Ok" <<std::endl;
else {
std::cout << " Error: GetLastCommand returns " << myRobot.GetLastCommandStatus() <<std::endl;
return 2;
}
std::cout << "Start stress test" << std::endl;
time_t t_debut, t_fin;
struct tm *tm_debut, *tm_fin;
time(&t_debut);
tm_debut = localtime((const time_t*)&t_debut);
std::cout << "[start time]: " << asctime(tm_debut) << std::endl;
nb_success =0;
nb_timeout =0;
nb_unknown_cmd =0;
flipflop = 0;
for (nb_test=0; nb_test < NB_TEST; nb_test++) {
laststatus=Test(myRobot);
if (flipflop ==0) flipflop=1;
else flipflop =0;
if (laststatus == SUCCESS) nb_success++;
else if (laststatus == TIMEOUT_COMMAND) nb_timeout++;
else if ((laststatus == INVALID_ANSWER) || (laststatus == INVALID_COMMAND)) nb_unknown_cmd ++;
std::cout << "Test " << nb_test << " [s " << nb_success
<< ": t " << nb_timeout << ": u " << nb_unknown_cmd
<< "]"<< "\x1B" <<"[30D"<<std::flush;
usleep(DELAY_BETWEEN_TEST);
}
time(&t_fin);
tm_fin = localtime((const time_t*)&t_fin);
std::cout << std::endl << std::endl << "[end time]: " << asctime(tm_fin) << std::endl;
std::cout << "Reset robot" <<std::endl;
myRobot.Reset();
std::cout << "Close com" <<std::endl;
myRobot.Close();
} else {
std::cerr << "Unable to open \\dev\\ttyUSB0" << std::endl;
return 2;
}
// if (open_communication_robot("/dev/ttyUSB0") != 0) {
// std::cout << "Unable to open com port" << std::endl;
//
// return -1;
// }
//
// std::cout << "Debut du test de stress" << std::endl;
// time_t t_debut, t_fin;
// struct tm *tm_debut, *tm_fin;
//
// time(&t_debut);
// tm_debut = localtime((const time_t*)&t_debut);
//
// std::cout << "[heure debut]: " << asctime(tm_debut) << std::endl;
//
// nb_retries=-1;
// do {
// usleep(DELAY_BETWEEN_RETRIES);
// nb_retries++;
// laststatus = send_command_to_robot(DMB_START_WITHOUT_WD);
// } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
//
// if(nb_retries == NB_RETRIES_MAX) {
// std::cout << "Unable to start robot" <<std::endl;
//
// return -1;
// }
//
// nb_success =0;
// nb_timeout =0;
// nb_unknown_cmd =0;
// flipflop = 0;
//
// for (nb_test=0; nb_test < NB_TEST; nb_test++) {
// nb_retries=-1;
//
// do {
// usleep(DELAY_BETWEEN_RETRIES);
// nb_retries++;
// if (flipflop == 0) {
// laststatus = send_command_to_robot(DMB_TURN, "100");
// } else {
// laststatus = send_command_to_robot(DMB_TURN, "-100");
// }
//
// } while ((nb_retries<NB_RETRIES_MAX) && (laststatus != 0));
//
// if (flipflop ==0) flipflop=1;
// else flipflop =0;
//
// if (laststatus == 0) nb_success++;
// else if (laststatus == ROBOT_TIMED_OUT) nb_timeout++;
// else if (laststatus == ROBOT_UKNOWN_CMD) nb_unknown_cmd ++;
//
// std::cout << "Test " << nb_test << " [s " << nb_success
// << ": t " << nb_timeout << ": u " << nb_unknown_cmd
// << "]"<< "\x1B" <<"[30D"<<std::flush;
//
// usleep(DELAY_BETWEEN_TEST);
// }
//
// time(&t_fin);
// tm_fin = localtime((const time_t*)&t_fin);
//
// std::cout << std::endl << std::endl << "[heure fin]: " << asctime(tm_fin) << std::endl;
return 0;
}

111
software/raspberry/superviseur-robot/example/src/serverTest.cpp Normal file
View file

@ -0,0 +1,111 @@
/*******************************************************************************
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
* All rights reserved. This program and the accompanying materials
* are made available "AS IS", without any warranty of any kind.
*
* INSA assumes no responsibility for errors or omissions in the
* software or documentation available.
*
* Part of code Copyright ST Microelectronics.
*
* Contributors:
* Lucien Senaneuch - Initial API and implementation
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
*******************************************************************************/
#include <iostream>
#include "Robot.h"
#include "TcpServer.h"
int main (void)
{
TcpServer server;
int clientFD;
string msgIn, msgOut,tmp;
bool finish;
Robot robot;
cout << "TCP server example" << endl;
cout << "Bind and listen on port 1337: ";
try {
server.Listen(1337);
}
catch ( const invalid_argument &ia ) {
cerr << "Error binding server: " << ia.what() << endl;
return 1;
}
cout << "Ok" <<endl;
cout << "Open com with robot: ";
try {
robot.Open ("/dev/ttyUSB0");
} catch (string e)
{
cerr << e << endl;
return 3;
}
cout << "Ok" <<endl;
while (1)
{
cout << "Wait for client to connect: ";
try {
clientFD= server.AcceptClient();
}
catch ( const invalid_argument &ia ) {
cerr << "Error during client accept: " << ia.what() << endl;
return 2;
}
cout << to_string(clientFD) << endl;
msgIn.clear();
finish=false;
do {
msgIn = server.Receive(clientFD, 2); // cmd + \n
if (msgIn.empty()) finish=true;
else {
try {
switch (msgIn[0]) {
case 's':
// Start robot
robot.StartWithoutWatchdog();
break;
case 'f':
robot.Move(100);
break;
case 'b':
robot.Move(-100);
break;
case 'r':
robot.Turn(90);
break;
case 'l':
robot.Turn(-90);
break;
case 'Q':
robot.Reset();
break;
}
} catch (string e) {
cerr << e;
}
if (robot.GetLastCommandStatus() == SUCCESS)
server.Send(clientFD, "OK\n");
else server.Send(clientFD, "ERR\n");
}
} while (finish==false);
cout << "Client disconnected" <<endl;
clientFD=-1;
}
return 0;
}

8
software/raspberry/superviseur-robot/example/stress/.gitignore vendored
View file

@ -1,8 +0,0 @@
*.o
*.d
CMakeTmp
stress.dir
3.9.6
*.log
*.bin

29
software/raspberry/superviseur-robot/example/stress/.idea/codeStyles/Project.xml
View file

@ -1,29 +0,0 @@
<component name="ProjectCodeStyleConfiguration">
<code_scheme name="Project" version="173">
<Objective-C-extensions>
<file>
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Import" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Macro" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Typedef" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Enum" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Constant" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Global" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Struct" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="FunctionPredecl" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Function" />
</file>
<class>
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Property" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="Synthesize" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InitMethod" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="StaticMethod" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="InstanceMethod" />
<option name="com.jetbrains.cidr.lang.util.OCDeclarationKind" value="DeallocMethod" />
</class>
<extensions>
<pair source="cpp" header="h" fileNamingConvention="NONE" />
<pair source="c" header="h" fileNamingConvention="NONE" />
</extensions>
</Objective-C-extensions>
</code_scheme>
</component>

4
software/raspberry/superviseur-robot/example/stress/.idea/misc.xml
View file

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

8
software/raspberry/superviseur-robot/example/stress/.idea/modules.xml
View file

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

2
software/raspberry/superviseur-robot/example/stress/.idea/stress.iml
View file

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

6
software/raspberry/superviseur-robot/example/stress/.idea/vcs.xml
View file

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

294
software/raspberry/superviseur-robot/example/stress/.idea/workspace.xml
View file

@ -1,294 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<project version="4">
<component name="CMakeRunConfigurationManager" shouldGenerate="true" shouldDeleteObsolete="true" buildAllGenerated="true">
<generated>
<config projectName="stress" targetName="stress" />
</generated>
</component>
<component name="CMakeSettings">
<configurations>
<configuration PROFILE_NAME="Debug" CONFIG_NAME="Debug" />
</configurations>
</component>
<component name="ChangeListManager">
<list default="true" id="6f68a0e1-52e9-471a-8d47-af63db94b711" name="Default" comment="">
<change beforePath="" afterPath="$PROJECT_DIR$/.idea/codeStyles/Project.xml" />
<change beforePath="" afterPath="$PROJECT_DIR$/.idea/misc.xml" />
<change beforePath="" afterPath="$PROJECT_DIR$/.idea/vcs.xml" />
</list>
<ignored path="$PROJECT_DIR$/cmake-build-debug/" />
<option name="EXCLUDED_CONVERTED_TO_IGNORED" value="true" />
<option name="TRACKING_ENABLED" value="true" />
<option name="SHOW_DIALOG" value="false" />
<option name="HIGHLIGHT_CONFLICTS" value="true" />
<option name="HIGHLIGHT_NON_ACTIVE_CHANGELIST" value="false" />
<option name="LAST_RESOLUTION" value="IGNORE" />
</component>
<component name="ExecutionTargetManager" SELECTED_TARGET="CMakeBuildProfile:Debug" />
<component name="FileEditorManager">
<leaf SIDE_TABS_SIZE_LIMIT_KEY="300">
<file leaf-file-name="CMakeLists.txt" pinned="false" current-in-tab="false">
<entry file="file://$PROJECT_DIR$/CMakeLists.txt">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="108">
<caret line="6" column="16" lean-forward="false" selection-start-line="6" selection-start-column="16" selection-end-line="6" selection-end-column="16" />
<folding />
</state>
</provider>
</entry>
</file>
<file leaf-file-name="main.cpp" pinned="false" current-in-tab="false">
<entry file="file://$PROJECT_DIR$/main.cpp">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="144">
<caret line="8" column="28" lean-forward="false" selection-start-line="8" selection-start-column="28" selection-end-line="8" selection-end-column="28" />
<folding>
<element signature="e#0#19#0" expanded="true" />
</folding>
</state>
</provider>
</entry>
</file>
<file leaf-file-name="robot.h" pinned="false" current-in-tab="false">
<entry file="file://$PROJECT_DIR$/../../src/robot.h">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="-378">
<caret line="18" column="19" lean-forward="true" selection-start-line="18" selection-start-column="19" selection-end-line="18" selection-end-column="19" />
<folding />
</state>
</provider>
</entry>
</file>
<file leaf-file-name="robot.cpp" pinned="false" current-in-tab="true">
<entry file="file://$PROJECT_DIR$/../../src/robot.cpp">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="-1890">
<caret line="6" column="9" lean-forward="true" selection-start-line="6" selection-start-column="9" selection-end-line="6" selection-end-column="9" />
<folding />
</state>
</provider>
</entry>
</file>
<file leaf-file-name="definitions.h" pinned="false" current-in-tab="false">
<entry file="file://$PROJECT_DIR$/../../src/definitions.h">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="252">
<caret line="35" column="24" lean-forward="false" selection-start-line="35" selection-start-column="8" selection-end-line="35" selection-end-column="24" />
<folding />
</state>
</provider>
</entry>
</file>
</leaf>
</component>
<component name="Git.Settings">
<option name="RECENT_GIT_ROOT_PATH" value="$PROJECT_DIR$/../.." />
</component>
<component name="IdeDocumentHistory">
<option name="CHANGED_PATHS">
<list>
<option value="$PROJECT_DIR$/CMakeLists.txt" />
<option value="$PROJECT_DIR$/main.cpp" />
</list>
</option>
</component>
<component name="JsBuildToolGruntFileManager" detection-done="true" sorting="DEFINITION_ORDER" />
<component name="JsBuildToolPackageJson" detection-done="true" sorting="DEFINITION_ORDER" />
<component name="JsGulpfileManager">
<detection-done>true</detection-done>
<sorting>DEFINITION_ORDER</sorting>
</component>
<component name="ProjectFrameBounds">
<option name="x" value="331" />
<option name="y" value="64" />
<option name="width" value="1400" />
<option name="height" value="873" />
</component>
<component name="ProjectLevelVcsManager" settingsEditedManually="true" />
<component name="ProjectView">
<navigator currentView="ProjectPane" proportions="" version="1">
<flattenPackages />
<showMembers />
<showModules />
<showLibraryContents />
<hideEmptyPackages />
<abbreviatePackageNames />
<autoscrollToSource />
<autoscrollFromSource />
<sortByType />
<manualOrder />
<foldersAlwaysOnTop value="true" />
</navigator>
<panes>
<pane id="ProjectPane">
<subPane>
<expand>
<path>
<item name="stress" type="dad4c3:CidrFilesViewHelper$MyProjectTreeStructure$1" />
<item name="stress" type="47feb1d3:ProjectViewModuleNode" />
</path>
<path>
<item name="stress" type="dad4c3:CidrFilesViewHelper$MyProjectTreeStructure$1" />
<item name="stress" type="47feb1d3:ProjectViewModuleNode" />
<item name="stress" type="462c0819:PsiDirectoryNode" />
</path>
<path>
<item name="stress" type="dad4c3:CidrFilesViewHelper$MyProjectTreeStructure$1" />
<item name="External Libraries" type="cb654da1:ExternalLibrariesNode" />
</path>
<path>
<item name="stress" type="dad4c3:CidrFilesViewHelper$MyProjectTreeStructure$1" />
<item name="External Libraries" type="cb654da1:ExternalLibrariesNode" />
<item name="Header Search Paths" type="70bed36:NamedLibraryElementNode" />
</path>
</expand>
<select />
</subPane>
</pane>
</panes>
</component>
<component name="PropertiesComponent">
<property name="nodejs_interpreter_path.stuck_in_default_project" value="undefined stuck path" />
<property name="WebServerToolWindowFactoryState" value="false" />
<property name="settings.editor.selected.configurable" value="preferences.lookFeel" />
<property name="last_opened_file_path" value="$PROJECT_DIR$/../../src/definitions.h" />
</component>
<component name="RunDashboard">
<option name="ruleStates">
<list>
<RuleState>
<option name="name" value="ConfigurationTypeDashboardGroupingRule" />
</RuleState>
<RuleState>
<option name="name" value="StatusDashboardGroupingRule" />
</RuleState>
</list>
</option>
</component>
<component name="RunManager" selected="Application.stress">
<configuration name="Build All" type="CMakeRunConfiguration" factoryName="Application" PASS_PARENT_ENVS_2="true" CONFIG_NAME="Debug" RUN_TARGET_PROJECT_NAME="stress" RUN_TARGET_NAME="stress" EXPLICIT_BUILD_TARGET_NAME="all">
<envs />
</configuration>
<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">
<envs />
</configuration>
<list size="2">
<item index="0" class="java.lang.String" itemvalue="Application.Build All" />
<item index="1" class="java.lang.String" itemvalue="Application.stress" />
</list>
</component>
<component name="ShelveChangesManager" show_recycled="false">
<option name="remove_strategy" value="false" />
</component>
<component name="TaskManager">
<task active="true" id="Default" summary="Default task">
<changelist id="6f68a0e1-52e9-471a-8d47-af63db94b711" name="Default" comment="" />
<created>1518169204762</created>
<option name="number" value="Default" />
<option name="presentableId" value="Default" />
<updated>1518169204762</updated>
<workItem from="1518169206682" duration="106000" />
<workItem from="1518169334602" duration="6358000" />
</task>
<servers />
</component>
<component name="TimeTrackingManager">
<option name="totallyTimeSpent" value="6464000" />
</component>
<component name="ToolWindowManager">
<frame x="331" y="64" width="1400" height="873" extended-state="0" />
<editor active="true" />
<layout>
<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" />
<window_info id="TODO" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="6" side_tool="false" content_ui="tabs" />
<window_info id="Messages" active="true" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="true" show_stripe_button="true" weight="0.18037136" sideWeight="0.5" order="-1" side_tool="false" content_ui="tabs" />
<window_info id="CMake" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.47612733" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
<window_info id="Event Log" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="true" content_ui="tabs" />
<window_info id="Version Control" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
<window_info id="Run" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="false" content_ui="tabs" />
<window_info id="Structure" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
<window_info id="Terminal" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="7" side_tool="false" content_ui="tabs" />
<window_info id="Favorites" active="false" anchor="left" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="2" side_tool="true" content_ui="tabs" />
<window_info id="Debug" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="3" side_tool="false" content_ui="tabs" />
<window_info id="Cvs" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="4" side_tool="false" content_ui="tabs" />
<window_info id="Message" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
<window_info id="Commander" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="0" side_tool="false" content_ui="tabs" />
<window_info id="Inspection" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.4" sideWeight="0.5" order="5" side_tool="false" content_ui="tabs" />
<window_info id="Hierarchy" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="2" side_tool="false" content_ui="combo" />
<window_info id="Find" active="false" anchor="bottom" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.33" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
<window_info id="Ant Build" active="false" anchor="right" auto_hide="false" internal_type="DOCKED" type="DOCKED" visible="false" show_stripe_button="true" weight="0.25" sideWeight="0.5" order="1" side_tool="false" content_ui="tabs" />
</layout>
</component>
<component name="TypeScriptGeneratedFilesManager">
<option name="version" value="1" />
</component>
<component name="VcsContentAnnotationSettings">
<option name="myLimit" value="2678400000" />
</component>
<component name="XDebuggerManager">
<breakpoint-manager />
<watches-manager />
</component>
<component name="editorHistoryManager">
<entry file="file://$PROJECT_DIR$/CMakeLists.txt">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="0">
<caret line="0" column="0" lean-forward="false" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
<folding />
</state>
</provider>
</entry>
<entry file="file://$PROJECT_DIR$/main.cpp">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="0">
<caret line="0" column="0" lean-forward="false" selection-start-line="0" selection-start-column="0" selection-end-line="0" selection-end-column="0" />
<folding>
<element signature="e#0#19#0" expanded="true" />
</folding>
</state>
</provider>
</entry>
<entry file="file://$PROJECT_DIR$/CMakeLists.txt">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="108">
<caret line="6" column="16" lean-forward="false" selection-start-line="6" selection-start-column="16" selection-end-line="6" selection-end-column="16" />
<folding />
</state>
</provider>
</entry>
<entry file="file://$PROJECT_DIR$/../../src/definitions.h">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="252">
<caret line="35" column="24" lean-forward="false" selection-start-line="35" selection-start-column="8" selection-end-line="35" selection-end-column="24" />
<folding />
</state>
</provider>
</entry>
<entry file="file://$PROJECT_DIR$/main.cpp">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="144">
<caret line="8" column="28" lean-forward="false" selection-start-line="8" selection-start-column="28" selection-end-line="8" selection-end-column="28" />
<folding>
<element signature="e#0#19#0" expanded="true" />
</folding>
</state>
</provider>
</entry>
<entry file="file://$PROJECT_DIR$/../../src/robot.h">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="-378">
<caret line="18" column="19" lean-forward="true" selection-start-line="18" selection-start-column="19" selection-end-line="18" selection-end-column="19" />
<folding />
</state>
</provider>
</entry>
<entry file="file://$PROJECT_DIR$/../../src/robot.cpp">
<provider selected="true" editor-type-id="text-editor">
<state relative-caret-position="-1890">
<caret line="6" column="9" lean-forward="true" selection-start-line="6" selection-start-column="9" selection-end-line="6" selection-end-column="9" />
<folding />
</state>
</provider>
</entry>
</component>
</project>

355
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeCache.txt
View file

File diff suppressed because one or more lines are too long

16
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeFiles/CMakeDirectoryInformation.cmake
View file

@ -1,16 +0,0 @@
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.9
# Relative path conversion top directories.
set(CMAKE_RELATIVE_PATH_TOP_SOURCE "/home/dimercur/Travail/git/C-TP-RT/example/stress")
set(CMAKE_RELATIVE_PATH_TOP_BINARY "/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug")
# Force unix paths in dependencies.
set(CMAKE_FORCE_UNIX_PATHS 1)
# The C and CXX include file regular expressions for this directory.
set(CMAKE_C_INCLUDE_REGEX_SCAN "^.*$")
set(CMAKE_C_INCLUDE_REGEX_COMPLAIN "^$")
set(CMAKE_CXX_INCLUDE_REGEX_SCAN ${CMAKE_C_INCLUDE_REGEX_SCAN})
set(CMAKE_CXX_INCLUDE_REGEX_COMPLAIN ${CMAKE_C_INCLUDE_REGEX_COMPLAIN})

49
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeFiles/Makefile.cmake
View file

@ -1,49 +0,0 @@
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.9
# The generator used is:
set(CMAKE_DEPENDS_GENERATOR "Unix Makefiles")
# The top level Makefile was generated from the following files:
set(CMAKE_MAKEFILE_DEPENDS
"CMakeCache.txt"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/CMakeCInformation.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/CMakeCXXInformation.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/CMakeCommonLanguageInclude.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/CMakeExtraGeneratorDetermineCompilerMacrosAndIncludeDirs.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/CMakeFindCodeBlocks.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/CMakeGenericSystem.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/CMakeLanguageInformation.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/CMakeSystemSpecificInformation.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/CMakeSystemSpecificInitialize.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/Compiler/CMakeCommonCompilerMacros.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/Compiler/GNU-C.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/Compiler/GNU-CXX.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/Compiler/GNU.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/Platform/Linux-GNU-C.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/Platform/Linux-GNU-CXX.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/Platform/Linux-GNU.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/Platform/Linux.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/Platform/UnixPaths.cmake"
"/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/share/cmake-3.9/Modules/ProcessorCount.cmake"
"../CMakeLists.txt"
"CMakeFiles/3.9.6/CMakeCCompiler.cmake"
"CMakeFiles/3.9.6/CMakeCXXCompiler.cmake"
"CMakeFiles/3.9.6/CMakeSystem.cmake"
)
# The corresponding makefile is:
set(CMAKE_MAKEFILE_OUTPUTS
"Makefile"
"CMakeFiles/cmake.check_cache"
)
# Byproducts of CMake generate step:
set(CMAKE_MAKEFILE_PRODUCTS
"CMakeFiles/CMakeDirectoryInformation.cmake"
)
# Dependency information for all targets:
set(CMAKE_DEPEND_INFO_FILES
"CMakeFiles/stress.dir/DependInfo.cmake"
)

108
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeFiles/Makefile2
View file

@ -1,108 +0,0 @@
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.9
# Default target executed when no arguments are given to make.
default_target: all
.PHONY : default_target
# The main recursive all target
all:
.PHONY : all
# The main recursive preinstall target
preinstall:
.PHONY : preinstall
#=============================================================================
# Special targets provided by cmake.
# Disable implicit rules so canonical targets will work.
.SUFFIXES:
# Remove some rules from gmake that .SUFFIXES does not remove.
SUFFIXES =
.SUFFIXES: .hpux_make_needs_suffix_list
# Suppress display of executed commands.
$(VERBOSE).SILENT:
# A target that is always out of date.
cmake_force:
.PHONY : cmake_force
#=============================================================================
# Set environment variables for the build.
# The shell in which to execute make rules.
SHELL = /bin/sh
# The CMake executable.
CMAKE_COMMAND = /home/Applications/JetBrains/clion-2017.3.3/bin/cmake/bin/cmake
# The command to remove a file.
RM = /home/Applications/JetBrains/clion-2017.3.3/bin/cmake/bin/cmake -E remove -f
# Escaping for special characters.
EQUALS = =
# The top-level source directory on which CMake was run.
CMAKE_SOURCE_DIR = /home/dimercur/Travail/git/C-TP-RT/example/stress
# The top-level build directory on which CMake was run.
CMAKE_BINARY_DIR = /home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug
#=============================================================================
# Target rules for target CMakeFiles/stress.dir
# All Build rule for target.
CMakeFiles/stress.dir/all:
$(MAKE) -f CMakeFiles/stress.dir/build.make CMakeFiles/stress.dir/depend
$(MAKE) -f CMakeFiles/stress.dir/build.make CMakeFiles/stress.dir/build
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --progress-dir=/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/CMakeFiles --progress-num=1,2,3 "Built target stress"
.PHONY : CMakeFiles/stress.dir/all
# Include target in all.
all: CMakeFiles/stress.dir/all
.PHONY : all
# Build rule for subdir invocation for target.
CMakeFiles/stress.dir/rule: cmake_check_build_system
$(CMAKE_COMMAND) -E cmake_progress_start /home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/CMakeFiles 3
$(MAKE) -f CMakeFiles/Makefile2 CMakeFiles/stress.dir/all
$(CMAKE_COMMAND) -E cmake_progress_start /home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/CMakeFiles 0
.PHONY : CMakeFiles/stress.dir/rule
# Convenience name for target.
stress: CMakeFiles/stress.dir/rule
.PHONY : stress
# clean rule for target.
CMakeFiles/stress.dir/clean:
$(MAKE) -f CMakeFiles/stress.dir/build.make CMakeFiles/stress.dir/clean
.PHONY : CMakeFiles/stress.dir/clean
# clean rule for target.
clean: CMakeFiles/stress.dir/clean
.PHONY : clean
#=============================================================================
# Special targets to cleanup operation of make.
# Special rule to run CMake to check the build system integrity.
# No rule that depends on this can have commands that come from listfiles
# because they might be regenerated.
cmake_check_build_system:
$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
.PHONY : cmake_check_build_system

3
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeFiles/TargetDirectories.txt
View file

@ -1,3 +0,0 @@
/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/CMakeFiles/rebuild_cache.dir
/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/CMakeFiles/edit_cache.dir
/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/CMakeFiles/stress.dir

3
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeFiles/clion-environment.txt
View file

@ -1,3 +0,0 @@
Options:
Options:

4
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeFiles/clion-log.txt
View file

@ -1,4 +0,0 @@
/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/bin/cmake -DCMAKE_BUILD_TYPE=Debug -G "CodeBlocks - Unix Makefiles" /home/dimercur/Travail/git/C-TP-RT/example/stress
-- Configuring done
-- Generating done
-- Build files have been written to: /home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug

1
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeFiles/cmake.check_cache
View file

@ -1 +0,0 @@
# This file is generated by cmake for dependency checking of the CMakeCache.txt file

34
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeFiles/feature_tests.c
View file

@ -1,34 +0,0 @@
const char features[] = {"\n"
"C_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 304
"1"
#else
"0"
#endif
"c_function_prototypes\n"
"C_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 304 && defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
"1"
#else
"0"
#endif
"c_restrict\n"
"C_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 406 && defined(__STDC_VERSION__) && __STDC_VERSION__ >= 201000L
"1"
#else
"0"
#endif
"c_static_assert\n"
"C_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 304 && defined(__STDC_VERSION__) && __STDC_VERSION__ >= 199901L
"1"
#else
"0"
#endif
"c_variadic_macros\n"
};
int main(int argc, char** argv) { (void)argv; return features[argc]; }

405
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeFiles/feature_tests.cxx
View file

@ -1,405 +0,0 @@
const char features[] = {"\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 500 && __cplusplus >= 201402L
"1"
#else
"0"
#endif
"cxx_aggregate_default_initializers\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 407 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_alias_templates\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 408 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_alignas\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 408 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_alignof\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 408 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_attributes\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 409 && __cplusplus > 201103L
"1"
#else
"0"
#endif
"cxx_attribute_deprecated\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_auto_type\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 409 && __cplusplus > 201103L
"1"
#else
"0"
#endif
"cxx_binary_literals\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 406 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_constexpr\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 409 && __cplusplus > 201103L
"1"
#else
"0"
#endif
"cxx_contextual_conversions\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_decltype\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 409 && __cplusplus > 201103L
"1"
#else
"0"
#endif
"cxx_decltype_auto\n"
"CXX_FEATURE:"
#if ((__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) >= 40801) && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_decltype_incomplete_return_types\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_default_function_template_args\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_defaulted_functions\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 406 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_defaulted_move_initializers\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 407 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_delegating_constructors\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_deleted_functions\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 409 && __cplusplus > 201103L
"1"
#else
"0"
#endif
"cxx_digit_separators\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 406 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_enum_forward_declarations\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 405 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_explicit_conversions\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 407 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_extended_friend_declarations\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_extern_templates\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 407 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_final\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_func_identifier\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_generalized_initializers\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 409 && __cplusplus > 201103L
"1"
#else
"0"
#endif
"cxx_generic_lambdas\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 408 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_inheriting_constructors\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_inline_namespaces\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 405 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_lambdas\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 409 && __cplusplus > 201103L
"1"
#else
"0"
#endif
"cxx_lambda_init_captures\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 405 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_local_type_template_args\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_long_long_type\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 406 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_noexcept\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 407 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_nonstatic_member_init\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 406 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_nullptr\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 407 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_override\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 406 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_range_for\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 405 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_raw_string_literals\n"
"CXX_FEATURE:"
#if ((__GNUC__ * 10000 + __GNUC_MINOR__ * 100 + __GNUC_PATCHLEVEL__) >= 40801) && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_reference_qualified_functions\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 500 && __cplusplus >= 201402L
"1"
#else
"0"
#endif
"cxx_relaxed_constexpr\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 409 && __cplusplus > 201103L
"1"
#else
"0"
#endif
"cxx_return_type_deduction\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_right_angle_brackets\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_rvalue_references\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_sizeof_member\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_static_assert\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_strong_enums\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && __cplusplus
"1"
#else
"0"
#endif
"cxx_template_template_parameters\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 408 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_thread_local\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_trailing_return_types\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_unicode_literals\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_uniform_initialization\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 406 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_unrestricted_unions\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 407 && __cplusplus >= 201103L
"1"
#else
"0"
#endif
"cxx_user_literals\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 500 && __cplusplus >= 201402L
"1"
#else
"0"
#endif
"cxx_variable_templates\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_variadic_macros\n"
"CXX_FEATURE:"
#if (__GNUC__ * 100 + __GNUC_MINOR__) >= 404 && (__cplusplus >= 201103L || (defined(__GXX_EXPERIMENTAL_CXX0X__) && __GXX_EXPERIMENTAL_CXX0X__))
"1"
#else
"0"
#endif
"cxx_variadic_templates\n"
};
int main(int argc, char** argv) { (void)argv; return features[argc]; }

1
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/CMakeFiles/progress.marks
View file

@ -1 +0,0 @@
3

208
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/Makefile
View file

@ -1,208 +0,0 @@
# CMAKE generated file: DO NOT EDIT!
# Generated by "Unix Makefiles" Generator, CMake Version 3.9
# Default target executed when no arguments are given to make.
default_target: all
.PHONY : default_target
# Allow only one "make -f Makefile2" at a time, but pass parallelism.
.NOTPARALLEL:
#=============================================================================
# Special targets provided by cmake.
# Disable implicit rules so canonical targets will work.
.SUFFIXES:
# Remove some rules from gmake that .SUFFIXES does not remove.
SUFFIXES =
.SUFFIXES: .hpux_make_needs_suffix_list
# Suppress display of executed commands.
$(VERBOSE).SILENT:
# A target that is always out of date.
cmake_force:
.PHONY : cmake_force
#=============================================================================
# Set environment variables for the build.
# The shell in which to execute make rules.
SHELL = /bin/sh
# The CMake executable.
CMAKE_COMMAND = /home/Applications/JetBrains/clion-2017.3.3/bin/cmake/bin/cmake
# The command to remove a file.
RM = /home/Applications/JetBrains/clion-2017.3.3/bin/cmake/bin/cmake -E remove -f
# Escaping for special characters.
EQUALS = =
# The top-level source directory on which CMake was run.
CMAKE_SOURCE_DIR = /home/dimercur/Travail/git/C-TP-RT/example/stress
# The top-level build directory on which CMake was run.
CMAKE_BINARY_DIR = /home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug
#=============================================================================
# Targets provided globally by CMake.
# Special rule for the target rebuild_cache
rebuild_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "Running CMake to regenerate build system..."
/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/bin/cmake -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR)
.PHONY : rebuild_cache
# Special rule for the target rebuild_cache
rebuild_cache/fast: rebuild_cache
.PHONY : rebuild_cache/fast
# Special rule for the target edit_cache
edit_cache:
@$(CMAKE_COMMAND) -E cmake_echo_color --switch=$(COLOR) --cyan "No interactive CMake dialog available..."
/home/Applications/JetBrains/clion-2017.3.3/bin/cmake/bin/cmake -E echo No\ interactive\ CMake\ dialog\ available.
.PHONY : edit_cache
# Special rule for the target edit_cache
edit_cache/fast: edit_cache
.PHONY : edit_cache/fast
# The main all target
all: cmake_check_build_system
$(CMAKE_COMMAND) -E cmake_progress_start /home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/CMakeFiles /home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/CMakeFiles/progress.marks
$(MAKE) -f CMakeFiles/Makefile2 all
$(CMAKE_COMMAND) -E cmake_progress_start /home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/CMakeFiles 0
.PHONY : all
# The main clean target
clean:
$(MAKE) -f CMakeFiles/Makefile2 clean
.PHONY : clean
# The main clean target
clean/fast: clean
.PHONY : clean/fast
# Prepare targets for installation.
preinstall: all
$(MAKE) -f CMakeFiles/Makefile2 preinstall
.PHONY : preinstall
# Prepare targets for installation.
preinstall/fast:
$(MAKE) -f CMakeFiles/Makefile2 preinstall
.PHONY : preinstall/fast
# clear depends
depend:
$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 1
.PHONY : depend
#=============================================================================
# Target rules for targets named stress
# Build rule for target.
stress: cmake_check_build_system
$(MAKE) -f CMakeFiles/Makefile2 stress
.PHONY : stress
# fast build rule for target.
stress/fast:
$(MAKE) -f CMakeFiles/stress.dir/build.make CMakeFiles/stress.dir/build
.PHONY : stress/fast
home/dimercur/Travail/git/C-TP-RT/src/robot.o: home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.o
.PHONY : home/dimercur/Travail/git/C-TP-RT/src/robot.o
# target to build an object file
home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.o:
$(MAKE) -f CMakeFiles/stress.dir/build.make CMakeFiles/stress.dir/home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.o
.PHONY : home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.o
home/dimercur/Travail/git/C-TP-RT/src/robot.i: home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.i
.PHONY : home/dimercur/Travail/git/C-TP-RT/src/robot.i
# target to preprocess a source file
home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.i:
$(MAKE) -f CMakeFiles/stress.dir/build.make CMakeFiles/stress.dir/home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.i
.PHONY : home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.i
home/dimercur/Travail/git/C-TP-RT/src/robot.s: home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.s
.PHONY : home/dimercur/Travail/git/C-TP-RT/src/robot.s
# target to generate assembly for a file
home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.s:
$(MAKE) -f CMakeFiles/stress.dir/build.make CMakeFiles/stress.dir/home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.s
.PHONY : home/dimercur/Travail/git/C-TP-RT/src/robot.cpp.s
main.o: main.cpp.o
.PHONY : main.o
# target to build an object file
main.cpp.o:
$(MAKE) -f CMakeFiles/stress.dir/build.make CMakeFiles/stress.dir/main.cpp.o
.PHONY : main.cpp.o
main.i: main.cpp.i
.PHONY : main.i
# target to preprocess a source file
main.cpp.i:
$(MAKE) -f CMakeFiles/stress.dir/build.make CMakeFiles/stress.dir/main.cpp.i
.PHONY : main.cpp.i
main.s: main.cpp.s
.PHONY : main.s
# target to generate assembly for a file
main.cpp.s:
$(MAKE) -f CMakeFiles/stress.dir/build.make CMakeFiles/stress.dir/main.cpp.s
.PHONY : main.cpp.s
# Help Target
help:
@echo "The following are some of the valid targets for this Makefile:"
@echo "... all (the default if no target is provided)"
@echo "... clean"
@echo "... depend"
@echo "... rebuild_cache"
@echo "... edit_cache"
@echo "... stress"
@echo "... home/dimercur/Travail/git/C-TP-RT/src/robot.o"
@echo "... home/dimercur/Travail/git/C-TP-RT/src/robot.i"
@echo "... home/dimercur/Travail/git/C-TP-RT/src/robot.s"
@echo "... main.o"
@echo "... main.i"
@echo "... main.s"
.PHONY : help
#=============================================================================
# Special targets to cleanup operation of make.
# Special rule to run CMake to check the build system integrity.
# No rule that depends on this can have commands that come from listfiles
# because they might be regenerated.
cmake_check_build_system:
$(CMAKE_COMMAND) -H$(CMAKE_SOURCE_DIR) -B$(CMAKE_BINARY_DIR) --check-build-system CMakeFiles/Makefile.cmake 0
.PHONY : cmake_check_build_system

44
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/cmake_install.cmake
View file

@ -1,44 +0,0 @@
# Install script for directory: /home/dimercur/Travail/git/C-TP-RT/example/stress
# Set the install prefix
if(NOT DEFINED CMAKE_INSTALL_PREFIX)
set(CMAKE_INSTALL_PREFIX "/usr/local")
endif()
string(REGEX REPLACE "/$" "" CMAKE_INSTALL_PREFIX "${CMAKE_INSTALL_PREFIX}")
# Set the install configuration name.
if(NOT DEFINED CMAKE_INSTALL_CONFIG_NAME)
if(BUILD_TYPE)
string(REGEX REPLACE "^[^A-Za-z0-9_]+" ""
CMAKE_INSTALL_CONFIG_NAME "${BUILD_TYPE}")
else()
set(CMAKE_INSTALL_CONFIG_NAME "Debug")
endif()
message(STATUS "Install configuration: \"${CMAKE_INSTALL_CONFIG_NAME}\"")
endif()
# Set the component getting installed.
if(NOT CMAKE_INSTALL_COMPONENT)
if(COMPONENT)
message(STATUS "Install component: \"${COMPONENT}\"")
set(CMAKE_INSTALL_COMPONENT "${COMPONENT}")
else()
set(CMAKE_INSTALL_COMPONENT)
endif()
endif()
# Install shared libraries without execute permission?
if(NOT DEFINED CMAKE_INSTALL_SO_NO_EXE)
set(CMAKE_INSTALL_SO_NO_EXE "1")
endif()
if(CMAKE_INSTALL_COMPONENT)
set(CMAKE_INSTALL_MANIFEST "install_manifest_${CMAKE_INSTALL_COMPONENT}.txt")
else()
set(CMAKE_INSTALL_MANIFEST "install_manifest.txt")
endif()
string(REPLACE ";" "\n" CMAKE_INSTALL_MANIFEST_CONTENT
"${CMAKE_INSTALL_MANIFEST_FILES}")
file(WRITE "/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/${CMAKE_INSTALL_MANIFEST}"
"${CMAKE_INSTALL_MANIFEST_CONTENT}")

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

Binary file not shown.

100
software/raspberry/superviseur-robot/example/stress/cmake-build-debug/stress.cbp
View file

@ -1,100 +0,0 @@
<?xml version="1.0" encoding="UTF-8"?>
<CodeBlocks_project_file>
<FileVersion major="1" minor="6"/>
<Project>
<Option title="stress"/>
<Option makefile_is_custom="1"/>
<Option compiler="gcc"/>
<Option virtualFolders="CMake Files\;"/>
<Build>
<Target title="all">
<Option working_dir="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug"/>
<Option type="4"/>
<MakeCommands>
<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"/>
<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;$file&quot;"/>
<Clean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot; VERBOSE=1 clean"/>
<DistClean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot; VERBOSE=1 clean"/>
</MakeCommands>
</Target>
<Target title="rebuild_cache">
<Option working_dir="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug"/>
<Option type="4"/>
<MakeCommands>
<Build command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot; VERBOSE=1 rebuild_cache"/>
<CompileFile command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot; VERBOSE=1 &quot;$file&quot;"/>
<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"/>
<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"/>
</MakeCommands>
</Target>
<Target title="edit_cache">
<Option working_dir="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug"/>
<Option type="4"/>
<MakeCommands>
<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"/>
<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;$file&quot;"/>
<Clean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot; VERBOSE=1 clean"/>
<DistClean command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot; VERBOSE=1 clean"/>
</MakeCommands>
</Target>
<Target title="stress">
<Option output="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/stress" prefix_auto="0" extension_auto="0"/>
<Option working_dir="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug"/>
<Option object_output="./"/>
<Option type="1"/>
<Option compiler="gcc"/>
<Compiler>
<Add directory="/usr/include/c++/7"/>
<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
<Add directory="/usr/include/c++/7/backward"/>
<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
<Add directory="/usr/local/include"/>
<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
<Add directory="/usr/include/x86_64-linux-gnu"/>
<Add directory="/usr/include"/>
</Compiler>
<MakeCommands>
<Build command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot; VERBOSE=1 stress"/>
<CompileFile command="/usr/bin/make -j4 -f &quot;/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/Makefile&quot; VERBOSE=1 &quot;$file&quot;"/>
<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"/>
<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"/>
</MakeCommands>
</Target>
<Target title="stress/fast">
<Option output="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug/stress" prefix_auto="0" extension_auto="0"/>
<Option working_dir="/home/dimercur/Travail/git/C-TP-RT/example/stress/cmake-build-debug"/>
<Option object_output="./"/>
<Option type="1"/>
<Option compiler="gcc"/>
<Compiler>
<Add directory="/usr/include/c++/7"/>
<Add directory="/usr/include/x86_64-linux-gnu/c++/7"/>
<Add directory="/usr/include/c++/7/backward"/>
<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include"/>
<Add directory="/usr/local/include"/>
<Add directory="/usr/lib/gcc/x86_64-linux-gnu/7/include-fixed"/>
<Add directory="/usr/include/x86_64-linux-gnu"/>
<Add directory="/usr/include"/>
</Compiler>
<MakeCommands>
<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"/>
<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;"/>
<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"/>
<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"/>
</MakeCommands>
</Target>
</Build>
<Unit filename="/home/dimercur/Travail/git/C-TP-RT/example/stress/main.cpp">
<Option target="stress"/>
</Unit>
<Unit filename="/home/dimercur/Travail/git/C-TP-RT/src/robot.cpp">
<Option target="stress"/>
</Unit>
<Unit filename="/home/dimercur/Travail/git/C-TP-RT/src/robot.h">
<Option target="stress"/>
</Unit>
<Unit filename="/home/dimercur/Travail/git/C-TP-RT/example/stress/CMakeLists.txt">
<Option virtualFolder="CMake Files\"/>
</Unit>
</Project>
</CodeBlocks_project_file>

57
software/raspberry/superviseur-robot/src.sav/definitions.h Normal file
View file

@ -0,0 +1,57 @@
/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
/*
* File: msg.h
* Author: pehladik
*
* Created on 15 janvier 2018, 20:45
*/
#ifndef DEFINITIONS_H
#define DEFINITIONS_H
#define OPEN_COM_DMB 'o'
#define CLOSE_COM_DMB 'C'
#define DMB_PING 'p'
#define DMB_IDLE 'r'
#define DMB_START_WITHOUT_WD 'u'
#define DMB_START_WITH_WD 'W'
#define DMB_RELOAD_WD 'w'
#define DMB_GET_VBAT 'v'
#define DMB_IS_BUSY 'b'
#define DMB_MOVE 'M'
#define DMB_TURN 'T'
#define DMB_GO_FORWARD 'F'
#define DMB_GO_BACK 'B'
#define DMB_GO_LEFT 'L'
#define DMB_GO_RIGHT 'R'
#define DMB_STOP_MOVE 'S'
#define ROBOT_TIMED_OUT -3
#define ROBOT_UKNOWN_CMD -2
#define ROBOT_ERROR -1
#define ROBOT_CHECKSUM -4
#define ROBOT_OK 0
#define CAM_OPEN 'A'
#define CAM_CLOSE 'I'
#define CAM_ASK_ARENA 'y'
#define CAM_ARENA_CONFIRM 'x'
#define CAM_ARENA_INFIRM 'z'
#define CAM_COMPUTE_POSITION 'p'
#define CAM_STOP_COMPUTE_POSITION 's'
#define DMB_BAT_LOW 0
#define DMB_BAT_MEDIUM 1
#define DMB_BAT_HIGHT 2
#define DMB_BUSY 1
#define DMB_DO_NOTHING 0
#endif /* MSG_H */

211
software/raspberry/superviseur-robot/src.sav/image.cpp Normal file
View file

@ -0,0 +1,211 @@
/**
* \file image.cpp
* \author L.Senaneuch
* \version 1.0
* \date 06/06/2017
* \brief Fonctions de traitement d'image utilisable pour la détection du robot.
*
* \details Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl.
* Il permet de faciliter la détection de l'arène et la détection du robot.
* /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet.
*/
#include "image.h"
#include <iostream>
using namespace cv;
#ifndef __STUB__
using namespace raspicam;
#else
Image stubImg;
#endif
using namespace std;
float calculAngle(Position * positionRobot);
int cropArena(Image *imgInput, Image *imgOutput, Arene *AreneInput);
float euclideanDist(Point& p, Point& q);
void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene)
{
if(imgInput!=imgOutput)
*imgOutput=imgInput->clone();
rectangle(*imgOutput,monArene->tl(),monArene->br(),Scalar(0,0,125),2,8,0);
}
int open_camera(Camera *camera)
{
#ifndef __STUB__
camera->set(CV_CAP_PROP_FORMAT, CV_8UC3);
camera->set(CV_CAP_PROP_FRAME_WIDTH,WIDTH);
camera->set(CV_CAP_PROP_FRAME_HEIGHT,HEIGHT);
printf("Opening Camera...\n");
if (!(camera->open())) {
perror("Can't open Camera\n") ;
return -1;
}
else
{
printf("Camera warmup 2sec\n");
sleep(2);
printf("Start capture\n");
return 0;
}
#endif
}
void get_image(Camera *camera, Image * monImage, const char * fichier) // getImg(Camera, Image img);
{
#ifndef __STUB__
camera->grab();
camera->retrieve(*monImage);
cvtColor(*monImage,*monImage,CV_BGR2RGB);
#else
stubImg = imread(fichier, CV_LOAD_IMAGE_COLOR);
stubImg.copyTo(*monImage);
#endif
}
void close_camera(Camera *camera) // closeCam(Camera) : camera Entrer
{
#ifndef __STUB__
camera->release();
#endif
}
int detect_arena(Image *monImage, Arene *rectangle) // Image en entrée // rectangle en sortie
{
vector<vector<Point> > contours;
vector<Point> approx;
vector<Vec4i> hierarchy;
Image imageTrt;
cvtColor(*monImage,imageTrt,CV_RGB2GRAY); // conversion en niveau de gris
threshold(imageTrt,imageTrt,128,255,CV_THRESH_BINARY); // Threshold les éléments les plus clair
Canny(imageTrt, imageTrt, 100,200,3); // detection d'angle
findContours(imageTrt, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
for(unsigned int i = 0; i < contours.size();i++)
{
approxPolyDP(Image(contours[i]), approx, arcLength(Image(contours[i]), true)*0.1, true);
if(approx.size()==4 && fabs(cv::contourArea(contours[i])) > 100000)
{
*rectangle = boundingRect(Image(contours[i]));
return 0;
}
}
return -1;
}
int cropArena(Image *imgInput, Image *imgOutput, Arene *areneInput) // image // rectangle // image2
{
Image img;
img=imgInput->clone();
*imgOutput = img(*areneInput);
return 0;
}
float euclideanDist(Point& p, Point& q) {
Point diff = p - q;
return cv::sqrt(diff.x*diff.x + diff.y*diff.y);
}
void compress_image(Image *imgInput, Jpg *imageCompress) // image entrée // imageEncodé en sortie
{
imencode(".jpg",*imgInput,*imageCompress);
}
int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene) // entree : image / sortie tab pos
{
vector<vector<Point> > contours;
vector<Point> approx;
vector<Vec4i> hierarchy;
Image imgTraitment;
if(monArene==NULL)
imgTraitment=imgInput->clone();
else
cropArena(imgInput,&imgTraitment, monArene);
cvtColor(imgTraitment,imgTraitment,CV_RGB2GRAY);
threshold(imgTraitment,imgTraitment,128,255,CV_THRESH_BINARY);
findContours(imgTraitment, contours, hierarchy, CV_RETR_TREE, CV_CHAIN_APPROX_SIMPLE, Point(0, 0));
int nbrTriangle = 0;
for(unsigned int i = 0;i < contours.size();i++)
{
approxPolyDP(Mat(contours[i]), approx, arcLength(Mat(contours[i]), true)*0.17, true);
if(approx.size() == 3 && fabs(contourArea(contours[i])) > 200 && fabs(contourArea(contours[i])) < 700)
{
Point a,b,c;
Point center;
a = approx[0];
b = approx[1];
c = approx[2];
if(monArene !=NULL) // ajout de l'offset de l'arène
{
a.x += monArene->x;
a.y += monArene->y;
b.x += monArene->x;
b.y += monArene->y;
c.x += monArene->x;
c.y += monArene->y;
}
center.x = (a.x + b.x + c.x)/3;
center.y = (a.y + b.y + c.y)/3;
posTriangle[nbrTriangle].center=center;
if(euclideanDist(center,b) > euclideanDist(center,a) && euclideanDist(center,b) > euclideanDist(center,c) )
{
posTriangle[nbrTriangle].direction=b;
//line(img,center,b,Scalar(0,125,0),2,8,0);
}
else if(euclideanDist(center,a) > euclideanDist(center,c))
{
posTriangle[nbrTriangle].direction=a;
//line(img,center,a,Scalar(0,125,0),2,8,0);
}
else
{
posTriangle[nbrTriangle].direction=c;
//line(img,center,c,Scalar(0,125,0),2,8,0);
}
posTriangle[nbrTriangle].angle=calculAngle(&posTriangle[nbrTriangle]);
nbrTriangle++;
}
}
return nbrTriangle;
}
void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot) // img E/S pos : E
{
if(imgInput!=imgOutput)
{
*imgOutput=imgInput->clone();
}
line(*imgOutput,positionRobot->center,positionRobot->direction,Scalar(0,125,0),2,8,0);
}
float calculAngle(Position * positionRobot) // position en entree
{
float a = positionRobot->direction.x - positionRobot->center.x;
float b = positionRobot->direction.y - positionRobot->center.y ;
float angle = atan2(b,a);
return angle * 180.f/M_PI;
}

128
software/raspberry/superviseur-robot/src.sav/image.h Normal file
View file

@ -0,0 +1,128 @@
/**
* \file image.h
* \author L.Senaneuch
* \version 1.0
* \date 06/06/2017
* \brief Fonctions de traitement d'image utilisable pour la d<EFBFBD>tection du robot.
*
* \details Ce fichier utilise la libraire openCV2 pour faciliter le traitement d'image dans le projet Destijl.
* Il permet de faciliter la d<EFBFBD>tection de l'ar<EFBFBD>ne et la d<EFBFBD>tection du robot.
* /!\ Attention Bien que celui-ci soit un .cpp la structure du code n'est pas sous forme d'objet.
*/
#ifndef IMAGERIE_H
#define IMAGERIE_H
#ifndef __STUB__
#include <raspicam/raspicam_cv.h>
#else
#include <opencv2/highgui/highgui.hpp>
#endif
#include "opencv2/imgproc/imgproc.hpp"
#include <unistd.h>
#include <math.h>
#define WIDTH 480 //1280 1024 640 480
#define HEIGHT 360 // 960 768 480 360
using namespace std;
using namespace cv;
#ifndef __STUB__
using namespace raspicam;
#endif
typedef Mat Image;
#ifndef __STUB__
typedef RaspiCam_Cv Camera;
#else
typedef int Camera;
#endif
typedef Rect Arene;
typedef vector<unsigned char> Jpg;
struct Position {
Point center;
Point direction;
float angle;
};
/**
* \brief Ouvre une camera.
* \details Met à jour le descripteur de fichier passé en paramètre pour correspondre à la camera ouverte
*
* \param *Camera Pointeur d'un file descriptor d'une camera ouverte
* \return retourne 0 si la camera a été ouverte correctement et -1 si une erreur survient.
*/
int open_camera(Camera *camera);
/**
* \brief Ferme la camera passé en paramètre
*
* \param *Camera Pointeur sur la camera à fermer
*/
void close_camera(Camera *camera);
/**
* \brief Capture une image avec la camera passée en entrée. En cas de test
* sans camera, la fonction charge une image
* \details La camera doit préalablement être ouverte via \a openCamera(...)
*
* \param *Camera Pointeur sur la camera passée en entrée.
* \param *monImage Pointeur sur une image capturée.
* \param *fichier chemin du fichier d'image
* \return Retourne -1 si une erreur survient.
*/
void get_image(Camera *camera, Image * monImage, const char *fichier = NULL);
/**
* \brief Détecte une arène dans une image fournis en paramètre.
*
* \param *monImage Pointeur sur l'image d'entrée
* \param *rectangle Pointeur sur les coordonnées du rectangles trouvé.
* \return Retourne -1 si aucune arène n'est détectée. Sinon retourne 0
*/
int detect_arena(Image *monImage, Arene *rectangle);
/**
* \brief Dessine le plus petit rectangle contenant l'arène
* \param *imgInput Pointeur sur l'image d'entrée.
* \param *imgOutput Pointeur sur l'image de sortie (image d'entrée + arène marquée)
* \param *monArene Pointeur de type Arène contenant les information à dessiner
*/
void draw_arena(Image *imgInput, Image *imgOutput, Arene *monArene);
/**
* \brief Détecte la position d'un robot.
* \details Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.
*
* \param *imgInput Pointeur sur l'image sur laquelle chercher la position du des robots.
* \param *posTriangle Pointeur sur un tableau de position ou seront stocké les positions des triangles détectés.
* \param *monArene Pointeur de type Arène si nécessaire d'affiner la recherche (optionnel)
* \return Le nombre de triangles détectés.
*/
int detect_position(Image *imgInput, Position *posTriangle, Arene * monArene = NULL);
/**
* \brief Dessine sur une image en entrée la position d'un robot et sa direction.
* \details Sauvegarde l'image des coordonnées passées par positionRobot
* superposée à l'image d'entrée sur imgOutput.
*
* \param *imgInput Pointeur sur l'image d'entrée
* \param *imgOutput Pointeur sur l'image de sortie ( image
* d'entrée + dessin de la position)
* \param *positionRobot Pointeur sur la structure position d'un robot.
*/
void draw_position(Image *imgInput, Image *imgOutput, Position *positionRobot);
/**
* \brief Détecte la position d'un robot.
* \details Détecte la position de triangles blanc sur une image /a imgInput passé en paramètre d'entrer.
*
* \param *imgInput Pointeur sur l'image à sauvegarder en mémoire sous format jpg.
* \param *imageCompress Pointeur sur une image .jpg.
*/
void compress_image(Image *imgInput, Jpg *imageCompress);
#endif // IMAGERIE_H

29
software/raspberry/superviseur-robot/src.sav/message.cpp Normal file
View file

@ -0,0 +1,29 @@
/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
#include "message.h"
void set_msgToMon_header(MessageToMon *msg, char *header) {
memcpy(msg->header, header, sizeof (header));
}
void set_msgToMon_data(MessageToMon *msg, void * data) {
if (msg->data != NULL) {
free(msg->data);
}
msg->data = malloc(sizeof (data));
memcpy(msg->data, data, sizeof (data));
}
void free_msgToMon_data(MessageToMon *msg) {
if (msg->data != NULL) {
free(msg->data);
}
}
void print_msgToMon(MessageToMon *msg) {
printf("header: %s\n", msg->header);
printf("data: %s\n", msg->data);
}

33
software/raspberry/superviseur-robot/src.sav/message.h Normal file
View file

@ -0,0 +1,33 @@
/*
* To change this license header, choose License Headers in Project Properties.
* To change this template file, choose Tools | Templates
* and open the template in the editor.
*/
/*
* File: message.h
* Author: pehladik
*
* Created on 7 février 2018, 17:20
*/
#ifndef MESSAGE_H
#define MESSAGE_H
#include <stdio.h>
#include <stdlib.h>
#include <unistd.h>
#include <string.h>
typedef struct {
char header[4];
void *data = NULL;
} MessageToMon;
void set_msgToMon_header(MessageToMon *msg, char *header);
void set_msgToMon_data(MessageToMon *msg, void * data);
void free_msgToMon_data(MessageToMon *msg);
void print_msgToMon(MessageToMon *msg);
#endif /* MESSAGE_H */

161
software/raspberry/superviseur-robot/src.sav/monitor.cpp Normal file
View file

@ -0,0 +1,161 @@
#include "monitor.h"
using namespace std;
SOCKADDR_IN ssin;
SOCKET sock;
socklen_t recsize = sizeof (ssin);
/*Socket et contexte d'adressage du client */
SOCKADDR_IN csin;
SOCKET csock;
socklen_t crecsize = sizeof (csin);
int sock_err;
pid_t pidNodejs;
string serverReceive(int size);
int serverSend(const void *data, int dataLength);
int receive(char *data);
int run_nodejs(const char * path, char * file) {
int ret;
//char *const parmList[] = {"/bin/ls", "-l", "/home", NULL};
char * const parmList[] = {"node", file, NULL};
if ((ret = fork()) == -1)
perror("fork error");
else if (ret == 0) {
ret = execv(path, parmList);
}
return ret;
}
int kill_nodejs() {
#ifdef __VERBOSE__
printf("kill nodejs\n");
#endif
return kill(pidNodejs, SIGTERM);
}
int open_server(int port) {
/* Création d'un socket */
sock = socket(AF_INET, SOCK_STREAM, 0);
int enable = 1;
/* Si la socket est valide */
if (sock != INVALID_SOCKET) {
#ifdef _WITH_TRACE_
printf("TCP/IP Socket %d opened\n", sock);
#endif
setsockopt(sock, SOL_SOCKET, SO_REUSEADDR, &enable, sizeof (enable));
/* Configuration */
ssin.sin_addr.s_addr = htonl(INADDR_ANY); /* Adresse IP automatique */
ssin.sin_family = AF_INET; /* Protocole familial (IP) */
ssin.sin_port = htons(port); /* Listage du port */
sock_err = bind(sock, (SOCKADDR*) & ssin, recsize);
/* Si la socket fonctionne */
if (sock_err != SOCKET_ERROR) {
/* Démarrage du listage (mode server) */
sock_err = listen(sock, 1);
/* Si la socket fonctionne */
if (sock_err != SOCKET_ERROR) {
/* Attente pendant laquelle le client se connecte */
#ifdef _WITH_TRACE_
printf("Waiting a client on port %d\n", port);
#endif
csock = accept(sock, (SOCKADDR*) & csin, &crecsize);
#ifdef _WITH_TRACE_
printf("Client connected\n");
#endif
return 0;
} else {
perror("listen");
}
} else {
perror("bind");
return (-1);
}
} else {
perror("socket");
return (-1);
}
return 0;
}
int close_server(void) {
/* Fermeture de la socket client et de la socket serveur */
close(csock);
close(sock);
printf("Socket fermé\n");
return 0;
}
int send_message_to_monitor(const char* typeMessage, const void * data) {
if ((string) typeMessage == HEADER_STM_IMAGE) {
Jpg * imgC = (Jpg*) data;
serverSend("IMG", 3);
serverSend(imgC->data(), imgC->size());
serverSend("TRAME", 5);
return 0;
} else if ((string) typeMessage == HEADER_STM_POS) {
char buffer[20];
Position * maPosition = (Position*) data;
sprintf(buffer, "POScenter: %3d;%3d | %.1fTRAME", maPosition->center.x, maPosition->center.y, maPosition->angle);
serverSend(buffer, strlen(buffer));
return 0;
} else if ((string) typeMessage == HEADER_STM_MES) {
char buffer[50];
sprintf(buffer, "MSG%sTRAME", (const char*) data);
serverSend(buffer, strlen(buffer));
return 0;
} else if ((string) typeMessage == HEADER_STM_ACK) {
char buffer[50];
sprintf(buffer, "ACK%sTRAME", (const char*) data);
serverSend(buffer, strlen(buffer));
return 0;
} else if ((string) typeMessage == HEADER_STM_BAT) {
char buffer[50];
sprintf(buffer, "BAT%sTRAME", (const char*) data);
serverSend(buffer, strlen(buffer));
return 0;
} else if ((string) typeMessage == HEADER_STM_NO_ACK) {
char buffer[50];
sprintf(buffer, "NAK%sTRAME", (const char*) data);
serverSend(buffer, strlen(buffer));
return 0;
} else if ((string) typeMessage == HEADER_STM_LOST_DMB) {
char buffer[50];
sprintf(buffer, "LCD%sTRAME", (const char*) data);
serverSend(buffer, strlen(buffer));
return 0;
} else {
return -1;
}
}
int receive_message_from_monitor(char *typeMessage, char *data) {
char buffer[20];
int tBuffer = receive(buffer);
sscanf(buffer, "%3s:%s", typeMessage, data);
return tBuffer;
}
int receive(char *data) {
int result;
result = recv(csock, data, 20, 0);
//cout <<"Data : " << data << endl;
return result;
}
int serverSend(const void *data, int dataLength) {
if (send(csock, data, dataLength, 0) != dataLength) {
perror("Send failed : ");
return false;
}
return true;
}

115
software/raspberry/superviseur-robot/src.sav/monitor.h Normal file
View file

@ -0,0 +1,115 @@
//
// Created by lucien on 05/04/17.
//
#ifndef TCPSERVER_H
#define TCPSERVER_H
#include <sys/types.h>
#include <sys/socket.h>
#include <netinet/in.h>
#include <arpa/inet.h>
#include <unistd.h>
#include <signal.h>
#include <stdlib.h>
#include <stdio.h>
#include <string.h>
#include "image.h"
#include "definitions.h"
#define HEADER_STM_IMAGE "IMG" // Envoi d'une image
#define HEADER_STM_BAT "BAT" // Envoi de l'état de la batterie
#define HEADER_STM_POS "POS" // Envoi de la position
#define HEADER_STM_NO_ACK "NAK" // Acquittement d'un échec
#define HEADER_STM_ACK "ACK" // Acquittement d'un succès
#define HEADER_STM_MES "MSG" // Message textuel
#define HEADER_STM_LOST_DMB "LCD" // Perte de la communication avec le robot
#define HEADER_MTS_MSG "MSG" // Message directe pour Console Dumber
#define HEADER_MTS_DMB_ORDER "DMB" // Message d'ordre pour le robot
#define HEADER_MTS_COM_DMB "COM" // Message de gestion de la communication avec le robot
#define HEADER_MTS_CAMERA "CAM" // Message de gestion de la camera
#define HEADER_MTS_STOP "STO" // Message d'arrêt du system
#define INVALID_SOCKET -1
#define SOCKET_ERROR -1
#define DEFAULT_PORT 8080
#define DEFAULT_PARITY 0
#define DETECT_ARENA (1)
#define CHECK_ARENA (2)
#define NO_ARENA (3)
#define DEFAULT_NODEJS_PATH "/usr/bin/nodejs"
#define DEFAULT_INTERFACE_FILE "./interface.js"
#define closesocket(param) close(param)
typedef int SOCKET;
typedef struct sockaddr_in SOCKADDR_IN;
typedef struct sockaddr SOCKADDR;
typedef struct {
char header[4];
char data[100];
} MessageFromMon;
/**
* \brief Lance nodejs .
* \param path chemin de l'executable nodejs (défaut /usr/bin/nodejs)
* \param file chemin du fichier de l'interface (défaut ./interface.js)
* \return retourne 0 si le process a été lancé et -1 sinon.
*/
int run_nodejs(const char * path = DEFAULT_NODEJS_PATH, char * file = DEFAULT_INTERFACE_FILE);
/**
* \brief Tue le process exécutant nodejs.
* \return retourne 0 en cas de succès et -1 sinon.
*/
int kill_nodejs();
/**
* \brief Mise en place du serveur (port 8080 par défaut).
* \param port numéro du port utilisé par le serveur (8080 par défaut).
* \return retourne 0 si le serveur est mis en place et -1 en cas de problème.
*/
int open_server(int port = DEFAULT_PORT); //public
/**
* \brief Ferme le serveur.
* \return retourne 0 si le serveur est fermé et -1 en cas de problème.
*/
int close_server(void); // public
/**
* \brief Envoi d'un message vers l'interface graphique
* \param typeMessage Type du message envoyé. Les valeurs possibles sont
* IMG pour une image, MES pour un message à afficher dans la console, POS pour
* la position du robot, BAT pour une valeur de la batterie et ACK pour valider
* un message de l'interface.
* \param data données associées au message. Le type de la donnée doit
* correspondre au message : Image pour IMG, char * MES, Position pour POS,
* char * pour BAT et rien pour ACK. Attention, il n'y a aucune vérification
* a posterio.
* \return retourne 0 si l'envoie a bien été réalisé et -1 en cas de problème.
*/
int send_message_to_monitor(const char* typeMessage, const void * data = NULL);
/**
* \brief Réception d'un message. La fonction est bloquante et retourne par
* référence le type de message reçu (DMB pour un ordre au robot, ARN pour la
* détection des arènes et POS pour un calcul de position) ainsi que les données
* associées.
* \param typeMessage Type du message reçu : DMB pour un ordre au robot,
* ARN pour la demande de détection de l'arène, POS pour un calcul de position
* et MSG pour un message de l'interface
* \param data données associées au message reçu.
* \return retourne 0 la taille du message reçu ou une valeur négative si la
* connexion est perdue.
*/
int receive_message_from_monitor(char *typeMessage, char *data);
#endif // TCPSERVER_H

26
software/raspberry/superviseur-robot/src/robot.cpp → software/raspberry/superviseur-robot/src.sav/robot.cpp
View file

@ -1,3 +1,13 @@
/**
* \file robot.cpp
* \author L.Senaneuch
* \version 1.0
* \date 06/06/2017
* \brief Fonction permettant la communication avec le robot.
*
* \details Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
*/
#include "robot.h" #include "robot.h"
int fd; int fd;
@ -190,19 +200,19 @@ int getChar(char * c)
int readSerial(char * msg) int readSerial(char * msg)
{ {
char car; char car=0;
int i =0,j=0; int i=0;
for(j = 0 ; j < 20 ; j++) for(int j = 0 ; j < 20 ; j++)
msg[j]=0; msg[j]=0;
while(car !='\r' && car!='\n')
{ while(car !='\r' && car!='\n') {
if(i>=20) if(i>=20)
return -5; return -5;
if(getChar(&car)==ROBOT_TIMED_OUT) if(getChar(&car)==ROBOT_TIMED_OUT) {
{
return ROBOT_TIMED_OUT; return ROBOT_TIMED_OUT;
} }
msg[i] = car; msg[i] = car;
i++; i++;
} }

2
software/raspberry/superviseur-robot/src/robot.h → software/raspberry/superviseur-robot/src.sav/robot.h
View file

@ -1,5 +1,5 @@
/** /**
* \file serial.h * \file robot.h
* \author L.Senaneuch * \author L.Senaneuch
* \version 1.0 * \version 1.0
* \date 06/06/2017 * \date 06/06/2017

349
software/raspberry/superviseur-robot/src/Robot.cpp Normal file
View file

@ -0,0 +1,349 @@
/*******************************************************************************
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
* All rights reserved. This program and the accompanying materials
* are made available "AS IS", without any warranty of any kind.
*
* INSA assumes no responsibility for errors or omissions in the
* software or documentation available.
*
* Contributors:
* Lucien Senaneuch - Initial API and implementation
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
*******************************************************************************/
/**
* \file robot.cpp
* \author L.Senaneuch
* \version 1.0
* \date 06/06/2017
* \brief Fonction permettant la communication avec le robot.
*
* \details Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
*/
#include "Robot.h"
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <stdlib.h>
#include "definitions.h"
using namespace std;
#define ROBOT_CMD_ENDING_CHAR '\r'
#define ROBOT_CMD_PING 'p'
#define ROBOT_CMD_RESET 'r'
#define ROBOT_CMD_START_WITHOUT_WD 'u'
#define ROBOT_CMD_START_WITH_WD 'W'
#define ROBOT_CMD_RELOAD_WD 'w'
#define ROBOT_CMD_GET_VBAT 'v'
#define ROBOT_CMD_IS_BUSY 'b'
#define ROBOT_CMD_MOVE 'M'
#define ROBOT_CMD_TURN 'T'
#define ROBOT_CMD_GET_VERSION 'V'
#define ROBOT_CMD_POWER_OFF 'z'
#define ROBOT_CMD_OK_ANS "O"
#define ROBOT_CMD_ERR_ANS "E"
#define ROBOT_CMD_UNKNOW_ANS "C"
const string Robot::InvalidAnswerException = "Invalid answer exception";
Robot::Robot() {
}
Robot::~Robot() {
this->Close();
}
char Robot::Open() {
return Serial::Open(DEFAULT_SERIAL_PORT,9600);
}
char Robot::Open(const char *path) {
return Serial::Open(path,9600);
}
char Robot::Close() {
return Serial::Close();
}
int Robot::GetLastCommandStatus() {
return this->lastCommandStatus;
}
void Robot::Ping() {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_PING), &ans);
CheckAnswer(ans);
#else
return SUCCESS;
#endif /* __STUB__ */
}
void Robot::Reset() {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_RESET), &ans);
CheckAnswer(ans);
#else
return SUCCESS;
#endif /* __STUB__ */
}
void Robot::StartWithoutWatchdog() {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_START_WITHOUT_WD), &ans);
CheckAnswer(ans);
#else
return SUCCESS;
#endif /* __STUB__ */
}
void Robot::StartWithWatchdog() {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_START_WITH_WD), &ans);
CheckAnswer(ans);
#else
return SUCCESS;
#endif /* __STUB__ */
}
void Robot::ResetWatchdog() {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_RELOAD_WD), &ans);
CheckAnswer(ans);
#else
return SUCCESS;
#endif /* __STUB__ */
}
void Robot::Move(int distance) {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_MOVE) + "="+to_string(distance), &ans);
CheckAnswer(ans);
#else
return SUCCESS;
#endif /* __STUB__ */
}
void Robot::Turn(int angle) {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_TURN) + "="+to_string(angle), &ans);
CheckAnswer(ans);
#else
return SUCCESS;
#endif /* __STUB__ */
}
void Robot::PowerOff() {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_POWER_OFF), &ans);
CheckAnswer(ans);
#else
return SUCCESS;
#endif /* __STUB__ */
}
char Robot::GetBatteryLevel() {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_GET_VBAT), &ans);
lastCommandStatus=SUCCESS;
if (ans.length()==1) {
if ((ans[0] != '2') && (ans[0] != '1') && (ans[0] != '0')) {
lastCommandStatus=INVALID_ANSWER;
throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid battery value (" + ans[0] +")\n");
}
} else {
lastCommandStatus=INVALID_ANSWER;
throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid answer length (" + to_string(ans.length())+")\n");
}
return ans[0];
#else
return BATTERY_FULL;
#endif /* __STUB__ */
}
string Robot::GetVersion() {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_GET_VERSION), &ans);
lastCommandStatus=SUCCESS;
if (ans.find("version")== string::npos) {
lastCommandStatus=INVALID_ANSWER;
throw (InvalidAnswerException + " raised in Robot::GetVersion. Invalid version (" + ans +")\n");
}
return ans;
#else
return "1.3";
#endif /* __STUB__ */
}
bool Robot::IsBusy() {
#ifndef __STUB__
string ans;
SendCommand(string(1,ROBOT_CMD_IS_BUSY), &ans);
lastCommandStatus=SUCCESS;
if (ans.length()!=1) {
lastCommandStatus=INVALID_ANSWER;
throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid answer length (" + to_string(ans.length())+")\n");
}
if (ans[0]=='1')
return true;
else if (ans[0]=='0')
return false;
else {
lastCommandStatus=INVALID_ANSWER;
throw (InvalidAnswerException + " raised in Robot::IsBusy. Invalid value (" + ans[0] +")\n");
}
#else
return false;
#endif /* __STUB__ */
}
void Robot::CommunicationProlog() {}
void Robot::CommunicationEpilog() {}
/****************************/
/* PRIVATE */
/****************************/
char Robot::SendCommand(string cmd, string *ans) {
string commandString;
commandString = this->AddChecksum(cmd);
this->CommunicationProlog(); // action avant le debut de la commande
ssize_t status = Send(commandString);
if (status == (ssize_t)commandString.length()) {
// Recuperation de la reponse
string commandResponse;
vector<char> endingChars;
endingChars.push_back('\r');
try {
commandResponse = Serial::Receive(endingChars,30);
} catch (string e) {
if (e.find("Timeout")!= string::npos)
lastCommandStatus= TIMEOUT_COMMAND;
else
lastCommandStatus=INVALID_ANSWER;
if (lastCommandStatus == TIMEOUT_COMMAND)
throw (Serial::TimeoutException + " raised in Robot::SendCommand. Timeout while receiving answer from robot.\n");
else
throw (e + " raised in Robot::SendCommand.\n");
}
this->CommunicationEpilog(); // Action a faire apres la commande
if (ValidateChecksum(&commandResponse, commandResponse)) {
ans->assign(commandResponse);
} else {
lastCommandStatus = INVALID_ANSWER;
throw InvalidAnswerException;
}
lastCommandStatus=SUCCESS;
} else {
lastCommandStatus=INVALID_COMMUNICATION_PORT;
throw IOErrorException;
}
return lastCommandStatus;
}
void Robot::CheckAnswer(string ans) {
if (ans.length()==1)
{
switch (ans.at(0)) {
case 'o':
case 'O':
lastCommandStatus=SUCCESS;
break;
case 'e':
case 'E':
lastCommandStatus=REJECTED_COMMAND;
break;
case 'c':
case 'C':
lastCommandStatus=INVALID_COMMAND;
break;
default:
lastCommandStatus = INVALID_ANSWER;
throw InvalidAnswerException;
}
} else {
lastCommandStatus = INVALID_ANSWER;
throw InvalidAnswerException;
}
}
string Robot::AddChecksum(string cmd) {
string commandWithChecksum(cmd);
char checksum=0;
commandWithChecksum.resize(cmd.length()+2, ' ');
for (size_t i=0; i<commandWithChecksum.length()-2; i++) {
checksum = checksum^commandWithChecksum.at(i);
}
commandWithChecksum.at(commandWithChecksum.length()-2) = checksum;
commandWithChecksum.at(commandWithChecksum.length()-1) = '\r';
return commandWithChecksum;
}
bool Robot::ValidateChecksum(string *answerWithoutChecksum, string answer) {
string localAnswer(answer, 0, answer.length()-1); // recopie de la chaine initiale, sans le dernier caractere (checksum)
char checksum=0;
bool status=false;
if (answer.length()<2) // trop court pour contenir un checksum
throw InvalidAnswerException;
else {
for (size_t i=0; i< answer.length()-1; i++) {
checksum = checksum^answer.at(i);
}
if (answer.at(answer.length()-1) == checksum) {
status=true;
}
}
answerWithoutChecksum->assign(localAnswer);
return status;
}

84
software/raspberry/superviseur-robot/src/Robot.h Normal file
View file

@ -0,0 +1,84 @@
/*******************************************************************************
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
* All rights reserved. This program and the accompanying materials
* are made available "AS IS", without any warranty of any kind.
*
* INSA assumes no responsibility for errors or omissions in the
* software or documentation available.
*
* Contributors:
* Lucien Senaneuch - Initial API and implementation
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
*******************************************************************************/
/**
* \file robot.h
* \author L.Senaneuch
* \version 1.0
* \date 06/06/2017
* \brief Fonction permettant la communication avec le robot.
*
* \details Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
*/
#ifndef __ROBOT_H__
#define __ROBOT_H__
#include <iostream>
#include <string>
#include <Serial.h>
using namespace std;
#define REJECTED_COMMAND -3
#define INVALID_COMMAND -4
#define TIMEOUT_COMMAND -5
#define INVALID_ANSWER -6
#define BATTERY_FULL 2
#define BATTERY_LOW 1
#define BATTERY_EMPTY 0
class Robot : public Serial {
public:
Robot();
virtual ~Robot();
char Open();
char Open(const char *path);
char Close();
int GetLastCommandStatus();
void Ping();
void Reset();
void StartWithoutWatchdog();
void StartWithWatchdog();
void ResetWatchdog();
void Move(int distance);
void Turn(int angle);
void PowerOff();
char GetBatteryLevel();
string GetVersion();
bool IsBusy();
// Ces deux methodes virtuelles sont a redefinir (surcharger) dans une classe qui etends la classe Robot
// Servez vous en pour faire une action avant (prologue) ou apres (epilogue) une commande au robot
virtual void CommunicationProlog();
virtual void CommunicationEpilog();
static const string InvalidAnswerException;
private:
int lastCommandStatus;
char SendCommand(string cmd, string *ans);
string AddChecksum(string cmd);
bool ValidateChecksum(string *answerWithoutChecksum, string answer);
void CheckAnswer(string ans);
};
#endif //__ROBOT_H__

164
software/raspberry/superviseur-robot/src/Serial.cpp Normal file
View file

@ -0,0 +1,164 @@
/*******************************************************************************
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
* All rights reserved. This program and the accompanying materials
* are made available "AS IS", without any warranty of any kind.
*
* INSA assumes no responsibility for errors or omissions in the
* software or documentation available.
*
* Part of code Copyright ST Microelectronics.
*
* Contributors:
* Lucien Senaneuch - Initial API and implementation
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
*******************************************************************************/
#include <Serial.h>
#include <unistd.h>
#include <fcntl.h>
#include <termios.h>
#include <stdlib.h>
#include <algorithm>
const string Serial::TimeoutException = "Timeout exception";
const string Serial::IOErrorException = "IO error exception";
const string Serial::BufferOverflowException = "Buffer overflow exception";
Serial::Serial() {
this->serialPortDescriptor=-1;
}
Serial::~Serial() {
this->Close();
}
char Serial::Open(void) {
return this->Open(DEFAULT_SERIAL_PORT, DEFAULT_BAUDRATE);
}
char Serial::Open(int baudrate) {
return this->Open(DEFAULT_SERIAL_PORT, baudrate);
}
char Serial::Open(const char *path, int baudrate) {
#ifndef __STUB__
struct termios options;
if (this->IsOpen() == true) return COMMUNICATION_PORT_ALREADY_OPENED;
this->serialPortDescriptor = open(path, O_RDWR | O_NOCTTY | O_NDELAY);
if(this->serialPortDescriptor >= 0) {
fcntl(this->serialPortDescriptor, F_SETFL, 0);
tcgetattr(this->serialPortDescriptor, &options);
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
cfsetospeed (&options, this->SetBaudrate(baudrate));
cfsetispeed (&options, this->SetBaudrate(baudrate));
options.c_cc[VMIN]=0;
options.c_cc[VTIME]=10;
tcsetattr(this->serialPortDescriptor, TCSANOW, &options);
return SUCCESS;
}
else {
std::cerr << "[Robot::Open] Can't open port " << path;
return INVALID_COMMUNICATION_PORT;
}
#else
return SUCCESS;
#endif
}
char Serial::Close(void) {
#ifndef __STUB__
if (this->serialPortDescriptor<0) {
if (close(this->serialPortDescriptor) == 0)
return SUCCESS;
else return INVALID_COMMUNICATION_PORT;
} else return SUCCESS;
#else
return SUCCESS;
#endif
}
bool Serial::IsOpen() {
if(this->serialPortDescriptor >= 0)
return true;
else
return false;
}
ssize_t Serial::Send(string mes) {
ssize_t n;
n=write(this->serialPortDescriptor, (void*)mes.c_str(), mes.length());
if (n< (ssize_t)mes.length())
throw (IOErrorException + " raised in Serial::Send. Requested to send " + to_string(mes.length()) + " characters, sent only " + to_string(n) +"\n");
else
return n;
}
string Serial::Receive(int size) {
string mes;
while(mes.length() < (unsigned int)size){
mes += this->GetChar();
}
return mes;
}
string Serial::Receive(vector<char> endingChars,int maxLength) {
string mes;
char c;
bool characterFound = false;
do {
c= GetChar();
if (std::find(endingChars.begin(), endingChars.end(), c)!=endingChars.end()) //recherche du caractere dans la liste des caractere de fin
characterFound=true;
else {
mes += c;
}
} while ((mes.length()<(unsigned int)maxLength) && (characterFound==false));
if (mes.length()>=(unsigned int)maxLength) {
throw (BufferOverflowException + " raised in Serial::Receive. Received data exceed " + to_string(maxLength) + "chars\n");
}
return mes;
}
int Serial::SetBaudrate(int baudrate) {
switch(baudrate){
case 4800:
return baudrate = B4800;
case 9600:
return baudrate = B9600;
case 38400:
return baudrate = B38400;
case 57600:
return baudrate = B57600;
case 115200:
return baudrate = B115200;
default:
std::cerr << "Baudrate not supported" << std::endl;
return -1;
}
}
char Serial::GetChar() {
char c;
if (read(this->serialPortDescriptor, &c, 1) > 0)
return c;
else
throw (TimeoutException + " raised in Serial::GetChar\n");
}

49
software/raspberry/superviseur-robot/src/Serial.h Normal file
View file

@ -0,0 +1,49 @@
/*
* Serial.h
*
* Created on: 12 oct. 2018
* Author: dimercur
*/
#ifndef SERIAL_H_
#define SERIAL_H_
#include <iostream>
#include <string>
#include <vector>
using namespace std;
#define SUCCESS 0
#define INVALID_COMMUNICATION_PORT -1
#define COMMUNICATION_PORT_ALREADY_OPENED -2
#define DEFAULT_SERIAL_PORT "/dev/ttyS0"
#define DEFAULT_BAUDRATE 9600
class Serial {
public:
static const string TimeoutException;
static const string IOErrorException;
static const string BufferOverflowException;
Serial();
virtual ~Serial();
char Open(void);
char Open(int baudrate);
char Open(const char *path, int baudrate);
char Close(void);
bool IsOpen();
ssize_t Send(string mes);
string Receive(int size);
string Receive(vector<char> endingChars, int maxLength);
private:
int serialPortDescriptor;
int SetBaudrate(int baudrate);
char GetChar(); // read 1 char
};
#endif /* SERIAL_H_ */

93
software/raspberry/superviseur-robot/src/TcpServer.cpp Normal file
View file

@ -0,0 +1,93 @@
/*******************************************************************************
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
* All rights reserved. This program and the accompanying materials
* are made available "AS IS", without any warranty of any kind.
*
* INSA assumes no responsibility for errors or omissions in the
* software or documentation available.
*
* Part of code Copyright ST Microelectronics.
*
* Contributors:
* Lucien Senaneuch - Initial API and implementation
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
*******************************************************************************/
#include "TcpServer.h"
#include <netinet/in.h>
#include <zconf.h>
#include <vector>
TcpServer::TcpServer() {
this->socketFD = -1;
this->socketClients.clear();
}
int TcpServer::Listen (int port) {
struct sockaddr_in server;
this->socketFD = socket(AF_INET, SOCK_STREAM, 0);
if(this->socketFD < 0){
throw invalid_argument("Can not create socket");
}
server.sin_addr.s_addr = INADDR_ANY;
server.sin_family = AF_INET;
server.sin_port = htons(port);
if(bind(this->socketFD, (struct sockaddr *) &server, sizeof(server)) < 0) {
throw invalid_argument("Can not bind socket");
}
listen(this->socketFD , NB_CONNECTION_MAX);
return this->socketFD;
}
int TcpServer::AcceptClient() {
struct sockaddr_in client;
int c = sizeof(struct sockaddr_in);
int fd = accept(this->socketFD,(struct sockaddr *) &client, (socklen_t*)&c);
if (fd >=0 )
this->socketClients.push_back(fd);
else throw invalid_argument("Accept failed in TcpServer::AcceptClient");
return fd;
}
int TcpServer::Send(int client, string mes) {
return write(client, mes.c_str(), mes.size());
}
string TcpServer::Receive(int client_fd, int size){
char tab[size];
if(recv(client_fd,tab,size,0) >0) {
tab[size] = 0;
return string(tab);
} else
return string();
}
int TcpServer::Broadcast(string mes) {
for (int socket : this->socketClients) {
int err = write(socket, mes.c_str(), mes.size());
}
return 0;
}
const vector<int> &TcpServer::getSocketClients() const {
return socketClients;
}
void TcpServer::SetSocketClients(const std::vector<int> &socketClients) {
this->socketClients = socketClients;
}
TcpServer::~TcpServer() {
close(this->socketFD);
}

35
software/raspberry/superviseur-robot/src/TcpServer.h Normal file
View file

@ -0,0 +1,35 @@
//
// Created by senaneuc on 12/06/18.
//
#ifndef TCP_SERVER_H_
#define TCP_SERVER_H_
#define NB_CONNECTION_MAX 5
#include <iostream>
#include <vector>
using namespace std;
class TcpServer {
public:
TcpServer();
virtual ~TcpServer();
int Listen (int port);
int AcceptClient();
int Send(int clien_fd, string mes);
int Broadcast(string mes);
string Receive(int client_fd, int size);
const vector<int> &getSocketClients() const;
void SetSocketClients(const vector<int> &socketClients);
private:
vector<int> socketClients;
int socketFD;
};
#endif /* TCP_SERVER_H_ */

24
software/raspberry/superviseur-robot/src/definitions.h
View file

@ -14,30 +14,6 @@
#ifndef DEFINITIONS_H #ifndef DEFINITIONS_H
#define DEFINITIONS_H #define DEFINITIONS_H
#define OPEN_COM_DMB 'o'
#define CLOSE_COM_DMB 'C'
#define DMB_PING 'p'
#define DMB_IDLE 'r'
#define DMB_START_WITHOUT_WD 'u'
#define DMB_START_WITH_WD 'W'
#define DMB_RELOAD_WD 'w'
#define DMB_GET_VBAT 'v'
#define DMB_IS_BUSY 'b'
#define DMB_MOVE 'M'
#define DMB_TURN 'T'
#define DMB_GO_FORWARD 'F'
#define DMB_GO_BACK 'B'
#define DMB_GO_LEFT 'L'
#define DMB_GO_RIGHT 'R'
#define DMB_STOP_MOVE 'S'
#define ROBOT_TIMED_OUT -3
#define ROBOT_UKNOWN_CMD -2
#define ROBOT_ERROR -1
#define ROBOT_CHECKSUM -4
#define ROBOT_OK 0
#define CAM_OPEN 'A' #define CAM_OPEN 'A'
#define CAM_CLOSE 'I' #define CAM_CLOSE 'I'
#define CAM_ASK_ARENA 'y' #define CAM_ASK_ARENA 'y'

2
software/raspberry/superviseur-robot/src/image.cpp
View file

@ -1,5 +1,5 @@
/** /**
* \file imagerie.cpp * \file image.cpp
* \author L.Senaneuch * \author L.Senaneuch
* \version 1.0 * \version 1.0
* \date 06/06/2017 * \date 06/06/2017

2
software/raspberry/superviseur-robot/src/image.h
View file

@ -1,5 +1,5 @@
/** /**
* \file imagerie.h * \file image.h
* \author L.Senaneuch * \author L.Senaneuch
* \version 1.0 * \version 1.0
* \date 06/06/2017 * \date 06/06/2017