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nouvelle branche double_port pour tester un port special pour les images

Sébastien DI MERCURIO 2 years ago
parent
commit
ff85e268e8

+ 3
- 3
software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk View File

@@ -49,8 +49,8 @@ OBJECTFILES= \
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 CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy
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 # CC Compiler Flags
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-CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
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-CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11
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+CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg
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+CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg
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 # Fortran Compiler Flags
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 FFLAGS=
@@ -67,7 +67,7 @@ LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam
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 ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES}
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 	${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}
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-	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lpthread -lrt
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+	${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lpthread -lrt -pg
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 ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp
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 	${MKDIR} -p ${OBJECTDIR}/lib/base64

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

@@ -213,7 +213,7 @@
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             <pElem>./</pElem>
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             <pElem>./lib</pElem>
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           </incDir>
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-          <commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11</commandLine>
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+          <commandLine>-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg</commandLine>
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           <preprocessorList>
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             <Elem>_WITH_TRACE_</Elem>
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             <Elem>__WITH_ARUCO__</Elem>
@@ -226,7 +226,7 @@
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             <linkerLibLibItem>raspicam_cv</linkerLibLibItem>
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             <linkerLibLibItem>raspicam</linkerLibLibItem>
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           </linkerLibItems>
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-          <commandLine>-Wl,--no-as-needed -lpthread -lrt</commandLine>
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+          <commandLine>-Wl,--no-as-needed -lpthread -lrt -pg</commandLine>
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         </linkerTool>
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       </compileType>
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       <item path="./gdbsudo.sh" ex="false" tool="3" flavor2="0">

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

@@ -9,6 +9,7 @@
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         <group>
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             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
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             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
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+            <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h</file>
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             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
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             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
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             <file>file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp</file>

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

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-#Thu Jan 24 10:34:54 CET 2019
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+#Thu Jan 24 17:03:52 CET 2019
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+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.html=c1547565563000
395 395
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/graph_legend.md5=c1547560339000
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397 396
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_9.html=c1547565563000
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398 398
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img.html=c1547565563000
399
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp=c1548322487000
400
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__coll__graph.md5=c1547560339000
399
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp=c1548345823000
401 400
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/doxygen.png=c1547565563000
401
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_int__coll__graph.md5=c1547560339000
402 402
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/commonitor_8h__incl.png=c1547560339000
403
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_0.html=c1547565563000
404 403
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_c.js=c1547565563000
404
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/classes_0.html=c1547565563000
405 405
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_7.js=c1547565563000
406 406
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1548321303000
407 407
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/typedefs_0.html=c1547565563000
@@ -415,21 +415,21 @@
415 415
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/class_message_battery.tex=c1547565563000
416 416
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_b.js=c1547565563000
417 417
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_6.js=c1547565563000
418
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.html=c1547565563000
419
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/commonitor_8h__incl.md5=c1547560339000
420 418
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_e.html=c1547565563000
419
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/commonitor_8h__incl.md5=c1547560339000
420
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_c.html=c1547565563000
421 421
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/closed.png=c1547565563000
422
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.html=c1547565563000
423
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp=c1547736477000
424 422
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1548321303000
423
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp=c1547736477000
424
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int.html=c1547565563000
425 425
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/index.html=c1547565563000
426 426
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_4.html=c1547565563000
427 427
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.md5=c1547564861000
428 428
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/refman.tex=c1547565563000
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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.js=c1547565563000
430 429
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/not_for_students/examples/.gitignore=c1547736477000
431
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
430
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/functions_1.js=c1547565563000
432 431
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_position.js=c1547565563000
432
+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/menudata.js=c1547565563000
433 433
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_arena.html=c1547565563000
434 434
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_com_robot-members.html=c1547565563000
435 435
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.map=c1547560339000
@@ -440,17 +440,17 @@
440 440
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_6.js=c1547565563000
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_img__inherit__graph.png=c1547560339000
443
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/variables_0.js=c1547565563000
444 443
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery.js=c1547565563000
445
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_12.js=c1547565563000
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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_img.js=c1547565563000
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448 448
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_6.map=c1547564862000
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/README.md=c1541685829000
450 450
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451 451
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enums_2.html=c1547565563000
452 452
 VERSION=1.3
453 453
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/latex/robot-icon.resized.png=c1547565563000
454
-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
455 454
 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/img_8h.html=c1547565563000
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+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000
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 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000

+ 5
- 3
software/raspberry/superviseur-robot/tasks_pthread.cpp View File

@@ -72,6 +72,7 @@ void Tasks::Init() {
72 72
 }
73 73
 
74 74
 void Tasks::Run() {
75
+    
75 76
     threadTimer = new thread((void (*)(void*)) & Tasks::TimerTask, this);
76 77
     threadServer = new thread((void (*)(void*)) & Tasks::ServerTask, this);
77 78
 
@@ -86,7 +87,6 @@ void Tasks::Stop() {
86 87
 void Tasks::ServerTask(void *arg) {
87 88
     Message *msgRcv;
88 89
     Message *msgSend;
89
-    bool isActive = true;
90 90
 
91 91
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
92 92
 
@@ -115,6 +115,8 @@ void Tasks::ServerTask(void *arg) {
115 115
         if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
116 116
             msgSend = robot.Write(msgRcv);
117 117
             cout << "Start with wd answer: " << msgSend->ToString() << endl << flush;
118
+            
119
+            isActive=false;
118 120
         }
119 121
 
120 122
         if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
@@ -135,7 +137,7 @@ void Tasks::ServerTask(void *arg) {
135 137
             msgSend = robot.Write(msgRcv);
136 138
 
137 139
             cout << "Movement answer: " << msgSend->ToString() << endl << flush;
138
-
140
+            
139 141
             if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
140 142
                 delete (msgSend);
141 143
                 msgSend = NULL;
@@ -228,7 +230,7 @@ void Tasks::TimerTask(void* arg) {
228 230
 
229 231
     counter_img = 0;
230 232
 
231
-    while (1) {
233
+    while (isActive) {
232 234
         Img image = camera.Grab(); // 15fps
233 235
         cntFrame++;
234 236
         cout << "cnt: " << to_string(cntFrame) << endl << flush;

+ 1
- 1
software/raspberry/superviseur-robot/tasks_pthread.h View File

@@ -89,7 +89,7 @@ private:
89 89
     
90 90
     int counter;
91 91
     bool flag;
92
-    
92
+    bool isActive = true;
93 93
     bool showArena=false;
94 94
     
95 95
     thread *threadServer;

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