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- /*
- * Copyright (C) 2018 dimercur
- *
- * This program is free software: you can redistribute it and/or modify
- * it under the terms of the GNU General Public License as published by
- * the Free Software Foundation, either version 3 of the License, or
- * (at your option) any later version.
- *
- * This program is distributed in the hope that it will be useful,
- * but WITHOUT ANY WARRANTY; without even the implied warranty of
- * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
- * GNU General Public License for more details.
- *
- * You should have received a copy of the GNU General Public License
- * along with this program. If not, see <http://www.gnu.org/licenses/>.
- */
-
- #ifndef __TASKS_H__
- #define __TASKS_H__
-
- #ifndef __WITH_PTHREAD__
- #include <stdio.h>
- #include <stdlib.h>
- #include <unistd.h>
-
- #include <sys/mman.h>
- #include <alchemy/task.h>
- #include <alchemy/timer.h>
- #include <alchemy/mutex.h>
- #include <alchemy/sem.h>
- #include <alchemy/queue.h>
-
- //#include "monitor.h"
- //#include "robot.h"
- //#include "image.h"
- //#include "message.h"
- //#include "server.h"
-
- #include "messages.h"
- #include "commonitor.h"
- #include "comrobot.h"
-
- using namespace std;
-
- class Tasks {
- public:
- /**
- * @brief Initialisation des structures de l'application (tâches, mutex,
- * semaphore, etc.)
- */
- void Init();
-
- /**
- * @brief Démarrage des tâches
- */
- void Run();
-
- /**
- * @brief Arrêt des tâches
- */
- void Stop();
-
- /**
- */
- void Join() {
- rt_sem_broadcast(&sem_barrier);
- pause();
- }
-
- /**
- */
- bool AcceptClient() {
- return false;
- }
-
- private:
- ComMonitor monitor;
- ComRobot robot;
-
- RT_TASK th_server;
- RT_TASK th_sendToMon;
- RT_TASK th_receiveFromMon;
- RT_TASK th_openComRobot;
- RT_TASK th_startRobot;
- RT_TASK th_move;
-
- RT_MUTEX mutex_robotStarted;
- RT_MUTEX mutex_move;
-
- RT_SEM sem_barrier;
- RT_SEM sem_openComRobot;
- RT_SEM sem_serverOk;
- RT_SEM sem_startRobot;
-
- RT_QUEUE q_messageToMon;
-
- int etatCommMoniteur;
- int robotStarted;
- char robotMove;
-
- int MSG_QUEUE_SIZE;
-
- /**
- * \brief Thread handling server communication.
- */
- void f_server(void *arg);
-
- /**
- * \brief Thread handling communication to monitor.
- */
- void f_sendToMon(void *arg);
-
- /**
- * \brief Thread handling communication from monitor.
- */
- void f_receiveFromMon(void *arg);
-
- /**
- * \brief Thread handling opening of robot communication.
- */
- void f_openComRobot(void * arg);
-
- /**
- * \brief Thread handling robot mouvements.
- */
- void f_move(void *arg);
-
- /**
- * \brief Thread handling robot activation.
- */
- void f_startRobot(void *arg);
- };
-
- #endif // __WITH_PTHREAD__
- #endif // __TASKS_H__
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