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This commit is contained in:
Arnaud Vergnet 2021-03-12 13:35:49 +01:00
parent c2662209c4
commit 66d4c6f94d
1 changed files with 217 additions and 216 deletions
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27
software/raspberry/superviseur-robot/tasks.cpp
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@ -136,7 +136,7 @@ void Tasks::Init() {
/* ************************************************************************************* /* *************************************************************************************
* Message queues creation * Message queues creation
* *************************************************************************************/ * *************************************************************************************/
if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof(Message * ) * 50, Q_UNLIMITED, Q_FIFO)) < 0) { if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof(Message *) * 50, Q_UNLIMITED, Q_FIFO)) < 0) {
cerr << "Error msg queue create q_messageToMon: " << strerror(-err) << endl; cerr << "Error msg queue create q_messageToMon: " << strerror(-err) << endl;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
@ -151,11 +151,11 @@ void Tasks::Run() {
rt_task_set_priority(nullptr, T_LOPRIO); rt_task_set_priority(nullptr, T_LOPRIO);
int err; int err;
if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) { if (err = rt_task_start(&th_server, (void (*)(void *)) &Tasks::ServerTask, this)) {
cerr << "Error task start ServerTask: " << strerror(-err) << endl; cerr << "Error task start ServerTask: " << strerror(-err) << endl;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) { if (err = rt_task_start(&th_sendToMon, (void (*)(void *)) &Tasks::SendToMonTask, this)) {
cerr << "Error task start SendToMonTask: " << strerror(-err) << endl; cerr << "Error task start SendToMonTask: " << strerror(-err) << endl;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
@ -218,7 +218,8 @@ void Tasks::ServerTask(void *arg) {
cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl; cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
if (status < 0) throw std::runtime_error { if (status < 0)
throw std::runtime_error{
"Unable to start server on port " + std::to_string(SERVER_PORT) "Unable to start server on port " + std::to_string(SERVER_PORT)
}; };
monitor.AcceptClient(); // Wait the monitor client monitor.AcceptClient(); // Wait the monitor client
@ -229,7 +230,7 @@ void Tasks::ServerTask(void *arg) {
/** /**
* @brief Thread sending data to monitor. * @brief Thread sending data to monitor.
*/ */
[[noreturn]] void Tasks::SendToMonTask(void* arg) { [[noreturn]] void Tasks::SendToMonTask(void *arg) {
Message *msg; Message *msg;
cout << "Start " << __PRETTY_FUNCTION__ << endl; cout << "Start " << __PRETTY_FUNCTION__ << endl;
@ -272,7 +273,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
cout << "Rcv <= " << msgRcv->ToString() << endl; cout << "Rcv <= " << msgRcv->ToString() << endl;
if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) { if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
delete(msgRcv); delete (msgRcv);
exit(-1); exit(-1);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) { } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
rt_sem_v(&sem_openComRobot); rt_sem_v(&sem_openComRobot);
@ -288,7 +289,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
move = msgRcv->GetID(); move = msgRcv->GetID();
rt_mutex_release(&mutex_move); rt_mutex_release(&mutex_move);
} }
delete(msgRcv); // mus be deleted manually, no consumer delete (msgRcv); // mus be deleted manually, no consumer
} }
} }
@ -315,7 +316,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
cout << status; cout << status;
cout << ")" << endl << flush; cout << ")" << endl << flush;
Message * msgSend; Message *msgSend;
if (status < 0) { if (status < 0) {
msgSend = new Message(MESSAGE_ANSWER_NACK); msgSend = new Message(MESSAGE_ANSWER_NACK);
} else { } else {
@ -368,10 +369,10 @@ void Tasks::ReceiveFromMonTask(void *arg) {
/* The task sendBatteryLevel starts here */ /* The task sendBatteryLevel starts here */
/* *************************************************************************************/ /* *************************************************************************************/
rt_task_set_periodic(NULL, TM_NOW, 500000000); // 500 ms //TODO rt_task_set_periodic(nullptr, TM_NOW, 500000000); // 500 ms //TODO
while (true) { while (true) {
rt_task_wait_period(NULL); rt_task_wait_period(nullptr);
cout << "Periodic battery level update" << endl; cout << "Periodic battery level update" << endl;
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
@ -422,7 +423,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
cout << " move: " << cpMove; cout << " move: " << cpMove;
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(new Message((MessageID)cpMove)); robot.Write(new Message((MessageID) cpMove));
rt_mutex_release(&mutex_robot); rt_mutex_release(&mutex_robot);
} }
cout << endl << flush; cout << endl << flush;
@ -436,7 +437,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
*/ */
void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) { void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
int err; int err;
if ((err = rt_queue_write(queue, (const void *) &msg, sizeof ((const void *) &msg), Q_NORMAL)) < 0) { if ((err = rt_queue_write(queue, (const void *) &msg, sizeof((const void *) &msg), Q_NORMAL)) < 0) {
cerr << "Write in queue failed: " << strerror(-err) << endl; cerr << "Write in queue failed: " << strerror(-err) << endl;
throw std::runtime_error{"Error in write in queue"}; throw std::runtime_error{"Error in write in queue"};
} }
@ -451,7 +452,7 @@ Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
int err; int err;
Message *msg; Message *msg;
if ((err = rt_queue_read(queue, &msg, sizeof ((void*) &msg), TM_INFINITE)) < 0) { if ((err = rt_queue_read(queue, &msg, sizeof((void *) &msg), TM_INFINITE)) < 0) {
cout << "Read in queue failed: " << strerror(-err) << endl; cout << "Read in queue failed: " << strerror(-err) << endl;
throw std::runtime_error{"Error in read in queue"}; throw std::runtime_error{"Error in read in queue"};
}/** else { }/** else {