From 7d3372a443e6fda6e1d8fd4e46fa113e69268c46 Mon Sep 17 00:00:00 2001 From: Arnaud Vergnet Date: Fri, 12 Mar 2021 14:28:29 +0100 Subject: [PATCH] More reformatting --- .../raspberry/superviseur-robot/tasks.cpp | 41 ++++++++++--------- software/raspberry/superviseur-robot/tasks.h | 6 +-- 2 files changed, 23 insertions(+), 24 deletions(-) diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp index 264d89f..af3633d 100644 --- a/software/raspberry/superviseur-robot/tasks.cpp +++ b/software/raspberry/superviseur-robot/tasks.cpp @@ -18,6 +18,8 @@ #include "tasks.h" #include +using namespace std; + // Déclaration des priorités des taches #define PRIORITY_TSERVER 30 #define PRIORITY_TOPENCOMROBOT 20 @@ -42,7 +44,7 @@ * * 5- Same behavior existe for ComMonitor::Write ! * - * 6- When you want to write something in terminal, use cout and terminate with endl and flush + * 6- When you want to write something in terminal, use cout and terminate with endl * * 7- Good luck ! */ @@ -151,31 +153,31 @@ void Tasks::Run() { rt_task_set_priority(nullptr, T_LOPRIO); int err; - if (err = rt_task_start(&th_server, (void (*)(void *)) &Tasks::ServerTask, this)) { + if (err = rt_task_start(&th_server, reinterpret_cast(&Tasks::ServerTask), this)) { cerr << "Error task start ServerTask: " << strerror(-err) << endl; exit(EXIT_FAILURE); } - if (err = rt_task_start(&th_sendToMon, (void (*)(void *)) &Tasks::SendToMonTask, this)) { + if (err = rt_task_start(&th_sendToMon, reinterpret_cast(&Tasks::SendToMonTask), this)) { cerr << "Error task start SendToMonTask: " << strerror(-err) << endl; exit(EXIT_FAILURE); } - if (err = rt_task_start(&th_receiveFromMon, (void (*)(void *)) &Tasks::ReceiveFromMonTask, this)) { + if (err = rt_task_start(&th_receiveFromMon, reinterpret_cast(&Tasks::ReceiveFromMonTask), this)) { cerr << "Error task start ReceiveFromMonTask: " << strerror(-err) << endl; exit(EXIT_FAILURE); } - if (err = rt_task_start(&th_openComRobot, (void (*)(void *)) &Tasks::OpenComRobot, this)) { + if (err = rt_task_start(&th_openComRobot, reinterpret_cast(&Tasks::OpenComRobot), this)) { cerr << "Error task start OpenComRobot: " << strerror(-err) << endl; exit(EXIT_FAILURE); } - if (err = rt_task_start(&th_startRobot, (void (*)(void *)) &Tasks::StartRobotTask, this)) { + if (err = rt_task_start(&th_startRobot, reinterpret_cast(&Tasks::StartRobotTask), this)) { cerr << "Error task start StartRobotTask: " << strerror(-err) << endl; exit(EXIT_FAILURE); } - if (err = rt_task_start(&th_move, (void (*)(void *)) &Tasks::MoveTask, this)) { + if (err = rt_task_start(&th_move, reinterpret_cast(&Tasks::MoveTask), this)) { cerr << "Error task start MoveTask: " << strerror(-err) << endl; exit(EXIT_FAILURE); } - if (err = rt_task_start(&th_sendBatteryLevel, (void (*)(void *)) &Tasks::SendBatteryLevel, this)) { + if (err = rt_task_start(&th_sendBatteryLevel, reinterpret_cast(&Tasks::SendBatteryLevel), this)) { cerr << "Error task start SendBatteryLevel: " << strerror(-err) << endl; exit(EXIT_FAILURE); } @@ -219,8 +221,8 @@ void Tasks::ServerTask(void *arg) { cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl; if (status < 0) - throw std::runtime_error{ - "Unable to start server on port " + std::to_string(SERVER_PORT) + throw runtime_error{ + "Unable to start server on port " + to_string(SERVER_PORT) }; monitor.AcceptClient(); // Wait the monitor client cout << "Rock'n'Roll baby, client accepted!" << endl; @@ -314,7 +316,7 @@ void Tasks::ReceiveFromMonTask(void *arg) { status = robot.Open(); rt_mutex_release(&mutex_robot); cout << status; - cout << ")" << endl << flush; + cout << ")" << endl; Message *msgSend; if (status < 0) { @@ -361,7 +363,7 @@ void Tasks::ReceiveFromMonTask(void *arg) { [[noreturn]] void Tasks::SendBatteryLevel(void *arg) { int rs; - cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; + cout << "Start " << __PRETTY_FUNCTION__ << endl; // Synchronization barrier (waiting that all tasks are starting) rt_sem_p(&sem_barrier, TM_INFINITE); @@ -369,7 +371,7 @@ void Tasks::ReceiveFromMonTask(void *arg) { /* The task sendBatteryLevel starts here */ /* *************************************************************************************/ - rt_task_set_periodic(nullptr, TM_NOW, 500000000); // 500 ms //TODO + rt_task_set_periodic(nullptr, TM_NOW, 500000000); // 500 ms while (true) { rt_task_wait_period(nullptr); @@ -380,8 +382,7 @@ void Tasks::ReceiveFromMonTask(void *arg) { rt_mutex_release(&mutex_robotStarted); if (rs == 1) { rt_mutex_acquire(&mutex_robot, TM_INFINITE); - auto battRequest = new Message(MESSAGE_ROBOT_BATTERY_GET); - auto msg = dynamic_cast(robot.Write(battRequest)); + auto msg = dynamic_cast(robot.Write(ComRobot::GetBattery())); if (msg == nullptr) { cout << "NULLPTR" << endl; } else { @@ -407,7 +408,7 @@ void Tasks::ReceiveFromMonTask(void *arg) { /* ************************************************************************************** * The task starts here * *************************************************************************************/ - rt_task_set_periodic(nullptr, TM_NOW, 100000000); + rt_task_set_periodic(nullptr, TM_NOW, 100000000); // 100 ms while (true) { rt_task_wait_period(nullptr); @@ -426,7 +427,7 @@ void Tasks::ReceiveFromMonTask(void *arg) { robot.Write(new Message((MessageID) cpMove)); rt_mutex_release(&mutex_robot); } - cout << endl << flush; + cout << endl; } } @@ -439,7 +440,7 @@ void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) { int err; if ((err = rt_queue_write(queue, (const void *) &msg, sizeof((const void *) &msg), Q_NORMAL)) < 0) { cerr << "Write in queue failed: " << strerror(-err) << endl; - throw std::runtime_error{"Error in write in queue"}; + throw runtime_error{"Error in write in queue"}; } } @@ -454,9 +455,9 @@ Message *Tasks::ReadInQueue(RT_QUEUE *queue) { if ((err = rt_queue_read(queue, &msg, sizeof((void *) &msg), TM_INFINITE)) < 0) { cout << "Read in queue failed: " << strerror(-err) << endl; - throw std::runtime_error{"Error in read in queue"}; + throw runtime_error{"Error in read in queue"}; }/** else { - cout << "@msg :" << msg << endl << flush; + cout << "@msg :" << msg << endl; } **/ return msg; diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h index e62dac4..6ba34df 100644 --- a/software/raspberry/superviseur-robot/tasks.h +++ b/software/raspberry/superviseur-robot/tasks.h @@ -34,8 +34,6 @@ #include "camera.h" #include "img.h" -using namespace std; - class Tasks { public: /** @@ -149,14 +147,14 @@ private: * @param queue Queue identifier * @param msg Message to be stored */ - void WriteInQueue(RT_QUEUE *queue, Message *msg); + static void WriteInQueue(RT_QUEUE *queue, Message *msg); /** * Read a message from a given queue, block if empty * @param queue Queue identifier * @return Message read */ - Message *ReadInQueue(RT_QUEUE *queue); + static Message *ReadInQueue(RT_QUEUE *queue); };