From 873eafb77f1af18980698f447a17f7dfb2e35827 Mon Sep 17 00:00:00 2001 From: Arnaud Vergnet Date: Wed, 3 Mar 2021 08:40:57 +0100 Subject: [PATCH] Conversion en commentaires non doc MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit Permet de réduire les conflits à la génération de la doc auto --- .../raspberry/superviseur-robot/tasks.cpp | 40 ++++++++--------- software/raspberry/superviseur-robot/tasks.h | 43 ++++++++++--------- 2 files changed, 42 insertions(+), 41 deletions(-) diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp index 19a43a1..3e5810c 100644 --- a/software/raspberry/superviseur-robot/tasks.cpp +++ b/software/raspberry/superviseur-robot/tasks.cpp @@ -55,9 +55,9 @@ void Tasks::Init() { int err; - /*************************************************************************************** + /* ************************************************************************************** * Mutex creation - **************************************************************************************/ + * *************************************************************************************/ if ((err = rt_mutex_create(&mutex_monitor, nullptr))) { cerr << "Error mutex create: " << strerror(-err) << endl << flush; exit(EXIT_FAILURE); @@ -76,9 +76,9 @@ void Tasks::Init() { } cout << "Mutexes created successfully" << endl << flush; - /*************************************************************************************** + /* ************************************************************************************** * Semaphores creation - **************************************************************************************/ + * *************************************************************************************/ if ((err = rt_sem_create(&sem_barrier, nullptr, 0, S_FIFO))) { cerr << "Error semaphore create: " << strerror(-err) << endl << flush; exit(EXIT_FAILURE); @@ -97,9 +97,9 @@ void Tasks::Init() { } cout << "Semaphores created successfully" << endl << flush; - /************************************************************************************** + /* ************************************************************************************* * Tasks creation - **************************************************************************************/ + * *************************************************************************************/ if ((err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0))) { cerr << "Error task create: " << strerror(-err) << endl << flush; exit(EXIT_FAILURE); @@ -126,9 +126,9 @@ void Tasks::Init() { } cout << "Tasks created successfully" << endl << flush; - /************************************************************************************** + /* ************************************************************************************* * Message queues creation - **************************************************************************************/ + * *************************************************************************************/ if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) { cerr << "Error msg queue create: " << strerror(-err) << endl << flush; exit(EXIT_FAILURE); @@ -198,9 +198,9 @@ void Tasks::ServerTask(void *arg) { // Synchronization barrier (waiting that all tasks are started) rt_sem_p(&sem_barrier, TM_INFINITE); - /*************************************************************************************** + /* ************************************************************************************** * The task server starts here - **************************************************************************************/ + * *************************************************************************************/ rt_mutex_acquire(&mutex_monitor, TM_INFINITE); status = monitor.Open(SERVER_PORT); rt_mutex_release(&mutex_monitor); @@ -225,9 +225,9 @@ void Tasks::ServerTask(void *arg) { // Synchronization barrier (waiting that all tasks are starting) rt_sem_p(&sem_barrier, TM_INFINITE); - /************************************************************************************** + /* ************************************************************************************* * The task sendToMon starts here - **************************************************************************************/ + * *************************************************************************************/ rt_sem_p(&sem_serverOk, TM_INFINITE); while (true) { @@ -250,9 +250,9 @@ void Tasks::ReceiveFromMonTask(void *arg) { // Synchronization barrier (waiting that all tasks are starting) rt_sem_p(&sem_barrier, TM_INFINITE); - /************************************************************************************** + /* ************************************************************************************* * The task receiveFromMon starts here - **************************************************************************************/ + * *************************************************************************************/ rt_sem_p(&sem_serverOk, TM_INFINITE); cout << "Received message from monitor activated" << endl << flush; @@ -292,9 +292,9 @@ void Tasks::ReceiveFromMonTask(void *arg) { // Synchronization barrier (waiting that all tasks are starting) rt_sem_p(&sem_barrier, TM_INFINITE); - /************************************************************************************** + /* ************************************************************************************* * The task openComRobot starts here - **************************************************************************************/ + * *************************************************************************************/ while (true) { rt_sem_p(&sem_openComRobot, TM_INFINITE); cout << "Open serial com ("; @@ -322,9 +322,9 @@ void Tasks::ReceiveFromMonTask(void *arg) { // Synchronization barrier (waiting that all tasks are starting) rt_sem_p(&sem_barrier, TM_INFINITE); - /************************************************************************************** + /* ************************************************************************************* * The task startRobot starts here - **************************************************************************************/ + * *************************************************************************************/ while (true) { Message * msgSend; rt_sem_p(&sem_startRobot, TM_INFINITE); @@ -357,9 +357,9 @@ void Tasks::ReceiveFromMonTask(void *arg) { // Synchronization barrier (waiting that all tasks are starting) rt_sem_p(&sem_barrier, TM_INFINITE); - /*************************************************************************************** + /* ************************************************************************************** * The task starts here - **************************************************************************************/ + * *************************************************************************************/ rt_task_set_periodic(nullptr, TM_NOW, 100000000); while (true) { diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h index 6b4fa70..9959f52 100644 --- a/software/raspberry/superviseur-robot/tasks.h +++ b/software/raspberry/superviseur-robot/tasks.h @@ -59,17 +59,17 @@ public: void Join(); private: - /**********************************************************************/ - /* Shared data */ - /**********************************************************************/ + /* ********************************************************************* + * Shared data + * ********************************************************************/ ComMonitor monitor; ComRobot robot; int robotStarted = 0; int move = MESSAGE_ROBOT_STOP; - /**********************************************************************/ - /* Tasks */ - /**********************************************************************/ + /* ********************************************************************* + * Tasks + * ********************************************************************/ RT_TASK th_server; RT_TASK th_sendToMon; RT_TASK th_receiveFromMon; @@ -77,31 +77,32 @@ private: RT_TASK th_startRobot; RT_TASK th_move; - /**********************************************************************/ - /* Mutex */ - /**********************************************************************/ + /* ********************************************************************* + * Mutex + * ********************************************************************/ RT_MUTEX mutex_monitor; RT_MUTEX mutex_robot; RT_MUTEX mutex_robotStarted; RT_MUTEX mutex_move; - /**********************************************************************/ - /* Semaphores */ - /**********************************************************************/ + /* ********************************************************************* + * Semaphores + * ********************************************************************/ RT_SEM sem_barrier; RT_SEM sem_openComRobot; RT_SEM sem_serverOk; RT_SEM sem_startRobot; - /**********************************************************************/ - /* Message queues */ - /**********************************************************************/ + /* ********************************************************************* + * Message queues + **********************************************************************/ int MSG_QUEUE_SIZE; RT_QUEUE q_messageToMon; - /**********************************************************************/ - /* Tasks' functions */ - /**********************************************************************/ + /* ********************************************************************* + * Tasks' functions + * ********************************************************************/ + /** * @brief Thread handling server communication with the monitor. */ @@ -132,9 +133,9 @@ private: */ [[noreturn]] void MoveTask(void *arg); - /**********************************************************************/ - /* Queue services */ - /**********************************************************************/ + /* ********************************************************************* + * Queue services + * ********************************************************************/ /** * Write a message in a given queue * @param queue Queue identifier