vergnet/very-dumb
1
1
Fork 0
Code Issues Pull requests Releases Wiki Activity

Conversion en commentaires non doc

Browse source 
Permet de réduire les conflits à la génération de la doc auto
This commit is contained in:
Arnaud Vergnet 2021-03-03 08:40:57 +01:00
parent d4e6ba4042
commit 873eafb77f
2 changed files with 42 additions and 41 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

40
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -55,9 +55,9 @@ void Tasks::Init() {
int err; int err;
/*************************************************************************************** /* **************************************************************************************
* Mutex creation * Mutex creation
**************************************************************************************/ * *************************************************************************************/
if ((err = rt_mutex_create(&mutex_monitor, nullptr))) { if ((err = rt_mutex_create(&mutex_monitor, nullptr))) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush; cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
@ -76,9 +76,9 @@ void Tasks::Init() {
} }
cout << "Mutexes created successfully" << endl << flush; cout << "Mutexes created successfully" << endl << flush;
/*************************************************************************************** /* **************************************************************************************
* Semaphores creation * Semaphores creation
**************************************************************************************/ * *************************************************************************************/
if ((err = rt_sem_create(&sem_barrier, nullptr, 0, S_FIFO))) { if ((err = rt_sem_create(&sem_barrier, nullptr, 0, S_FIFO))) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush; cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
@ -97,9 +97,9 @@ void Tasks::Init() {
} }
cout << "Semaphores created successfully" << endl << flush; cout << "Semaphores created successfully" << endl << flush;
/************************************************************************************** /* *************************************************************************************
* Tasks creation * Tasks creation
**************************************************************************************/ * *************************************************************************************/
if ((err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0))) { if ((err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0))) {
cerr << "Error task create: " << strerror(-err) << endl << flush; cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
@ -126,9 +126,9 @@ void Tasks::Init() {
} }
cout << "Tasks created successfully" << endl << flush; cout << "Tasks created successfully" << endl << flush;
/************************************************************************************** /* *************************************************************************************
* 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: " << strerror(-err) << endl << flush; cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
@ -198,9 +198,9 @@ void Tasks::ServerTask(void *arg) {
// Synchronization barrier (waiting that all tasks are started) // Synchronization barrier (waiting that all tasks are started)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/*************************************************************************************** /* **************************************************************************************
* The task server starts here * The task server starts here
**************************************************************************************/ * *************************************************************************************/
rt_mutex_acquire(&mutex_monitor, TM_INFINITE); rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
status = monitor.Open(SERVER_PORT); status = monitor.Open(SERVER_PORT);
rt_mutex_release(&mutex_monitor); rt_mutex_release(&mutex_monitor);
@ -225,9 +225,9 @@ void Tasks::ServerTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/************************************************************************************** /* *************************************************************************************
* The task sendToMon starts here * The task sendToMon starts here
**************************************************************************************/ * *************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE); rt_sem_p(&sem_serverOk, TM_INFINITE);
while (true) { while (true) {
@ -250,9 +250,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/************************************************************************************** /* *************************************************************************************
* The task receiveFromMon starts here * The task receiveFromMon starts here
**************************************************************************************/ * *************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE); rt_sem_p(&sem_serverOk, TM_INFINITE);
cout << "Received message from monitor activated" << endl << flush; 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) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/************************************************************************************** /* *************************************************************************************
* The task openComRobot starts here * The task openComRobot starts here
**************************************************************************************/ * *************************************************************************************/
while (true) { while (true) {
rt_sem_p(&sem_openComRobot, TM_INFINITE); rt_sem_p(&sem_openComRobot, TM_INFINITE);
cout << "Open serial com ("; cout << "Open serial com (";
@ -322,9 +322,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/************************************************************************************** /* *************************************************************************************
* The task startRobot starts here * The task startRobot starts here
**************************************************************************************/ * *************************************************************************************/
while (true) { while (true) {
Message * msgSend; Message * msgSend;
rt_sem_p(&sem_startRobot, TM_INFINITE); rt_sem_p(&sem_startRobot, TM_INFINITE);
@ -357,9 +357,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/*************************************************************************************** /* **************************************************************************************
* The task starts here * The task starts here
**************************************************************************************/ * *************************************************************************************/
rt_task_set_periodic(nullptr, TM_NOW, 100000000); rt_task_set_periodic(nullptr, TM_NOW, 100000000);
while (true) { while (true) {

43
software/raspberry/superviseur-robot/tasks.h
View file

@ -59,17 +59,17 @@ public:
void Join(); void Join();
private: private:
/**********************************************************************/ /* *********************************************************************
/* Shared data */ * Shared data
/**********************************************************************/ * ********************************************************************/
ComMonitor monitor; ComMonitor monitor;
ComRobot robot; ComRobot robot;
int robotStarted = 0; int robotStarted = 0;
int move = MESSAGE_ROBOT_STOP; int move = MESSAGE_ROBOT_STOP;
/**********************************************************************/ /* *********************************************************************
/* Tasks */ * Tasks
/**********************************************************************/ * ********************************************************************/
RT_TASK th_server; RT_TASK th_server;
RT_TASK th_sendToMon; RT_TASK th_sendToMon;
RT_TASK th_receiveFromMon; RT_TASK th_receiveFromMon;
@ -77,31 +77,32 @@ private:
RT_TASK th_startRobot; RT_TASK th_startRobot;
RT_TASK th_move; RT_TASK th_move;
/**********************************************************************/ /* *********************************************************************
/* Mutex */ * Mutex
/**********************************************************************/ * ********************************************************************/
RT_MUTEX mutex_monitor; RT_MUTEX mutex_monitor;
RT_MUTEX mutex_robot; RT_MUTEX mutex_robot;
RT_MUTEX mutex_robotStarted; RT_MUTEX mutex_robotStarted;
RT_MUTEX mutex_move; RT_MUTEX mutex_move;
/**********************************************************************/ /* *********************************************************************
/* Semaphores */ * Semaphores
/**********************************************************************/ * ********************************************************************/
RT_SEM sem_barrier; RT_SEM sem_barrier;
RT_SEM sem_openComRobot; RT_SEM sem_openComRobot;
RT_SEM sem_serverOk; RT_SEM sem_serverOk;
RT_SEM sem_startRobot; RT_SEM sem_startRobot;
/**********************************************************************/ /* *********************************************************************
/* Message queues */ * Message queues
/**********************************************************************/ **********************************************************************/
int MSG_QUEUE_SIZE; int MSG_QUEUE_SIZE;
RT_QUEUE q_messageToMon; RT_QUEUE q_messageToMon;
/**********************************************************************/ /* *********************************************************************
/* Tasks' functions */ * Tasks' functions
/**********************************************************************/ * ********************************************************************/
/** /**
* @brief Thread handling server communication with the monitor. * @brief Thread handling server communication with the monitor.
*/ */
@ -132,9 +133,9 @@ private:
*/ */
[[noreturn]] void MoveTask(void *arg); [[noreturn]] void MoveTask(void *arg);
/**********************************************************************/ /* *********************************************************************
/* Queue services */ * Queue services
/**********************************************************************/ * ********************************************************************/
/** /**
* Write a message in a given queue * Write a message in a given queue
* @param queue Queue identifier * @param queue Queue identifier