Conversion en commentaires non doc

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

View file

@ -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) {

View file

@ -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