Conversion en commentaires non doc
Permet de réduire les conflits à la génération de la doc auto
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d4e6ba4042
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2 changed files with 42 additions and 41 deletions
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@ -55,9 +55,9 @@ void Tasks::Init() {
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int err;
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/***************************************************************************************
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/* **************************************************************************************
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* Mutex creation
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**************************************************************************************/
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* *************************************************************************************/
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if ((err = rt_mutex_create(&mutex_monitor, nullptr))) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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@ -76,9 +76,9 @@ void Tasks::Init() {
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}
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cout << "Mutexes created successfully" << endl << flush;
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/***************************************************************************************
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/* **************************************************************************************
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* Semaphores creation
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**************************************************************************************/
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* *************************************************************************************/
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if ((err = rt_sem_create(&sem_barrier, nullptr, 0, S_FIFO))) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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@ -97,9 +97,9 @@ void Tasks::Init() {
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}
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cout << "Semaphores created successfully" << endl << flush;
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/**************************************************************************************
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/* *************************************************************************************
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* Tasks creation
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**************************************************************************************/
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* *************************************************************************************/
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if ((err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0))) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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@ -126,9 +126,9 @@ void Tasks::Init() {
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}
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cout << "Tasks created successfully" << endl << flush;
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/**************************************************************************************
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/* *************************************************************************************
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* Message queues creation
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**************************************************************************************/
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* *************************************************************************************/
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if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
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cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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@ -198,9 +198,9 @@ void Tasks::ServerTask(void *arg) {
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// Synchronization barrier (waiting that all tasks are started)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/***************************************************************************************
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/* **************************************************************************************
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* The task server starts here
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**************************************************************************************/
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* *************************************************************************************/
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rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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status = monitor.Open(SERVER_PORT);
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rt_mutex_release(&mutex_monitor);
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@ -225,9 +225,9 @@ void Tasks::ServerTask(void *arg) {
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************
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/* *************************************************************************************
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* The task sendToMon starts here
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**************************************************************************************/
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* *************************************************************************************/
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rt_sem_p(&sem_serverOk, TM_INFINITE);
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while (true) {
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@ -250,9 +250,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************
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/* *************************************************************************************
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* The task receiveFromMon starts here
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**************************************************************************************/
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* *************************************************************************************/
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rt_sem_p(&sem_serverOk, TM_INFINITE);
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cout << "Received message from monitor activated" << endl << flush;
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@ -292,9 +292,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************
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/* *************************************************************************************
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* The task openComRobot starts here
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**************************************************************************************/
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* *************************************************************************************/
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while (true) {
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rt_sem_p(&sem_openComRobot, TM_INFINITE);
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cout << "Open serial com (";
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@ -322,9 +322,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************
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/* *************************************************************************************
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* The task startRobot starts here
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**************************************************************************************/
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* *************************************************************************************/
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while (true) {
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Message * msgSend;
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rt_sem_p(&sem_startRobot, TM_INFINITE);
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@ -357,9 +357,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/***************************************************************************************
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/* **************************************************************************************
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* The task starts here
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**************************************************************************************/
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* *************************************************************************************/
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rt_task_set_periodic(nullptr, TM_NOW, 100000000);
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while (true) {
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@ -59,17 +59,17 @@ public:
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void Join();
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private:
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/**********************************************************************/
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/* Shared data */
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/**********************************************************************/
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/* *********************************************************************
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* Shared data
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* ********************************************************************/
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ComMonitor monitor;
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ComRobot robot;
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int robotStarted = 0;
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int move = MESSAGE_ROBOT_STOP;
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/**********************************************************************/
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/* Tasks */
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/**********************************************************************/
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/* *********************************************************************
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* Tasks
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* ********************************************************************/
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RT_TASK th_server;
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RT_TASK th_sendToMon;
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RT_TASK th_receiveFromMon;
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@ -77,31 +77,32 @@ private:
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RT_TASK th_startRobot;
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RT_TASK th_move;
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/**********************************************************************/
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/* Mutex */
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/**********************************************************************/
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/* *********************************************************************
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* Mutex
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* ********************************************************************/
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RT_MUTEX mutex_monitor;
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RT_MUTEX mutex_robot;
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RT_MUTEX mutex_robotStarted;
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RT_MUTEX mutex_move;
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/**********************************************************************/
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/* Semaphores */
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/**********************************************************************/
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/* *********************************************************************
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* Semaphores
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* ********************************************************************/
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RT_SEM sem_barrier;
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RT_SEM sem_openComRobot;
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RT_SEM sem_serverOk;
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RT_SEM sem_startRobot;
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/**********************************************************************/
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/* Message queues */
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/**********************************************************************/
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/* *********************************************************************
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* Message queues
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**********************************************************************/
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int MSG_QUEUE_SIZE;
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RT_QUEUE q_messageToMon;
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/**********************************************************************/
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/* Tasks' functions */
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/**********************************************************************/
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/* *********************************************************************
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* Tasks' functions
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* ********************************************************************/
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/**
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* @brief Thread handling server communication with the monitor.
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*/
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@ -132,9 +133,9 @@ private:
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*/
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[[noreturn]] void MoveTask(void *arg);
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/**********************************************************************/
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/* Queue services */
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/**********************************************************************/
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/* *********************************************************************
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* Queue services
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* ********************************************************************/
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/**
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* Write a message in a given queue
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* @param queue Queue identifier
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