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Conversion vers syntaxe cpp

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This commit is contained in:
Arnaud Vergnet 2021-03-03 08:29:43 +01:00
parent d18621f6eb
commit cff9e149b6
2 changed files with 41 additions and 41 deletions
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74
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -54,43 +54,44 @@ void Tasks::Init() {
int status; int status;
int err; int err;
/**************************************************************************************/
/* Mutex creation */ /***************************************************************************************
/**************************************************************************************/ * Mutex creation
if (err = rt_mutex_create(&mutex_monitor, NULL)) { **************************************************************************************/
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);
} }
if (err = rt_mutex_create(&mutex_robot, NULL)) { if ((err = rt_mutex_create(&mutex_robot, nullptr))) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush; cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_mutex_create(&mutex_robotStarted, NULL)) { if ((err = rt_mutex_create(&mutex_robotStarted, nullptr))) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush; cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_mutex_create(&mutex_move, NULL)) { if ((err = rt_mutex_create(&mutex_move, nullptr))) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush; cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
cout << "Mutexes created successfully" << endl << flush; cout << "Mutexes created successfully" << endl << flush;
/**************************************************************************************/ /***************************************************************************************
/* Semaphors creation */ * Semaphores creation
/**************************************************************************************/ **************************************************************************************/
if (err = rt_sem_create(&sem_barrier, NULL, 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);
} }
if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) { if ((err = rt_sem_create(&sem_openComRobot, 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);
} }
if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) { if ((err = rt_sem_create(&sem_serverOk, 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);
} }
if (err = rt_sem_create(&sem_startRobot, NULL, 0, S_FIFO)) { if ((err = rt_sem_create(&sem_startRobot, 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);
} }
@ -99,27 +100,27 @@ void Tasks::Init() {
/**************************************************************************************/ /**************************************************************************************/
/* 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);
} }
if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) { if ((err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0))) {
cerr << "Error task create: " << strerror(-err) << endl << flush; cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) { if ((err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0))) {
cerr << "Error task create: " << strerror(-err) << endl << flush; cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0)) { if ((err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0))) {
cerr << "Error task create: " << strerror(-err) << endl << flush; cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_task_create(&th_startRobot, "th_startRobot", 0, PRIORITY_TSTARTROBOT, 0)) { if (err == rt_task_create(&th_startRobot, "th_startRobot", 0, PRIORITY_TSTARTROBOT, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush; cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) { if ((err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0))) {
cerr << "Error task create: " << strerror(-err) << endl << flush; cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
@ -140,7 +141,7 @@ void Tasks::Init() {
* @brief Démarrage des tâches * @brief Démarrage des tâches
*/ */
void Tasks::Run() { void Tasks::Run() {
rt_task_set_priority(NULL, T_LOPRIO); rt_task_set_priority(nullptr, T_LOPRIO);
int err; int err;
if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) { if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
@ -217,7 +218,7 @@ void Tasks::ServerTask(void *arg) {
/** /**
* @brief Thread sending data to monitor. * @brief Thread sending data to monitor.
*/ */
void Tasks::SendToMonTask(void* arg) { [[noreturn]] void Tasks::SendToMonTask(void* arg) {
Message *msg; Message *msg;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
@ -229,7 +230,7 @@ void Tasks::SendToMonTask(void* arg) {
/**************************************************************************************/ /**************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE); rt_sem_p(&sem_serverOk, TM_INFINITE);
while (1) { while (true) {
cout << "wait msg to send" << endl << flush; cout << "wait msg to send" << endl << flush;
msg = ReadInQueue(&q_messageToMon); msg = ReadInQueue(&q_messageToMon);
cout << "Send msg to mon: " << msg->ToString() << endl << flush; cout << "Send msg to mon: " << msg->ToString() << endl << flush;
@ -255,7 +256,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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;
while (1) { while (true) {
msgRcv = monitor.Read(); msgRcv = monitor.Read();
cout << "Rcv <= " << msgRcv->ToString() << endl << flush; cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
@ -283,7 +284,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
/** /**
* @brief Thread opening communication with the robot. * @brief Thread opening communication with the robot.
*/ */
void Tasks::OpenComRobot(void *arg) { [[noreturn]] void Tasks::OpenComRobot(void *arg) {
int status; int status;
int err; int err;
@ -294,7 +295,7 @@ void Tasks::OpenComRobot(void *arg) {
/**************************************************************************************/ /**************************************************************************************/
/* The task openComRobot starts here */ /* The task openComRobot starts here */
/**************************************************************************************/ /**************************************************************************************/
while (1) { while (true) {
rt_sem_p(&sem_openComRobot, TM_INFINITE); rt_sem_p(&sem_openComRobot, TM_INFINITE);
cout << "Open serial com ("; cout << "Open serial com (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@ -316,7 +317,7 @@ void Tasks::OpenComRobot(void *arg) {
/** /**
* @brief Thread starting the communication with the robot. * @brief Thread starting the communication with the robot.
*/ */
void Tasks::StartRobotTask(void *arg) { [[noreturn]] void Tasks::StartRobotTask(void *arg) {
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// 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);
@ -324,8 +325,7 @@ void Tasks::StartRobotTask(void *arg) {
/**************************************************************************************/ /**************************************************************************************/
/* The task startRobot starts here */ /* The task startRobot starts here */
/**************************************************************************************/ /**************************************************************************************/
while (1) { while (true) {
Message * msgSend; Message * msgSend;
rt_sem_p(&sem_startRobot, TM_INFINITE); rt_sem_p(&sem_startRobot, TM_INFINITE);
cout << "Start robot without watchdog ("; cout << "Start robot without watchdog (";
@ -349,7 +349,7 @@ void Tasks::StartRobotTask(void *arg) {
/** /**
* @brief Thread handling control of the robot. * @brief Thread handling control of the robot.
*/ */
void Tasks::MoveTask(void *arg) { [[noreturn]] void Tasks::MoveTask(void *arg) {
int rs; int rs;
int cpMove; int cpMove;
@ -357,13 +357,13 @@ void Tasks::MoveTask(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(NULL, TM_NOW, 100000000); rt_task_set_periodic(nullptr, TM_NOW, 100000000);
while (1) { while (true) {
rt_task_wait_period(NULL); rt_task_wait_period(nullptr);
cout << "Periodic movement update"; cout << "Periodic movement update";
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted; rs = robotStarted;
@ -410,7 +410,7 @@ Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
throw std::runtime_error{"Error in read in queue"}; throw std::runtime_error{"Error in read in queue"};
}/** else { }/** else {
cout << "@msg :" << msg << endl << flush; cout << "@msg :" << msg << endl << flush;
} /**/ } **/
return msg; return msg;
} }

8
software/raspberry/superviseur-robot/tasks.h
View file

@ -110,7 +110,7 @@ private:
/** /**
* @brief Thread sending data to monitor. * @brief Thread sending data to monitor.
*/ */
void SendToMonTask(void *arg); [[noreturn]] void SendToMonTask(void *arg);
/** /**
* @brief Thread receiving data from monitor. * @brief Thread receiving data from monitor.
@ -120,17 +120,17 @@ private:
/** /**
* @brief Thread opening communication with the robot. * @brief Thread opening communication with the robot.
*/ */
void OpenComRobot(void *arg); [[noreturn]] void OpenComRobot(void *arg);
/** /**
* @brief Thread starting the communication with the robot. * @brief Thread starting the communication with the robot.
*/ */
void StartRobotTask(void *arg); [[noreturn]] void StartRobotTask(void *arg);
/** /**
* @brief Thread handling control of the robot. * @brief Thread handling control of the robot.
*/ */
void MoveTask(void *arg); [[noreturn]] void MoveTask(void *arg);
/**********************************************************************/ /**********************************************************************/
/* Queue services */ /* Queue services */