567 lines
19 KiB
C++
567 lines
19 KiB
C++
/*
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* Copyright (C) 2018 dimercur
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "tasks.h"
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#include <stdexcept>
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using namespace std;
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// Déclaration des priorités des taches
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constexpr int PRIORITY_TSERVER = 30;
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constexpr int PRIORITY_TMOVE = 20;
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constexpr int PRIORITY_TSENDTOMON = 22;
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constexpr int PRIORITY_TRECEIVEFROMMON = 25;
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constexpr int PRIORITY_TSTARTROBOT = 20;
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constexpr int PRIORITY_TCAMERA = 21;
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constexpr int PRIORITY_TBATTERY = 23;
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/*
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* Some remarks:
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* 1- This program is mostly a template. It shows you how to create tasks, semaphore
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* message queues, mutex ... and how to use them
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*
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* 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
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*
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* 3- Data flow is probably not optimal
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*
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* 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
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* time for internal buffer to flush
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*
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* 5- Same behavior existe for ComMonitor::Write !
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*
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* 6- When you want to write something in terminal, use cout and terminate with endl
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*
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* 7- Good luck !
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*/
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/**
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* @brief Initialisation des structures de l'application (tâches, mutex,
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* semaphore, etc.)
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*/
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void Tasks::Init() {
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int status;
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int err;
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/* **************************************************************************************
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* Mutex creation
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* *************************************************************************************/
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if ((err = rt_mutex_create(&mutex_monitor, nullptr))) {
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cerr << "Error mutex create mutex_monitor: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_mutex_create(&mutex_monitorConnected, nullptr))) {
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cerr << "Error mutex create mutex_monitorConnected: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_mutex_create(&mutex_robot, nullptr))) {
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cerr << "Error mutex create mutex_robot: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_mutex_create(&mutex_robotStarted, nullptr))) {
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cerr << "Error mutex create mutex_robotStarted: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_mutex_create(&mutex_move, nullptr))) {
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cerr << "Error mutex create mutex_move: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_mutex_create(&mutex_watchdogMode, nullptr))) {
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cerr << "Error mutex create mutex_watchdogMode: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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cout << "Mutexes created successfully" << endl;
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/* **************************************************************************************
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* Semaphores creation
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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 sem_barrier: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_sem_create(&sem_serverOk, nullptr, 0, S_FIFO))) {
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cerr << "Error semaphore create sem_serverOk: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_sem_create(&sem_openComRobot, nullptr, 0, S_FIFO))) {
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cerr << "Error semaphore create sem_openComRobot: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_sem_create(&sem_closeComRobot, nullptr, 0, S_FIFO))) {
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cerr << "Error semaphore create sem_closeComRobot: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_sem_create(&sem_startRobot, nullptr, 0, S_FIFO))) {
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cerr << "Error semaphore create sem_startRobot: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_sem_create(&sem_stopRobot, nullptr, 0, S_PULSE))) {
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cerr << "Error semaphore create sem_stopRobot: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_sem_create(&sem_stopServer, nullptr, 0, S_FIFO))) {
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cerr << "Error semaphore create sem_stopServer: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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cout << "Semaphores created successfully" << endl;
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/* *************************************************************************************
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* Tasks creation
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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 th_server: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0))) {
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cerr << "Error task create th_sendToMon: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0))) {
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cerr << "Error task create th_receiveFromMon: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0))) {
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cerr << "Error task create th_move: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_task_create(&th_sendBatteryLevel, "th_sendBatteryLevel", 0, PRIORITY_TBATTERY, 0))) {
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cerr << "Error task create th_sendBatteryLevel: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_task_create(&th_manageRobotCom, "th_manageRobotCom", 0, PRIORITY_TSTARTROBOT, 0))) {
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cerr << "Error task create th_manageRobotCom: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if ((err = rt_task_create(&th_manageRobot, "th_manageRobot", 0, PRIORITY_TSTARTROBOT, 0))) {
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cerr << "Error task create th_manageRobot: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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cout << "Tasks created successfully" << endl;
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/* *************************************************************************************
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* Message queues creation
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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 q_messageToMon: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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cout << "Queues created successfully" << endl;
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}
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/**
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* @brief Démarrage des tâches
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*/
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void Tasks::Run() {
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rt_task_set_priority(nullptr, T_LOPRIO);
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int err;
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if (err = rt_task_start(&th_server, reinterpret_cast<void (*)(void *)>(&Tasks::ServerTask), this)) {
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cerr << "Error task start ServerTask: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_sendToMon, reinterpret_cast<void (*)(void *)>(&Tasks::SendToMonTask), this)) {
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cerr << "Error task start SendToMonTask: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_receiveFromMon, reinterpret_cast<void (*)(void *)>(&Tasks::ReceiveFromMonTask), this)) {
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cerr << "Error task start ReceiveFromMonTask: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_manageRobotCom, reinterpret_cast<void (*)(void *)>(&Tasks::ManageRobotComTask), this)) {
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cerr << "Error task start ManageRobotComTask: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_manageRobot, reinterpret_cast<void (*)(void *)>(&Tasks::ManageRobotTask), this)) {
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cerr << "Error task start ManageRobotTask: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_move, reinterpret_cast<void (*)(void *)>(&Tasks::MoveTask), this)) {
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cerr << "Error task start MoveTask: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_sendBatteryLevel, reinterpret_cast<void (*)(void *)>(&Tasks::SendBatteryLevel), this)) {
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cerr << "Error task start SendBatteryLevel: " << strerror(-err) << endl;
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exit(EXIT_FAILURE);
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}
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cout << "Tasks launched" << endl;
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}
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/**
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* @brief Arrêt des tâches
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*/
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void Tasks::Stop() {
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monitor.Close();
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robot.Close();
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}
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/**
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*/
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void Tasks::Join() {
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cout << "Tasks synchronized" << endl;
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rt_sem_broadcast(&sem_barrier);
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pause();
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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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[[noreturn]] void Tasks::ServerTask(void *arg) {
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cout << "Start " << __PRETTY_FUNCTION__ << endl;
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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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* The task server starts here
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* *************************************************************************************/
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while (true) {
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rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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int status = monitor.Open(SERVER_PORT);
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rt_mutex_release(&mutex_monitor);
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cout << "Open server on port " << SERVER_PORT << " (" << status << ")" << endl;
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if (status < 0) {
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throw runtime_error{"Unable to start server on port " + to_string(SERVER_PORT)};
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}
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monitor.AcceptClient(); // Wait the monitor client
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cout << "Rock'n'Roll baby, client accepted!" << endl;
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rt_mutex_acquire(&mutex_monitorConnected, TM_INFINITE);
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monitorConnected = true;
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rt_mutex_release(&mutex_monitorConnected);
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rt_sem_broadcast(&sem_serverOk);
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// Wait for stopServer signal
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rt_sem_p(&sem_stopServer, TM_INFINITE);
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rt_sem_v(&sem_stopRobot);
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rt_sem_v(&sem_closeComRobot);
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rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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rt_mutex_acquire(&mutex_monitorConnected, TM_INFINITE);
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monitorConnected = false;
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monitor.Close();
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rt_mutex_release(&mutex_monitorConnected);
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rt_mutex_release(&mutex_monitor);
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}
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}
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/**
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* @brief Thread sending data to monitor.
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*/
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[[noreturn]] void Tasks::SendToMonTask(void *arg) {
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Message *msg;
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cout << "Start " << __PRETTY_FUNCTION__ << endl;
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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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* The task sendToMon starts here
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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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cout << "wait msg to send" << endl;
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msg = ReadInQueue(&q_messageToMon);
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cout << "Send msg to mon: " << msg->ToString() << endl;
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rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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rt_mutex_acquire(&mutex_monitorConnected, TM_INFINITE);
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if (monitorConnected) {
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monitor.Write(msg); // The message is deleted with the Write
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}
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rt_mutex_release(&mutex_monitorConnected);
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rt_mutex_release(&mutex_monitor);
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}
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}
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/**
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* @brief Thread receiving data from monitor.
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*/
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[[noreturn]] void Tasks::ReceiveFromMonTask(void *arg) {
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Message *msgRcv;
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cout << "Start " << __PRETTY_FUNCTION__ << endl;
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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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* The task receiveFromMon starts here
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* *************************************************************************************/
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while (true) {
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rt_sem_p(&sem_serverOk, TM_INFINITE);
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cout << "Received message from monitor activated" << endl;
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bool lostConnection = false;
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while (!lostConnection) {
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msgRcv = monitor.Read();
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cout << "Rcv <= " << msgRcv->ToString() << endl;
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if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
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cout << "Monitor connection lost! Stopping robot..." << endl;
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// rt_sem_v(&sem_stopCamera); // TODO
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rt_sem_v(&sem_stopServer);
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lostConnection = true;
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
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rt_sem_v(&sem_openComRobot);
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
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rt_mutex_acquire(&mutex_watchdogMode, TM_INFINITE);
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watchdogMode = WITHOUT_WATCHDOG;
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rt_mutex_release(&mutex_watchdogMode);
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rt_sem_v(&sem_startRobot);
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
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// TODO: gérer la watchdog
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rt_mutex_acquire(&mutex_watchdogMode, TM_INFINITE);
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watchdogMode = WITH_WATCHDOG;
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rt_mutex_release(&mutex_watchdogMode);
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rt_sem_v(&sem_startRobot);
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) {
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rt_sem_v(&sem_stopRobot);
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
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msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
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msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
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msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
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msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
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rt_mutex_acquire(&mutex_move, TM_INFINITE);
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move = msgRcv->GetID();
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rt_mutex_release(&mutex_move);
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} else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
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// TODO
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} else if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
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// TODO
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} else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
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// TODO
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} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
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// TODO
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} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
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// TODO
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} else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
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// TODO
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} else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
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// TODO
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}
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delete (msgRcv); // mus be deleted manually, no consumer
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}
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}
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}
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/**
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* @brief Thread managing the communication with the robot.
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*/
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[[noreturn]] void Tasks::ManageRobotComTask(void *arg) {
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int status;
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cout << "Start " << __PRETTY_FUNCTION__ << endl;
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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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* The task startRobot starts here
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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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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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status = robot.Open();
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rt_mutex_release(&mutex_robot);
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cout << status;
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cout << ")" << endl;
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if (status < 0) {
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WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK)); // msgSend will be deleted by sendToMon
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} else {
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WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK)); // msgSend will be deleted by sendToMon
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rt_sem_p(&sem_closeComRobot, TM_INFINITE);
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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robot.Close();
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rt_mutex_release(&mutex_robot);
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}
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}
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}
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/**
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* @brief Thread starting the communication with the robot.
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*/
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[[noreturn]] void Tasks::ManageRobotTask(void *arg) {
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int status;
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cout << "Start " << __PRETTY_FUNCTION__ << endl;
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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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* The task startRobot starts here
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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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rt_mutex_acquire(&mutex_watchdogMode, TM_INFINITE);
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const WatchdogMode mode = watchdogMode;
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rt_mutex_release(&mutex_watchdogMode);
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if (mode == WITH_WATCHDOG) {
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cout << "Start robot with watchdog (";
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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msgSend = robot.Write(ComRobot::StartWithWD());
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rt_mutex_release(&mutex_robot);
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cout << msgSend->GetID();
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cout << ")" << endl;
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} else {
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cout << "Start robot without watchdog (";
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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msgSend = robot.Write(ComRobot::StartWithoutWD());
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rt_mutex_release(&mutex_robot);
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cout << msgSend->GetID();
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cout << ")" << endl;
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}
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cout << "Start answer: " << msgSend->ToString() << endl;
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WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
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if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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robotStarted = 1;
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cout << "robot started" << endl;
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rt_mutex_release(&mutex_robotStarted);
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rt_sem_p(&sem_stopRobot, TM_INFINITE);
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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robot.Write(new Message(MESSAGE_ROBOT_STOP));
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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robotStarted = 0;
|
|
cout << "robot stopped" << endl;
|
|
rt_mutex_release(&mutex_robotStarted);
|
|
rt_mutex_release(&mutex_robot);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Thread seding the battery level.
|
|
*/
|
|
[[noreturn]] void Tasks::SendBatteryLevel(void *arg) {
|
|
int rs;
|
|
cout << "Start " << __PRETTY_FUNCTION__ << endl;
|
|
// Synchronization barrier (waiting that all tasks are starting)
|
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
|
|
/* *************************************************************************************/
|
|
/* The task sendBatteryLevel starts here */
|
|
/* *************************************************************************************/
|
|
|
|
rt_task_set_periodic(nullptr, TM_NOW, 500000000); // 500 ms
|
|
|
|
while (true) {
|
|
rt_task_wait_period(nullptr);
|
|
|
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
|
rs = robotStarted;
|
|
rt_mutex_release(&mutex_robotStarted);
|
|
if (rs == 1) {
|
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
auto msg = dynamic_cast<MessageBattery *>(robot.Write(ComRobot::GetBattery()));
|
|
if (msg == nullptr) {
|
|
cout << "NULLPTR" << endl;
|
|
} else {
|
|
WriteInQueue(&q_messageToMon, msg);
|
|
}
|
|
rt_mutex_release(&mutex_robot);
|
|
}
|
|
}
|
|
|
|
}
|
|
|
|
/**
|
|
* @brief Thread handling control of the robot.
|
|
*/
|
|
[[noreturn]] void Tasks::MoveTask(void *arg) {
|
|
int rs;
|
|
int cpMove;
|
|
int counter = 0;
|
|
|
|
cout << "Start " << __PRETTY_FUNCTION__ << endl;
|
|
// 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); // 100 ms
|
|
|
|
while (true) {
|
|
rt_task_wait_period(nullptr);
|
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
|
rs = robotStarted;
|
|
rt_mutex_release(&mutex_robotStarted);
|
|
if (rs == 1) {
|
|
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
|
cpMove = move;
|
|
rt_mutex_release(&mutex_move);
|
|
|
|
cout << "move: " << cpMove << endl;
|
|
|
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
auto msgSend = robot.Write(new Message((MessageID) cpMove));
|
|
if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) {
|
|
counter = 0;
|
|
} else {
|
|
counter++;
|
|
}
|
|
if (counter == 3) {
|
|
rt_sem_v(&sem_stopRobot);
|
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_COM_ERROR));
|
|
}
|
|
rt_mutex_release(&mutex_robot);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Write a message in a given queue
|
|
* @param queue Queue identifier
|
|
* @param msg Message to be stored
|
|
*/
|
|
void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
|
|
int err;
|
|
if ((err = rt_queue_write(queue, (const void *) &msg, sizeof((const void *) &msg), Q_NORMAL)) < 0) {
|
|
cerr << "Write in queue failed: " << strerror(-err) << endl;
|
|
throw runtime_error{"Error in write in queue"};
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Read a message from a given queue, block if empty
|
|
* @param queue Queue identifier
|
|
* @return Message read
|
|
*/
|
|
Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
|
|
int err;
|
|
Message *msg;
|
|
|
|
if ((err = rt_queue_read(queue, &msg, sizeof((void *) &msg), TM_INFINITE)) < 0) {
|
|
cout << "Read in queue failed: " << strerror(-err) << endl;
|
|
throw runtime_error{"Error in read in queue"};
|
|
}/** else {
|
|
cout << "@msg :" << msg << endl;
|
|
} **/
|
|
|
|
return msg;
|
|
}
|
|
|