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gestion des booléens de boucle

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This commit is contained in:
Romain Vitrat 2020-03-26 17:12:10 +01:00
commit 6c2afb7e67
4 changed files with 55 additions and 32 deletions
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1
software/raspberry/superviseur-robot/lib/comrobot.cpp
View file

@ -327,6 +327,7 @@ string ComRobot::MessageToString(Message *msg) {
break;
case MESSAGE_ROBOT_RELOAD_WD:
s += LABEL_ROBOT_RELOAD_WD;
cout << "watchdog" << endl;
break;
case MESSAGE_ROBOT_BATTERY_GET:
s += LABEL_ROBOT_GET_BATTERY;

74
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -106,6 +106,10 @@ void Tasks::Init() {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_askBattery, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Semaphores created successfully" << endl << flush;
/**************************************************************************************/
@ -139,6 +143,10 @@ void Tasks::Init() {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_askBattery, "th_askBattery", 0, PRIORITY_TMOVE, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks created successfully" << endl << flush;
@ -188,6 +196,10 @@ void Tasks::Run() {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_askBattery, (void(*)(void*)) & Tasks::AskBattery, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks launched" << endl << flush;
}
@ -349,19 +361,17 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
int killBattery=0;
Message* p_mess_answer_battery;
Message * msgSend;
/**************************************************************************************/
/* The task startRobot starts here */
/**************************************************************************************/
cout << "Start robot without watchdog (";
//Boolean to get the battery
rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
killBatteryBool=0;
rt_mutex_release(&mutex_kill_battery);
rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
cout << "Start robot without watchdog (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
msgSend = robot.Write(robot.StartWithoutWD());
rt_mutex_release(&mutex_robot);
@ -377,11 +387,7 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while (killBattery==0) {
rt_task_wait_period(NULL);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot);
WriteInQueue(&q_messageToMon, p_mess_answer_battery);
cout << endl << flush;
rt_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
killBattery=killBatteryBool;
rt_mutex_release(&mutex_kill_battery);
@ -396,36 +402,32 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
* @brief Thread starting the communication with the robot.
*/
void Tasks::StartRobotTaskWithWatchdog(void *arg) {
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
int killBattery=0;
int cpt=0;
Message * msgSend;
/**************************************************************************************/
/* The task startRobot starts here */
/**************************************************************************************/
Message* p_mess_answer_battery;
Message * msgSend;
int cpt=0;
int killBattery=0;
//Boolean to get the battery
rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
killBatteryBool=0;
rt_mutex_release(&mutex_kill_battery);
rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
cout << "Start robot with watchdog (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
msgSend = robot.Write(robot.StartWithWD());
rt_mutex_release(&mutex_robot);
//boolean to ask battery
rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
killBatteryBool=0;
rt_mutex_release(&mutex_kill_battery);
cout << msgSend->GetID();
cout << ")" << endl;
cout << "Movement answer: " << msgSend->ToString() << endl << flush;
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
robotStarted = 1;
rt_mutex_release(&mutex_robotStarted);
@ -433,17 +435,11 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
while (killBattery==0) {
cpt++;
if(cpt==2){
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(robot.ReloadWD());
rt_mutex_release(&mutex_robot);
cpt=0;
}
rt_task_wait_period(NULL);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot);
WriteInQueue(&q_messageToMon, p_mess_answer_battery);
cout << endl << flush;
rt_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
killBattery=killBatteryBool;
rt_mutex_release(&mutex_kill_battery);
@ -492,6 +488,26 @@ void Tasks::MoveTask(void *arg) {
}
void Tasks::AskBattery(void *arg){
Message* p_mess_answer_battery;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task starts here */
/**************************************************************************************/
while(1){
rt_sem_p(&sem_askBattery, TM_INFINITE);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot);
WriteInQueue(&q_messageToMon, p_mess_answer_battery);
cout << endl << flush;
}
}
/**
* Write a message in a given queue
* @param queue Queue identifier

5
software/raspberry/superviseur-robot/tasks.h
View file

@ -79,6 +79,7 @@ private:
RT_TASK th_startRobotWithoutWatchdog;
RT_TASK th_startRobotWithWatchdog;
RT_TASK th_move;
RT_TASK th_askBattery;
/**********************************************************************/
/* Mutex */
@ -97,6 +98,7 @@ private:
RT_SEM sem_serverOk;
RT_SEM sem_startRobotWithoutWatchdog;
RT_SEM sem_startRobotWithWatchdog;
RT_SEM sem_askBattery;
/**********************************************************************/
/* Message queues */
@ -144,6 +146,9 @@ private:
void AskBattery(void *arg);
/**********************************************************************/
/* Queue services */
/**********************************************************************/

3
software/simulateur/main.cpp
View file

@ -123,7 +123,8 @@ int main(int argc, char const *argv[]) {
print_time(start_time);
printf(" >>> I received a message : %s\n", buffer);
string s = "";
int error = simulate_error();
//int error = simulate_error();
int error = 0;
if (error == 0) {
struct timespec t;
long int e;