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watchdog ajouté avec askbattery en tache conservée

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Romain Vitrat 2020-03-25 00:47:56 +01:00
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# Prerequisites
*.d
*.d
*.dep
# Compiled Object files
*.slo
*.lo
*.o
*.obj
*.crf
*.__i
# Precompiled Headers
*.gch
*.pch
# Compiled Dynamic libraries
*.so
*.dylib
*.dll
# Fortran module files
*.mod
*.smod
# Compiled Static libraries
*.lai
*.la
*.a
*.lib
# Executables
*.exe
*.out
*.app
main
GUI
*.elf
*.hex
# Image rpi
*.img
# Archives
*.zip
*.tar
*.gz
*.bz2
*.xz
*.arc
*.arj
*.7z
*.rar
# Trucs de MDK
*.uvgui*
*.bak
*.axf
# Android
*.apk
/software/raspberry/superviseur-robot/superviseur/dist/
/software/raspberry/testeur/testeur/build/
/software/raspberry/testeur/testeur/dist/
/software/simulateur/build/
/software/simulateur/dist/

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along with this program. If not, see <http://www.gnu.org/licenses/>.
Also add information on how to contact you by electronic and paper mail.
If the program does terminal interaction, make it output a short
notice like this when it starts in an interactive mode:
<program> Copyright (C) <year> <name of author>
This program comes with ABSOLUTELY NO WARRANTY; for details type `show w'.
This is free software, and you are welcome to redistribute it
under certain conditions; type `show c' for details.
The hypothetical commands `show w' and `show c' should show the appropriate
parts of the General Public License. Of course, your program's commands
might be different; for a GUI interface, you would use an "about box".
You should also get your employer (if you work as a programmer) or school,
if any, to sign a "copyright disclaimer" for the program, if necessary.
For more information on this, and how to apply and follow the GNU GPL, see
<http://www.gnu.org/licenses/>.
The GNU General Public License does not permit incorporating your program
into proprietary programs. If your program is a subroutine library, you
may consider it more useful to permit linking proprietary applications with
the library. If this is what you want to do, use the GNU Lesser General
Public License instead of this License. But first, please read
<http://www.gnu.org/philosophy/why-not-lgpl.html>.

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# Dumber
Depot du projet de temps reel 4eme année au departement GEI de l'INSA Toulouse.
## Repertoires
- hardware : contient les plans pour la partie mecanique du robot et de son chargeur, ainsi que les plans de conception des PCB du robot, du chargeur, de l'adaptateur Xbee pour la raspberry et les plans des CAP du robot
- software: rassemble les parties logicielles du robot, du chargeur, les bibliotheques et superviseur coté raspberry et l'interface Web
- doc: contient les sujets de TD et TP
- aruco_markers: Script de generation des tags (aruco) utilisés sur les robots

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*.png
*.jpg

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#!/bin/sh
echo "Generating 20 markers"
example_aruco_create_marker -d=3 --id=1 --ms=100 marker_4X4_1000_1.png
example_aruco_create_marker -d=3 --id=2 --ms=100 marker_4X4_1000_2.png
example_aruco_create_marker -d=3 --id=3 --ms=100 marker_4X4_1000_3.png
example_aruco_create_marker -d=3 --id=4 --ms=100 marker_4X4_1000_4.png
example_aruco_create_marker -d=3 --id=5 --ms=100 marker_4X4_1000_5.png
example_aruco_create_marker -d=3 --id=6 --ms=100 marker_4X4_1000_6.png
example_aruco_create_marker -d=3 --id=7 --ms=100 marker_4X4_1000_7.png
example_aruco_create_marker -d=3 --id=8 --ms=100 marker_4X4_1000_8.png
example_aruco_create_marker -d=3 --id=9 --ms=100 marker_4X4_1000_9.png
example_aruco_create_marker -d=3 --id=10 --ms=100 marker_4X4_1000_10.png
example_aruco_create_marker -d=3 --id=11 --ms=100 marker_4X4_1000_11.png
example_aruco_create_marker -d=3 --id=12 --ms=100 marker_4X4_1000_12.png
example_aruco_create_marker -d=3 --id=13 --ms=100 marker_4X4_1000_13.png
example_aruco_create_marker -d=3 --id=14 --ms=100 marker_4X4_1000_14.png
example_aruco_create_marker -d=3 --id=15 --ms=100 marker_4X4_1000_15.png
example_aruco_create_marker -d=3 --id=16 --ms=100 marker_4X4_1000_16.png
example_aruco_create_marker -d=3 --id=17 --ms=100 marker_4X4_1000_17.png
example_aruco_create_marker -d=3 --id=18 --ms=100 marker_4X4_1000_18.png
example_aruco_create_marker -d=3 --id=19 --ms=100 marker_4X4_1000_19.png
example_aruco_create_marker -d=3 --id=20 --ms=100 marker_4X4_1000_20.png

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\documentclass[11pt,a4paper]{paper}
\usepackage[T1]{fontenc}
\usepackage{graphicx}
\usepackage{amssymb}
\usepackage{amstext}
\usepackage{amsmath}
\usepackage{a4wide,color}
\usepackage[utf8]{inputenc}
\usepackage[frenchb]{babel}
\usepackage{xspace}
\usepackage{anysize}
\usepackage{tabularx}
\usepackage{multirow}
\usepackage{fancybox}
\usepackage{fancyhdr}
\usepackage{bbding}
\usepackage{multicol}
\setlength{\parskip}{1ex plus 0.5ex minus 0.2ex}
\usepackage{color}
\usepackage{float}
\usepackage[toc,page]{appendix}
\usepackage{lscape}
\usepackage{placeins}
\usepackage{listingsutf8}
%\usepackage{listings}
\usepackage{todonotes}
\lstset{% general command to set parameter(s)
basicstyle=\footnotesize, % print whole listing small
keywordstyle=\color{magenta}\bfseries, % underlined bold black keywords
identifierstyle=, % nothing happens
commentstyle=\color{black}, % white comments
stringstyle=\ttfamily, % typewriter type for strings
showstringspaces=false % no special string spaces
}
\lstdefinelanguage{aald}
{morekeywords={system, implementation},
sensitive=false,
morecomment=[l]{//},
morecomment=[s]{/*}{*/},
morestring=[b]",
}
\usepackage[colorlinks=true]{hyperref}
\renewcommand{\appendixtocname}{Annexes}
\renewcommand{\appendixpagename}{Annexes}
\usepackage[normalem]{ulem}
\usepackage{color}
\definecolor{Fond}{gray}{0.7}
\renewcommand{\floatpagefraction}{.99}
\renewcommand{\textfraction}{.01}
\newcommand{\modif}[1]{\textcolor{red}{\uline{#1}}}
\pagestyle{fancy}
\fancyhf{}
\fancyhead[RE,RO]{\thepage}
\fancyhead[LE]{}
\fancyhead[LO]{Programmation et conception de systèmes temps réel -- 4ème année AE et IR}
\fancyfoot[LO]{INSA Toulouse -- \today}
\fancypagestyle{plain}{%
\fancyhf{} % get rid of headers
\renewcommand{\headrulewidth}{0pt} % and the line
}
\newenvironment{maliste}%
{ \begin{list}%
{\ArrowBoldRightStrobe}%
{\setlength{\labelwidth}{30pt}%
\setlength{\leftmargin}{35pt}%
\setlength{\itemsep}{\parsep}}}%
{ \end{list} }
\title{{\Huge Projet De Stijl 2.0}
{\small : Plateforme pour robots mobiles}\\
{\scriptsize Programmation et conception de systémes temps réel -- 4éme année AE/IR}\\
{\scriptsize Institut National des Sciences Appliquées de Toulouse}\\
---\\
Dossier de conception \\
{\large Version 2.0.1 (\today)}\\
{\scriptsize Référent pédagogique : P.-E. Hladik (\texttt{pehladik@insa-toulouse.fr})}\\
---
}
\begin{document}
\maketitle
%\begin{table}[htdp]
%\caption{Suivi des modifications}
%\begin{center}
%\begin{tabular}{|c|c|c|p{8cm}|}
%\hline
%Date & Version & Auteur & Modifications\\
%\hline
%JJ/MM/12 & 0.3.X & P.-E. Hladik& \\
%\hline
%\end{tabular}
%\end{center}
%\label{default}
%\end{table}%
%\newpage
%\tableofcontents
%\newpage
%%%%%%%%%%%%%%%%%%%%%%%%%
\section{Introduction}
%%%%%%%%%%%%%%%%%%%%%%%%%
\label{sec:premier}
Ce document a pour but de vous apprendre à lire un modèle en AADL et les diagrammes d'activité qui décrivent le comportement des threads. Le document présente le résultat d'une conception réalisée à la va-vite. Cette conception ne prend en considération que la mise en place des communications et la gestion des déplacements du robot ce qui correspond aux fonctionnalités 1, 2, 3, 4, 7, 10 et 12 du cahier des charges fonctionnel.
Le code initial qui vous est fourni à la première séance de travaux pratiques correspond à l'implémentation de la conception présentée ici.
Attention, les choix qui ont été faits ne sont pas forcément les meilleurs. Tout ce qui est proposé peut être remis en cause dans la suite du travail. \`A vous d'ajouter, de modifier, de critiquer de manière pertinente cette conception.
%%%%%%%%%%%%%%%%%%%%%%%%%
\section{Diagramme de contexte}
%%%%%%%%%%%%%%%%%%%%%%%%%
La figure~\ref{fig:contexte} présente le superviseur dans son contexte et ses interactions avec les autres composants de la plate-forme.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.6]{figures_pdf/contexte}
\caption{Diagramme de contexte}
\label{fig:contexte}
\end{center}
\end{figure}
\FloatBarrier
La webcam produit des données (\texttt{image}) sous la forme d'un tableau d'octets. Le robot reçoit des ordres (\texttt{ordre}) sous la forme d'une chaîne de caractères et retourne une réponse aussi sous la forme d'une chaîne (\texttt{reponse}). Le moniteur envoi un événement (\texttt{connecter serveur}) pour demander la connexion avec le serveur puis établit une communication bi-directionnelle sous la forme d'une flux d'octets (\texttt{inputStream} et \texttt{outputStream}).
%%%%%%%%%%%%%%%%%%%%%%%%%
\section{Le travail d'un concepteur : l'analyse fonctionnelle}
%%%%%%%%%%%%%%%%%%%%%%%%%
À partir du cahier des charges, le concepteur va analyser chaque fonctionnalité en se demandant quelles sont les données consommées et produites ainsi que les traitement à réaliser. Petit à petit il va ainsi construire l'architecture du programme.
Dans la suite de ce document, nous ne nous intéresserons qu'aux fonctionnalités 1, 2, 3, 4, 7, 10 et 12 présentées dans le cahier des charges fonctionnel. Votre travail consistera à compléter la conception déjà réalisée pour intégrer l'ensemble des fonctionnalités. Vous pouvez modifier tout ce que vous voulez de cette conception.
En analysant la fonctionnalité 1, le concepteur produit au brouillon le dessin suivant. Il décrit dans un rectangle blanc la fonction et dans une note sur fond jaune le comportement de la fonction. La flèche en pointillée représente un évènement.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.5]{figures_pdf/fonc/fonc1}
\end{center}
\end{figure}
\FloatBarrier
Pour intégrer la fonctionnalité 2, le concepteur complète son brouillon avec une nouvelle fonction. Il modifie aussi la première fonction pour que celle-ci produise l'événement {\tt serveur démarré}. L'évènement {\tt ouvrir socket} est produit par le moniteur lorsque l'utilisateur demande la connexion entre le moniteur et le superviseur.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.5]{figures_pdf/fonc/fonc2}
\end{center}
\end{figure}
\FloatBarrier
Les fonctionnalités 3 et 4 (voir dessin ci-dessous) induisent l'ajout du nouvel évènement {\tt connexion établie}. Une file de messages {\tt messageToMon} est aussi introduite. C'est dans cette file que seront postés les messages à envoyer au moniteur. On remarque l'apparition des flux de données-événement {\tt inputStream} et {\tt oututStream} en provenance et à destination du moniteur.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.5]{figures_pdf/fonc/fonc3-4}
\end{center}
\end{figure}
\FloatBarrier
L'ajout de la fonctionnalité 7 conduit à modifier la fonction de réception pour différencier les actions à réaliser en fonction du type des messages reçus. Un nouvel évènement {\tt ouvrir comRobot} est ainsi ajouté pour signaler une demander de mise en service de la communication avec le robot. On remarque aussi que la file de messages {\tt messageToMon} est maintenant utilisée par une fonction pour envoyer au moniteur le message d'acquittement ou d'échec.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.5]{figures_pdf/fonc/fonc7}
\end{center}
\end{figure}
\FloatBarrier
La fonction pour démarrer le robot sans watchdog (fonctionnalité 10) suit le même schéma que le fonctionnalité 7. On remarque cette fois que les flux {\tt ordre} et de {\tt réponse} sont utilisés pour communiquer avec le robot. La file de message {\tt messageToMon} a maintenant deux producteurs.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.5]{figures_pdf/fonc/fonc10}
\end{center}
\end{figure}
\FloatBarrier
La dernière fonctionnalité qui sera traitée dans cette conception introduit deux variables partagées : {\tt mouvement} et {\tt robot démarré}. Le choix fait par le concepteur pour traiter les mouvements consiste à envoyer périodiquement un message de mouvement au robot. Pour cela la fonction lit le mouvement à réaliser dans la variable {\tt mouvement}. Cette variable est mise à jour lorsqu'un message de mouvement est reçu. Cependant, le message ne doit être envoyé que si le robot est démarré, d'où l'ajout de la variable {\tt robot démarré} qui est mise à jour dans la fonction qui démarre le robot.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.5]{figures_pdf/fonc/fonc12}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%%%%%%%%%%%%%
\section{Le travail d'un concepteur : la formalisation}
%%%%%%%%%%%%%%%%%%%%%%%%%
\subsection{Identification des threads}
Après avoir identifié les fonctions de l'application, le concepteur doit préciser quand l'exécution des fonctions se produit. La première étape consiste à considérer chaque fonction comme un thread. Deux questions se posent alors :
\begin{itemize}
\item Quel est le type du thread ? Un thread apériodique (noté par un A dans un rond) est un thread dont l'exécution est contrôlé par des événements alors qu'un thread périodique (noté par la valeur de la période dans un rond) aura une exécution qui revient périodiquement.
\item Quel est la priorité du thread ? Une règle simple pour les threads périodiques est d'attribuer les priorités par ordre décroissant des périodes, c'est-à-dire qu'un thread sera d'autant plus prioritaire que sa période sera petite. Pour les threads apériodiques, le niveau de priorité va dépendre de la criticité des fonctions.\\
\end{itemize}
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.5]{figures_pdf/fonc/thread}
\end{center}
\end{figure}
\FloatBarrier
\subsection{Raffinage}
Une seconde étape consiste à avoir un regard critique sur sa conception, par exemple en se demandant s'il est possible de réunir des threads ensembles. Ici, le thread {\tt Etablissement de la communication avec le moniteur} ne peut être appelé qu'après {\tt démarrer serveur}, il est donc possible de les réunir en un seul thread.
C'est aussi le moment de se demander si toutes les fonctionnalités sont couvertes. Pour cela on reprend chaque fonctionnalité et on vérifie qu'elles sont bien traitées. Ici tout semble correct, bien qu'un doute subsiste pour la gestion des déplacements du robot...
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\subsection{Formalisation}
Jusqu'ici tout a été réalisé au brouillon par le concepteur, il faut donc maintenant passer à une étape de formalisation pour pouvoir partager le travail réalisé et lever toute ambiguité. Pour cela, l'architecture sera décrite en AADL et le comportement des threads par des diagrammes d'activité UML. Le schéma~\ref{fig:AADL} présente le modèle AADL de l'architecture logicielle.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.5]{figures_pdf/fonc/AADL}
\end{center}
\caption{Modèle AADL de l'architecture de l'application}
\label{fig:AADL}
\end{figure}
\FloatBarrier
Ensuite, pour chacun des threads, un diagramme d'activité UML est utilisé pour décrire son comportement. Les diagrammes ont été produits avec \href{https://www.planttext.com}{https://www.planttext.com} et les codes sources sont disponibles en annexe (disponibles numériquement sur la page moodle).
\subsection{Thread th\_server}
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{figures_pdf/activity/th_server}
\end{center}
\caption{Diagramme d'activité du thread th\_server}
\end{figure}
\FloatBarrier
\subsection{Thread th\_sendToMon}
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{figures_pdf/activity/th_sendToMon}
\end{center}
\caption{Diagramme d'activité du thread th\_sendToMon}
\end{figure}
\FloatBarrier
\subsection{Thread th\_receiveFromMon}
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{figures_pdf/activity/th_receiveFromMon}
\end{center}
\caption{Diagramme d'activité du thread th\_receiveFromMon}
\end{figure}
\FloatBarrier
\subsection{Thread th\_openComRobot}
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{figures_pdf/activity/th_openComRobot}
\end{center}
\caption{Diagramme d'activité du thread th\_openComRobot}
\end{figure}
\FloatBarrier
\subsection{Thread th\_startRobot}
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{figures_pdf/activity/th_startRobot}
\end{center}
\caption{Diagramme d'activité du thread th\_startRobot}
\end{figure}
\FloatBarrier
\subsection{Thread th\_move}
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{figures_pdf/activity/th_move}
\end{center}
\caption{Diagramme d'activité du thread th\_move}
\end{figure}
\FloatBarrier
\newpage
%%%%%%%%%%%%%%%%%%%%%%%
\begin{appendices}
%%%%%%%%%%%%%%%%%%%%%%%%%
\section{Diagramme d'activité}
\label{ann:diag_act}
\framebox[\textwidth]{
\begin{minipage}{0.9\textwidth}
{\bf Remarque :} Cette présentation du diagramme d'activité est tirée du \href{http://laurent-audibert.developpez.com/Cours-UML/}{cours mis en ligne} de Laurent Audibert.
Elle ne se veut pas exhaustive, mais simplement présenter les éléments nécessaire pour l'activité concernée par ce cours. De plus des éléments non standardisés sont introduit pour facilité l'expression des besoins.
\end{minipage}
}
\vspace{2mm}
Le diagramme d'activité est un diagramme comportemental d'UML, permettant de représenter le déclenchement d'événements en fonction des états du système et de modéliser des comportements parallélisables (multi-threads ou multi-processus).
Les diagrammes d'activité permettent de spécifier des traitements à priori séquentiels et offrent une vision très proche de celle des langages de programmation impératifs comme C++ ou Java. Il serait utilisé ici dans ce but.
\subsection{N{\oe}uds d'activité}
Une activité modélise un comportement décrit par un séquencement organisé d'unités dont les éléments simples sont les actions. Le flot d'exécution est modélisé par des n{\oe}uds reliés par des arcs (transitions). Le flot de contrôle reste dans l'activité jusqu'à ce que les traitements soient terminés.
Un n{\oe}ud d'activité est un type d'élément abstrait permettant de représenter les étapes le long du flot d'une activité. Il existe plusieurs familles de n{\oe}uds d'activités :
\begin{itemize}
\item les n{\oe}uds d'exécutions,
\item et les n{\oe}uds de contrôle.
\end{itemize}
La figure~\ref{fig:noeuds_act} représente les différents types de n{\oe}uds d'activité.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.6]{figures_pdf/noeud_activite}
\caption{Représentation graphique des n{\oe}uds d'activité}
\label{fig:noeuds_act}
\end{center}
\end{figure}
\FloatBarrier
Le passage d'une activité vers une autre est matérialisé par une transition. Elles sont déclenchées dès que l'activité source est terminée et provoquent automatiquement et immédiatement le début de la prochaine activité à déclencher (l'activité cible). Contrairement aux activités, les transitions sont franchies de manière atomique, en principe sans durée perceptible.
Les transitions spécifient l'enchaînement des traitements et définissent le flot de contrôle. Elles sont représentées graphiquement par un arc entre deux n{\oe}uds.
\subsubsection{N{\oe}uds de contrôle}
Un n{\oe}ud de contrôle est un n{\oe}ud d'activité abstrait utilisé pour coordonner les flots entre les n{\oe}uds d'une activité.
Il existe plusieurs types de n{\oe}uds de contrôle (voir figure~\ref{fig:exe_act}) :
\begin{itemize}
\item n{\oe}ud initial : Un n{\oe}ud initial est un n{\oe}ud de contrôle à partir duquel le flot débute lorsque l'activité enveloppante est invoquée. Un n{\oe}ud initial possède un arc sortant et pas d'arc entrant.
\item n{\oe}ud de fin d'activité : Lorsque l'un des arcs d'un n{\oe}ud de fin d'activité est activé (i.e. lorsqu'un flot d'exécution atteint un n{\oe}ud de fin d'activité), l'exécution de l'activité enveloppante s'achève et tout n{\oe}ud ou flot actif au sein de l'activité enveloppante est abandonné.
\item n{\oe}ud de décision : Un n{\oe}ud de décision est un n{\oe}ud de contrôle qui permet de faire un choix entre plusieurs flots sortants. Il possède un arc entrant et plusieurs arcs sortants. Ces derniers sont généralement accompagnés de conditions de garde pour conditionner le choix. L'utilisation d'une garde [else] est recommandée après un n{\oe}ud de décision car elle garantit un modèle bien formé. En effet, la condition de garde [else] est validée si et seulement si toutes les autres gardes des transitions ayant la même source sont fausses.
\item n{\oe}ud de fusion : Un n{\oe}ud de fusion est un n{\oe}ud de contrôle qui rassemble plusieurs flots alternatifs entrants en un seul flot sortant. Il n'est pas utilisé pour synchroniser des flots concurrents mais pour accepter un flot parmi plusieurs.
\end{itemize}
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.6]{figures_pdf/exe_act}
\caption{Exemple de n{\oe}uds de contrôle}
\label{fig:exe_act}
\end{center}
\end{figure}
\FloatBarrier
\subsection{N{\oe}uds d'exécution}
Un n{\oe}ud d'exécution est un n{\oe}ud d'activité exécutable qui constitue l'unité fondamentale de fonctionnalité exécutable dans une activité. L'exécution d'une action représente une transformation ou un calcul quelconque dans le système modélisé. Les actions sont généralement liées à des opérations qui sont directement invoquées. Un n{\oe}ud d'exécution doit avoir au moins un arc entrant.
Graphiquement, un n{\oe}ud d'exécution est représenté par un rectangle aux coins arrondis (figure~\ref{fig:exe_act}) qui contient sa description textuelle. Cette description textuelle peut aller d'un simple nom à une suite d'actions réalisées par l'activité. UML n'impose aucune syntaxe pour cette description textuelle, on peut donc utiliser une syntaxe proche de celle d'un langage de programmation particulier ou du pseudo-code.
\paragraph{Ajout de sémantique}
Pour faire le lien avec la conception en AADL, nous ajoutons deux actions spécifiques à la gestion des événements. Le caractère \og ? \fg utilisé après le nom d'un événement signifie que l'action est une attente (donc bloquée) sur la réception de cet événement, alors que \og ! \fg signifie sont émission. La figure~\ref{fig:exem_sync} donne un exemple où une activité est en attente (bloquée) de l'événement \texttt{toto} et produit l'événement \texttt{tata}.
Pour les événements portant une donnée nous ferons suivre le symbole de synchronisation par une liste de variables qui reçoivent les données. Par exemple, {\tt toto?var} signifie que l'action est en attente de l'événement {\tt toto} et qu'à la réception la variable {\tt var} aura pour valeur celle transmise.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.6]{figures_pdf/exem_evt}
\caption{Exemple de synchronisation}
\label{fig:exem_sync}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%%%%%%%%%%%%%
\newpage
\section{Le langage AADL}
\label{ann:aadl}
AADL (Architecture Analysis and Design Language) est un langage de description d'architecture pour les systèmes temps réel. Il peut être indifféremment utilisé en avionique, spatial, robotique, etc. Il a été développé suite aux retours d'expérience sur l'utilisation du langage MethaH et a été standardisé sous l'autorité de le division ASD (Avionics System Division) du SAE (International Society for Automotive Engineers).
Une première version du standard AADL (SAE AS5506) a été produite en novembre 2004. Celle courante est la 2.0~\cite{AADL:2009} et date de janvier 2009. Depuis des fournitures de documents annexes et d'outils ont été proposés.
Le langage AADL étant extrêmement riche, il est impossible d'en donner ici une vue exhaustive en quelques pages. Nous ne présentons qu'un sous-ensemble de composants pour ne se focaliser que sur les principaux. Les personnes souhaitant approfondir le sujet peuvent se référer aux notes techniques disponibles sur le site de la SAE ou bien directement accéder au standard.
Le standard~\cite{AADL:2009} est construit sur le concept de modélisation par composant. Un composant est une entité logicielle permettant de faire un calcul ou de stocker des données. Il peut représenter aussi bien une simple fonction qu'une application complète. Un composant peut être simple ou composé, il est alors dit composite. On distingue habituellement l'interface du composant qui permet de décrire les services qu'il fournit ou requière, de son implémentation qui décrit son fonctionnement interne.
AADL permet de décrire aussi bien une architecture logicielle que matérielle et de spécifier le moteur d'exécution en terme de t‚ches concurrentes, de synchronisation et d'allocation. Le standard SAE AADL offre :
\begin{itemize}
\item une spécification du langage avec une syntaxe textuelle ;
\item une sémantique et une représentation graphique ;
\item un profil UML du SAE AADL ;
\item d'une spécification XML/XMI comme format de modèle ;
\item et plusieurs annexes détaillant certains points : formalisation du comportement, définition des interfaces avec le C et Ada, extension au modèle d'erreur, etc.\\
\end{itemize}
\framebox[\textwidth]{
\begin{minipage}{0.9\textwidth}
{\bf Remarque :} La description du langage qui en est donnée ci-après est loin d'être exhaustive et certaines libertés ont été prises pour l'adapter aux besoins pédagogiques.
La suite du document est directement inspirée du \href{http://www.axlog.fr/aadl/presentation\_fr.html}{guide en ligne} fourni par la société Axlog.
\end{minipage}
}
\section{Notion de composant et syntaxe}
La description d'une architecture en AADL consiste en la description de ses composants et leur composition sous forme d'une arborescence. Cette description pouvant être contenue dans des fichiers, une base de données, etc.
Chaque composant appartient à une {\bf catégorie}. Ces catégories sont prédéfinies et se décomposent en :
\begin{itemize}
\item Catégorie matérielle avec les composants : mémoire ({\em memory}) ; périphérique ({\em device}) ; processeur ({\em processor}) ; bus ({\em bus}).
\item Catégorie logicielle avec les composants : donnée ({\em data}) ; sousprogramme ({\em subprogram}) ; thread ({\em thread}) ; groupe de threads ({\em thread group}) ; processus ({\em†processs}).
\item Catégorie composite avec les composants : système ({\em system}), composant abstrait ({\em abstract}).\\
\end{itemize}
\subsection{Types et implémentation}
Chaque composant comprend deux parties. La première, \textbf{le type}, correspond à son interface fonctionnelle, c'est-à-dire ce qui est visible pour les autres composants. La seconde, \textbf{l'implémentation}, décrit son contenu : sous-composants, propriétés, connexions, etc.
Chaque implémentation est associée à un type. À chaque type est associé aucune, une ou plusieurs implémentations. La figure~\ref{fig:type_implementation} donne un exemple de deux types de composants dont le premier est associé à deux implémentations de composants (component implementations). Textuellement, le type est introduit par le mot décrivant le type du composant, alors que l'implémentation est décrite par le type suivi du mot {\em implementation}.
\begin{figure}[htbp]
\begin{center}
\begin{minipage}[c]{.46\linewidth}
\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf}
\begin{lstlisting}
system type1
end type1;
system type2
end type2;
system implementation type1.impl1
end type1.impl1;
system implementation type1.impl2
end type1.impl2;
\end{lstlisting}
\end{minipage}
\caption{Exemple de description de composants}
\label{fig:type_implementation}
\end{center}
\end{figure}
L'intérêt de scinder la description d'un composant en type et implémentation est de bien séparer ces deux points de vue. Décrire le type permet à spécifier l'interface du composant, c'est-à-dire exprimer à quoi il ressemble depuis l'extérieur. Alors que l'implémentation en représente l'intérieur. Dans la pratique, la description du type et de l'implémentation peuvent être faites par des personnes différentes, chacune ayant en charge une étape dans le raffinement de la description de l'architecture, du plus haut niveau jusqu'aux moindres détails.
\subsection{Les propriétés}
Chaque composant est caractérisé par des propriétés pouvant prendre des valeurs. Les propriétés sont prédéfinies, c'est-à-dire qu'elles sont identifiées par un nom, un type et la liste des catégories de composants sur lesquelles elles s'appliquent. Par exemple les {\em threads} disposent de propriétés telles que la période, l'échéance ou la durée d'exécution (voir figure~\ref{fig:ex_prop}).
De nouvelles propriétés et de nouveaux types de propriétés peuvent être définis par l'utilisateur et associés à tout ou partie des catégories de composants. Ce mécanisme de propriétés est un point fort d'AADL en matière d'extensibilité. Gr‚ce à lui, toute notion spécifique au besoin de l'utilisateur peut être prise en compte dans sa description.
Syntaxiquement, les propriétés sont introduites par le mot {\em properties} suivi d'une liste de propriétés séparées par un point virgule. Les valeurs associées à une propriété sont spécifiées à l'aide de "=>".
\begin{figure}[htbp]
\begin{center}
\begin{minipage}[c]{.46\linewidth}
\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf}
\begin{lstlisting}
thread thread1
properties
Period => 15 ms;
Deadline => 10 ms;
end thread1;
\end{lstlisting}
\end{minipage}
\caption{Exemple d'un {\em thred} avec des propriétés sur sa période et son échéance}
\label{fig:ex_prop}
\end{center}
\end{figure}
\subsection{Ports et connexions}
La description des flots de données et de contrôles entre composants se fait par le moyen de {\bf ports} et de {\bf connexions}. Un port est un point d'entrée et de sortie d'un composant, c'est-à-dire une interface par où transitent les données et les événements entre les composants. Une connexion permet de relier deux ports, soit les ports de deux sous-composants, soit le port d'un sous-composant avec le port du composant le contenant. Le type et le sens entre les ports connectés doivent être identiques.
La figure~\ref{fig:connexion_graph} représente graphiquement des ports avec des connexions et la figure~\ref{fig:connexion} en donne sa syntaxe. Le système contient deux {\em process}, eux-même contenant chacun un {\em thread}. Une succession de {\em ports}, représentés par les triangles, et de connexions, représentées par les lignes, établit une communication entre les deux threads.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=.6]{figures_pdf/connexion.pdf}
\caption{Représentation d'un système et de ses sous-composants}
\label{fig:connexion_graph}
\end{center}
\end{figure}
\begin{figure}[htbp]
\begin{center}
\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf}
\begin{minipage}[c]{.46\linewidth}
\begin{lstlisting}
system system1
end system1;
system implementation system1.impl
subcomponents
p1: process process1.impl;
p2: process process2.impl;
connections
cn: data port p1.outport -> p2.inport;
end system1.impl;
process process1
features
outport: out data port;
end process1;
process implementation process1.impl
subcomponents
t1: thread thread1.impl;
connections
cn: data port t1.outport -> outport;
end process1.impl;
process process2
features
inport: in data port;
end process2;
\end{lstlisting}
\end{minipage}
\begin{minipage}[c]{.46\linewidth}
\begin{lstlisting}
process implementation process2.impl
subcomponents
t2: thread thread2.impl;
connections
cn: data port inport -> t2.inport;
end process2.impl;
thread thread1
features
outport: out data port;
end thread1;
thread implementation thread1.impl
end thread1.impl;
thread thread2
features
inport: in data port;
end thread2;
thread implementation thread2.impl
end thread2.impl;
\end{lstlisting}
\end{minipage}
\caption{Exemple de description de connexions}
\label{fig:connexion}
\end{center}
\end{figure}
\section{Outils}
Différentes outils existent pour manipuler le langage AADL. En particulier, l'atelier de développement ouvert TOPCASED~\cite{topcased} fournit un éditeur textuel et graphique du langage, ADELE. De même, OSATE est un outil pour vérifier la syntaxe d'une description AADL. Cependant, ces outils ne sont pas très robuste ni \og user friendly\fg.
\section{Description des principaux composants}
\framebox[\textwidth]{
\begin{minipage}{0.9\textwidth}
{\bf Remarque :} Les principaux composants et éléments de description AADL utilisés pour la conception dans le cadre des TP sont énumérés dans les sections suivantes. Nous nous limitons volontairement à un sous-ensemble et ne respectons pas certaines règles imposées par le standard afin d'en simplifier son utilisation.
Nous nous limitons aussi à l'expression graphique du langage. Nous ne ferons donc pas de distinction entre type et implémentation et les propriétés seront portées sous forme d'annotations sur les composants.
\end{minipage}
}
\subsection{System}
\paragraph{Définition} Un {\em system} représente l'assemblage des composants logiciels d'une l'application et de sa plate-forme d'exécution.
\paragraph{Règles syntaxiques} Un {\em system} peut contenir les déclaration de {\em data}, de {\em port} et de {\em thread}\footnote{Cela n'est pas vrai dans le standard, un système contient normalement des {\em processes} qui contiennent des {\em threads}}.
\begin{figure}[h]
\begin{center}
\includegraphics[scale=.6]{figures_pdf/system.pdf}
\caption{Représentation graphique d'un système}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%%%%%%%%
\newpage
\subsection{Thread}
\paragraph{Définition} Un {\em thread} modélise une activité concurrente, c'est-à-dire une unité ordonnançable qui peut être exécutée en concurrence avec un autre {\em thread}. Chaque {\em thread} est représenté par un flot de contrôle séquentiel qui exécute les instructions d'une image binaire produite par un code source. Un thread peut être activé ({\em dispatch}), c'est-à-dire que son exécution est provoquée par un événement qui peut être asynchrone ou périodique.
\paragraph{Règles syntaxiques} Un {\em thread} peut contenir des déclarations de {\em port}, de {\em requires data access}, et contenir des {\em data}.
\paragraph{Exécution} Un {\em thread} s'exécute à la suite d'un {\em disptach}. Un tel événement peut se produire périodiquement ou suite à un événement. Dans le cas périodique, le {\em thread} ré-exécute régulièrement le code qui lui est associé. Dans le cas d'un {\em dispatch} sur événement, le code peut faire référence à une attente de cet événement.
Quand le {\em thread} termine une exécution, il passe dans un état d'attente du prochain {\em dispatch}. Si un événement provoquant un dispatch est en attente, le {\em thread} commence immédiatement une exécution. Les événements de {\em dispatch} sur un événement peuvent être en attente.
\paragraph{Propriétés} Un {\em thread} aura une propriété décrivant son type d'activation ainsi qu'un niveau de priorité. Dans le cas périodique, une propriété indiquant la période sera ajoutée.
\begin{center}
\begin{minipage}[c]{.46\linewidth}
\lstset{inputencoding=utf8/latin1}
\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, with, not, aadlstring},emphstyle=\textbf}
%\lstset{numbers=left, numberstyle=\tiny, stepnumber=1, numbersep=10pt,numberblanklines= false}
\begin{lstlisting}
- - Propri\'et\'es liées \`a l'activation
Dispatch_Protocol: {Periodic | Aperiodic }
Period: time
- - Propriété liée à l'ordonnancement
Priority: integer
\end{lstlisting}
\end{minipage}
\end{center}
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=.6]{figures_pdf/thread.pdf}
\caption{Représentation graphique d'un {\em thread}}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\subsection{Data}
\paragraph{Définition}
Un composant de type {\em data} représente une donnée qui peut être accessible et partagée par d'autres composants, ce qui est modélisé par un {\em requires data access}. L'accès concurrent à la donnée partagée est coordonnée par le protocole de partage spécifié par la propriété {\tt Concurrency\_Control\_Protocol} du composant de type {\em data}. Un {\em thread} est considéré comme étant dans une section critique quand il a accès au composant de type {\em data}.
\paragraph{Règles syntaxiques} Un {\em data} peut contenir des déclarations de {\em subprogram access} et les propriétés associées.\\
\paragraph{Propriétés} Un {\em data} est décrit par son type ainsi que par son protocole d'accès s'il est partagé.
\begin{center}
\begin{minipage}[c]{.8\linewidth}
\lstset{inputencoding=utf8/latin1}
\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port},emphstyle=\textbf}
\begin{lstlisting}
- - Type de la donnée
Type_Source_Name : string
- - Protocole d'accès à la donnée
Concurrency_Control_Protocol : { Maximum_Priority | Priority_Inheritance |
Priority_Ceiling | Spin_Lock | Semaphore}
\end{lstlisting}
\end{minipage}
\end{center}
Un ensemble de services standards est fourni pour accéder au {\em data}. Les services {\tt Read\_Data(Data)} et {\tt Write\_Data(Data,Value)} représentent des interfaces pour les fonctions qui réalisent une lecture et écriture de la données du {\em data}. Ces fonctions commencent toujours par une prise de la ressource et se termine par sa libération. La gestion de l'accès concurrent se fait suivant le protocole spécifié. Il est bien sûr possible de définir d'autres services dédiés.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=.6]{figures_pdf/data.pdf}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%
\subsection{Ports}
\paragraph{Définition} Les {\em ports} sont les points de connexion entre les différents composants qui peuvent être utilisés pour le transfère du contrôle et des données entre eux. Les {\em ports} sont directionnels, c'est-à-dire qu'un port en sortie ({\em output}) est connecté à un port en entrée ({\em input}). Les ports peuvent passés des données, des événements ou les deux. Les données transférées par les ports sont typées. Du point de vue du code source, les données des {\em ports} sont accesibles comme des variables.
Trois catégories de {\em ports} sont distinguées :
\begin{itemize}
\item Les {\em event data ports} sont les {\em ports} à travers lesquels des données sont envoyées et reçues. L'arrivée d'une donnée peut provoquer un événement chez le récepteur. Les données peuvent être mise dans une file. Un {\em event data port} représente les files de messages.
\item Les {\em data ports} sont des {\em event data ports} avec une file de taille égale à un pour laquelle seule la dernière valeure est conservée ({\em blackboard}). Par défaut, l'arrivée d'une donnée ne cause pas d'activité. Les {\em data ports} représentent les {\em ports} sans file d'attente qui communiquent des informations, tels que des flux qui sont échantillonnés.
\item Les {\em event ports} sont des {\em event data ports} sans contenu de message. Les {\em event ports} représentent des événement discrets dans l'environnement physique, tel que l'appui sur un bouton, une interruption d'horloge ou un événement logique discret comme une alarme.
\end{itemize}
Les {\em ports} sont directionnels. Un {\em out port} représente une sortie produite par un émetteur, et un {\em in port} représente une entrée requise par un récepteur.
\paragraph{Règles syntaxiques} Les {\em ports} peuvent être déclarés dans les types des {\em threads} et {\em system}.
\paragraph{Propriétés} \`A un port est associé au type de données qu'il transporte ainsi que la taille de sa file d'attente et le protocole utilisé pour gérer la file.
\begin{center}
\begin{minipage}[c]{.72\linewidth}
\lstset{inputencoding=utf8/latin1}
\lstset{emph={system, end, implementation, process, processor, thread, subcomponents, properties, features, reference, applies, to, connections, features, requires, data, access, System, offset, end, behavior, res, preemptable, allocation, task, policy, is, action, period, deadline, resources, tasks, in, out, event, with, not, port, enumeration, aadlstring, aadlinteger},emphstyle=\textbf}
\begin{lstlisting}
- - Taille de la file de messages, 1 par défaut
Queue_Size: aadlinteger 0 .. Max_Queue_Size => 1
\end{lstlisting}
\end{minipage}
\end{center}
Les {\em event} et {\em event data ports} ont par défaut une file associée avec une taille de 1 qui peut être explicitement changée en modifiant la propriété {\tt Queue\_size}. Les propriétés {\tt Queue\_Size} et {\tt Queue\_Processing\_Protocol} spécifient le comportement de la file.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=.6]{figures_pdf/ports.pdf}
\caption{Représentation graphique des {\em ports}}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%
\subsection{Connexions}
\paragraph{Définition} Une connexion est un lien orienté entre les {\em features} de deux composants qui représente les échanges de données et de contrôle entres les composants. Cela peut être la transmission de contrôle et de données entre des ports de différents {\em threads} ou entre des {\em threads} et un {\em data}.
\paragraph{Règles syntaxiques} Une connexion doit contenir au moins une source et une destination et respecter le sens de communication des {\em ports}.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=.6]{figures_pdf/connexion2.pdf}
\caption{Représentation graphique des connexions}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%
\newpage
\section{Code source des schémas d'activité}
\begin{multicols}{2}
\subsection{Thread th\_server}
{\scriptsize
\begin{verbatim}
@startuml
skinparam monochrome true
start
:status = monitor.Open();
if (status) then (failed)
:print("Unable to start server");
stop
else (succeed)
:monitor.AcceptClient();
:serverOk!;
stop
endif
@enduml
\end{verbatim}}
\subsection{Thread th\_sendToMon}
{\scriptsize
\begin{verbatim}
@startuml
skinparam monochrome true
start
:serverOK?;
while ()
:messageToMon?msg;
:monitor.Write(msg);
endwhile
stop
@enduml
\end{verbatim}
}
\subsection{Thread th\_receiveFromMon}
{\scriptsize
\begin{verbatim}
@startuml
skinparam monochrome true
start
:serverOk?;
while ()
:msgRcv = monitor.Read();
if (msgRcv.CompareID(MESSAGE_MONITOR_LOST)) then (true)
stop
else (false)
if (msgRcv.CompareID(MESSAGE_ROBOT_COM_OPEN)) then (true)
:openComRobot!;
else (false)
if (msgRcv.CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) then (true)
:startRobot!;
else (false)
if (msgRcv.CompareID(MESSAGE_ROBOT_GO_FORWARD
|| msgRcv.CompareID(MESSAGE_ROBOT_GO_BACKWARD
|| msgRcv.CompareID(MESSAGE_ROBOT_GO_LEFT
|| msgRcv.CompareID(MESSAGE_ROBOT_GO_RIGHT
|| msgRcv.CompareID(MESSAGE_ROBOT_STOP)) then (true)
:move = msg.GetId();
endif
endif
endif
endif
endwhile
stop
@enduml
\end{verbatim}
}
\subsection{Thread th\_openComRobot}
{\scriptsize
\begin{verbatim}
@startuml
skinparam monochrome true
start
while ()
:openComRobot?;
:err = robot.Open();
if (err) then (robot_ok)
:msgSend = new Message(MESSAGE_ANSWER_ACK);
else
:msgSend = new Message(MESSAGE_ANSWER_NACK);
endif
:messageToMon!msgSend;
endwhile
stop
@enduml
\end{verbatim}
}
\subsection{Thread th\_openStartRobot}
{\scriptsize
\begin{verbatim}
@startuml
skinparam monochrome true
start
while ()
:startRobot?;
:msgSend = robot.Write(new Message(MESSAGE_ROBOT_START_WITH_WD));
:messageToMon!msgSend;
if (msgSend->getId()) then (MESSAGE_ANSWER_ACK)
:robotStarted = true;
endif
endwhile
stop
@enduml
\end{verbatim}
}
\subsection{Thread th\_move}
{\scriptsize
\begin{verbatim}
@startuml
skinparam monochrome true
start
:start_period(100 ms);
while ()
:wait_next_period();
if (robotStarted) then (true)
:robot.Wirte(new Message(move));
endif
endwhile
stop
@enduml
\end{verbatim}
}
\end{multicols}
\end{appendices}
\bibliographystyle{plain}
\bibliography{biblio}
\end{document}

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\fancyhead[LE]{}
\fancyhead[LO]{Programmation et conception de systémes temps réel -- 4éme année AE/IR}
\fancyfoot[LO]{INSA Toulouse — P.-E. Hladik}
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\title{{\Huge Projet De Stijl 2.0}
{\small : Plateforme pour robots mobiles}\\
{\scriptsize Programmation et conception de systémes temps réel -- 4éme année AE/IR}\\
{\scriptsize Institut National des Sciences Appliquées de Toulouse}\\
---\\
Guide des outils de développement \\
{\large Version 1.0.1 (\today)}\\
{\scriptsize Référent pédagogique : P.-E. Hladik (\texttt{pehladik@insa-toulouse.fr})}\\
{\scriptsize Référents plateforme : S. Di Mercurio (\texttt{dimercur@insa-toulouse.fr})}\\
---
}
\begin{document}
\maketitle
%%%%%%%%%%%%%%%%%%%%
\section{Configurer Netbeans pour C/C++}
\label{sec:git}
%%%%%%%%%%%%%%%%%%%%
Depuis la version 11 de Netbeans, il est nécessaire que chaque utilisateur configure son environnement avec le plugin C/CC++. Pour cela, il faut :
\begin{itemize}
\item ouvrir le menu \og Tools > Plugins \fg
\item aller dans l'onglet \og Settings \fg,
\item cocher \og Netbeans 8.2 plugins Portal \fg,
\item aller dans l'onglet \og Available \fg et rafraichir,
\item puis choisir C/C++ et suivre le guide...
\end{itemize}
%%%%%%%%%%%%%%%%%%%%
\section{Code initial du projet}
\label{sec:git}
%%%%%%%%%%%%%%%%%%%%
Le code du projet est disponible sur un dépôt git hébergé sur GitHub. Pour le récupérer, placer vous le répertoire cible et exécuter la commande\\ \indent\indent {\tt git clone https://github.com/INSA-GEI/dumber.git}\\
Tout le code relatif au projet est disponible, cependant vous n'aurez besoin que des codes présents dans les répertoires :
\begin{itemize}
\item {\tt ./dumber/software/raspberry/superviseur-robot} : ce répertoire contient un projet Netbeans avec l'ensemble du code source pour le projet initial,
\item {\tt ./dumber/software/monitor/monitor} : ce répertoire contient un projet Mono contenant l'ensemble du code source pour le moniteur.\\
\end{itemize}
Le répertoire {\tt superviseur-robot} est constitué des fichiers suivants :
\begin{itemize}
\item {\tt /destijl\_init/main.cpp} qui contient le main de l'application et lance la création des objets et leur exécution,
\item {\tt /destijl\_init/src/tasks.h} qui contient l'entête des différentes fonctions,
\item {\tt /destijl\_init/src/tasks.cpp} qui contient l'implémentation des fonctions de création des objets (tâches, sémaphores, mutex, etc.) ainsi que les fonctions de traitement.
\end{itemize}
%%%%%%%%%%%%%%%%%%%%
\section{Compilation d'une application distante}
%%%%%%%%%%%%%%%%%%%%
L'application étant sur une \raspi, il vous faut compiler le programme pour cette architecture. Nous vous proposons d'utiliser Netbeans pour écrire votre code et faire la compilation distante. Cela signifie que votre code est stocké sur votre compte INSA, que vous éditez le code sur la machine de TP, que ce code est ensuite automatiquement chargé sur la \raspi puis compilé (Netbeans permet de faire tout cela).
Pour commencer, lancez Netbeans et ouvrez le projet {\tt superviseur-robot}.
Avant de compiler, il vous faut configurer la cible sur laquelle la compilation va se faire:
\begin{enumerate}
\item Cliquez droit sur le projet et choisir {\tt Properties},
\item Allez dans l'onglet {\tt Build},
\item Choisir {\tt ...} pour {\tt Build Host},
\item Cliquez sur {\tt Add},
\item Remplir {\tt Hostname} avec {\tt 10.105.1.x} l'adresse de la \raspi,
\item Cliquez {\tt Next},
\item Saisir {\tt pi} pour le {\tt login},
\item Cliquez {\tt Next},
\item Attendre l'ouverture de la communication,
\item Saisir {\tt insa} comme mot de passe,
\item Sélectionner {\tt SFTP} pour {\tt Access project files via},
\item Cliquez {\tt Finish},
\item Cliquez {\tt OK},
\item Cliquez {\tt Apply},
\item Cliquez {\tt OK}.
\end{enumerate}
Pour compiler, il suffit ensuite de cliquer sur l'icône en forme de marteau. Vous pourrez voir dans le terminal les étapes de compilation qui commencent par le transfert des fichiers suivi de la compilation proprement dite.
{\bf Remarque} : la première compilation est un peu longue, mais devrait ensuite se fluidifier avec la compilation incrémentale.
%%%%%%%%%%%%%%%%%%%%
\section{Exécution du superviseur}
\label{sec:utilisation}
%%%%%%%%%%%%%%%%%%%%
Pour exécuter l'application sur le superviseur, il faut avoir mis en place un terminal distant (voir ci-dessous) puis démarrer l'exécution avec la commande {\tt sudo ./path/app} où {\tt path} est le chemin du répertoire où se trouve l'application et {\tt app} est le nom de votre application. Attention les droits {\tt sudo} sont nécessaires pour des questions d'accès à certains services Xenomai de gestion de la mémoire.
Si vous utilisez Netbeans, le répertoire dans lequel est compilée l'application se trouve dans l'arboressence commençant par {\tt .netbeans} (attention au "." au début). Il faut descendre dans cette arboressence jusqu'à une bifurcation, puis choisir le répertoire {\tt dist} et aller jusqu'au bout. L'application se trouve au bout de cette branche.
%%%%%%%%%%%%%%%%%%%%
\section{Mise en place d'un terminal distant avec la \raspi}
\label{sec:ssh}
%%%%%%%%%%%%%%%%%%%%
Pour se connecter à la \raspi, vous aurez besoin de créer un accès via ssh. Pour cela, depuis un PC d'une salle informatique utilisez la commande :\\ \indent\indent{\tt ssh pi@10.105.1.x}\\
avec {\tt x} le numéro sur le boitier de la \raspi.
Le mot de passe est : insa.
%%%%%%%%%%%%%%%%%%%%
\section{Exécution du moniteur}
\label{sec:utilisation}
%%%%%%%%%%%%%%%%%%%%
Pour exécuter le moniteur, il suffit depuis votre PC de travail de se placer dans le répertoire {\tt ./dumber/software/monitor/monitor} et de lancer {\tt ./monitor}.
{\bf Attention} : avant de lancer la première fois l'application, il vous faut ouvrir l'environnement de développement MonoDevelop et ouvrir le projet {\tt ./dumber/software/monitor/monitor} et l'exécuter (cela recompile le projet et permet de faire les liens avec les librairies de votre PC). Cette étape ne sera plus à faire par la suite.
%%%%%%%%%%%%%%%%%%%%
\section{Comprendre la structuration du code}
\label{sec:code}
%%%%%%%%%%%%%%%%%%%%
L'ensemble du code du projet initial est contenu dans le répertorie {\tt superviseur-robot}. Les bibliothèques de traitement sont disponibles dans le repertoire {\tt lib}. Vous n'aurez pas à modifier ces bibliothèques, par contre vous devrez les utiliser. La documentation est directement écrite dans le code source.
Les seuls fichiers que vous allez avoir à modifier sont les fichiers {\tt tasks.h} et {\tt tasks.cpp}. La classe {\tt Tasks} a pour attributs privés l'ensemble des structures constituant l'application (tâches, mutex, sémarphores, ressources, etc.). Les fonctions de traitement associées aux tâches sont déclarées comme des méthodes privées de {\tt Tasks}.
La classe {\tt Tasks} propose quatre méthodes publiques :
\begin{itemize}
\item {\tt Init()} qui crée les structures de l'application,
\item {\tt Run()} qui lance les tâches,
\item {\tt Stop()} qui termine les tâches,
\item {\tt Join()} qui suspend l'exécution du {\tt main}.\\
\end{itemize}
Pour ajouter des structures à l'application, il suffit de les déclarer dans le fichier {\tt tasks.h} puis de s'assurer qu'elles sont bien instanciées dans les méthodes adéquates de {\tt tasks.cpp}. Pour une tâche, il faut en plus déclarer une nouvelle méthode privée dans {tasks.h} et fournir son implémentation dans {tasks.cpp}. Cette nouvelle méthode sera le point d'entrée de la tâche.
Toute la documentation de Xenomai se trouve en ligne (attention c'est Xenomai 3) et nous utilisons l'\href{https://xenomai.org/documentation/xenomai-3/html/xeno3prm/group__alchemy.html}{API alchemy}.
\end{document}

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% Description du contenu du rapport à rendre pour l'UF temps réel en 4AE et 4IR
% Auteur : P.-E. Hladik
% Institut : INSA de Toulouse
\documentclass[11pt, a4paper]{paper}
\usepackage{a4wide,color}
\usepackage[utf8]{inputenc}
\usepackage[T1]{fontenc}
\usepackage[frenchb]{babel}
\usepackage{graphicx}
\usepackage{amssymb}
\usepackage{hyperref}
\usepackage{amstext}
\usepackage{amsmath}
\usepackage[dvipsnames]{xcolor}
\usepackage{placeins}
\newcounter{cptreq}
\usepackage{framed}
\title{{\Huge Rapport de projet De Stijl 2.0}\\
{\large version \today}\\
---\\
}
\author{\color{blue}{Mettez ici vos noms et les parties sur lesquelles vous avez travaillées :}\\
\color{blue}{conception, robot, vidéo, mission, intégration, rédaction du compte-rendu}\\
\color{blue}{Exemple : P.-E. Hladik (conception, robot, rédaction du compte-rendu)}
}
\begin{document}
%%%%%%%%%%%%%%
% PAGE DE GARDE
\maketitle
{\color{red}
\begin{framed}
\begin{center}{\bf\Large --- Ce qu'il faut faire --- } \end{center}
{\bf Remplacez tous les textes en bleu et supprimer les textes en rouge}\\
{\bf Le rapport est à rendre en pdf et à déposer sur moodle avant le 31 mars 2019 23h59:
\url{https://moodle.insa-toulouse.fr/mod/assign/view.php?id=33071}}\\
{\bf Vous devez \underline{aussi} rendre les fichiers {\tt tasks.h} et {\tt tasks.cpp}.}\\
Vous pouvez utiliser word ou un autre logiciel d'édition pour rédiger ce rapport, par contre vous devez {\bf impérativement respecter la structure ci-après et le rendre au format pdf}.\\
Critères d'évaluation :
\begin{itemize}
\item Qualité rédactionnelle,
\item Exhaustivité et justesse des règles de codage,
\item Qualité de la conception (clarté, respect de la syntaxe, exhaustivité, justesse),
\item Qualité des explications,
\item Respect des règles dans la production du code.\\
\end{itemize}
Compétences évaluées :
\begin{itemize}
\item rédaction et communication sur un dossier de conception,
\item concevoir une application concurrente temps réel,
\item analyser une conception,
\item passer d'un modèle de conception à une implémentation,
\item écriture de code et utilisation de primitives au niveau système.
\end{itemize}
\end{framed}
}
%%%%%%%%%%%%%%
% DEBUT DU RAPPORT
\newpage
%%%%%%%%%%%%%%
% CONCEPTION
\section{Conception}
{\color{red} Mettez dans cette partie tous les éléments de votre conception en particulier vos diagrammes AADL (vue globale du système) et les diagrammes d'activité (détails des threads). Cette partie doit être auto-suffisante pour comprendre votre application.
Pour faciliter la lecture des schémas, vous allez présenter votre conception en trois parties, l'une focalisée sur la communication entre le moniteur et le superviseur, la seconde consacrée au traitement vidéo et la troisième au contrôle du robot.
Si vous le souhaitez, au lieu de dessiner vos diagrammes sous un éditeur, vous pouvez joindre un scan de vos schémas — ils doivent être lisibles et propres.}
% VUE GENERAL DU SYSTEME
\subsection{Diagramme fonctionnel général}
{\color{red} Mettez ici un diagramme fonctionnel qui présente les principaux blocs de votre conception. Pour cela, inspirez vous du diagramme ci-dessous (fig.~\ref{fig:diag_fonc_gen}) en indiquant pour chaque groupe de threads les données et ports partagés. La figure~\ref{fig:diag_fonc_gen} a été réalisée à partir du document de conception. {\bf Vous devez absolument conserver le découpage en trois groupes de threads ({\tt th\_group\_gestion\_moniteur}, {\tt th\_group\_vision}, {\tt th\_group\_gestion\_robot}).}}
\begin{figure}[htbp]
\begin{center}
{\includegraphics[scale=.5]{./figures-pdf/diag_fonc_gen}}
{\caption{Diagramme fonctionnel du système}}
\end{center}
\label{fig:diag_fonc_gen}
\end{figure}
\FloatBarrier
% DIAGRAMME FONCTIONNEL GT MONITEUR
\subsection{Groupe de threads gestion du moniteur}
{\color{red}Placez ici :
\begin{itemize}
\item le diagramme fonctionnel en AADL décrivant le groupe de threads de gestion du moniteur (voir exemple de la figure~\ref{fig:diag_fonc_moniteur} réalisée à partir du dossier de conception),
\item remplir le tableau~\ref{tab:gt_moniteur} pour expliquer le rôle de chacun des threads,
\item les diagrammes d'activité de chaque thread de ce groupe.
\end{itemize}
Décrivez tous les éléments (paramètres, variables, etc.) qui vous semblent pertinents pour comprendre les diagrammes.}
% DIAGRAMME FONCTIONNEL GT MONITEUR
\subsubsection{Diagramme fonctionnel du groupe gestion du moniteur}
{\color{red} Exemple de diagramme fonctionnel pour le groupe de thread de gestion du moniteur. Mettez à jour ce diagramme avec votre conception.}
\begin{figure}[htbp]
\label{fig:diag_fonc_moniteur}
\begin{center}
{\includegraphics[scale=.5]{./figures-pdf/diag_fonc_moniteur}}
{\caption{Diagramme fonctionnel du groupe de threads gestion du moniteur}}
\end{center}
\end{figure}
\FloatBarrier
% DESCRIPTION THREADS GT MONITEUR
\subsubsection{Description des threads du groupe gestion du moniteur}
{\color{red} Remplissez le tableau ci-dessous pour expliquer le rôle de chaque thread et donner son niveau de priorité.}
\begin{table}[htp]
\caption{Description des threads du groupe {\tt th\_group\_gestion\_moniteur}}
\begin{center}
\begin{tabular}{|p{3cm}|p{8.5cm}|p{2cm}|}
\hline
\bf Nom du thread & \bf Rôle & \bf Priorité \\
\hline
\hline
\color{blue}tCommuniquer & \color{blue}Prend en charge les messages entrants depuis le moniteur & \color{blue}25\\
\hline
\color{blue}tEnvoyer & \color{blue}Envoi l'ensemble des messages du superviseur au moniteur & \color{blue}30\\
\hline
\color{blue}... & \color{blue}... & \color{blue}...\\
\hline
\end{tabular}
\end{center}
\label{tab:gt_moniteur}
\end{table}%
% DIAGRAMMES D'ACTIVITE GT MONITEUR
\subsubsection{Diagrammes d'activité du groupe gestion du moniteur}
{\color{red}Décrivez le comportement de chacun de vos threads avec des diagrammes d'activité. Apportez les explications qui vous semblent nécessaires pour comprendre votre conception. A titre d'exemple les diagrammes fonctionnels tirés du document de conception sont remis.}
\begin{figure}[htbp]
\label{fig:act_communiquer}
\begin{center}
{\includegraphics[scale=.3]{./figures-pdf/th_receiveFromMon.png}}
{\caption{Diagramme d'activité du thread {\tt th\_receiveFromMon}}}
\end{center}
\end{figure}
\begin{figure}[htbp]
\label{fig:act_envoyer}
\begin{center}
{\includegraphics[scale=.3]{./figures-pdf/th_sendToMon}}
{\caption{Diagramme d'activité du thread {\tt th\_sendToMon}}}
\end{center}
\end{figure}
\begin{figure}[htbp]
\label{fig:act_envoyer}
\begin{center}
{\includegraphics[scale=.3]{./figures-pdf/th_server}}
{\caption{Diagramme d'activité du thread {\tt th\_server}}}
\end{center}
\end{figure}
\FloatBarrier
% DIAGRAMME FONCTIONNEL GT VISION
\subsection{Groupe de threads vision}
% DIAGRAMME FONCTIONNEL GT VISION
\subsubsection{Diagramme fonctionnel du groupe vision}
{\color{blue} Ajoutez le diagramme fonctionnel du groupe de threads de vision.}
% DESCRIPTION THREADS GT VISION
\subsubsection{Description des threads du groupe vision}
{\color{red} Remplissez le tableau ci-dessous pour expliquer le rôle de chaque thread et donner son niveau de priorité.}
\begin{table}[htp]
\caption{Description des threads du groupe {\tt th\_group\_vision}}
\begin{center}
\begin{tabular}{|p{3cm}|p{8.5cm}|p{2cm}|}
\hline
\bf Nom du thread & \bf Rôle & \bf Priorité \\
\hline
\hline
\color{blue}... & \color{blue}... & \color{blue}...\\
\hline
\end{tabular}
\end{center}
\label{tab:gt_moniteur}
\end{table}%
\FloatBarrier
% DIAGRAMMES D'ACTIVITE GT VISION
\subsubsection{Diagrammes d'activité du groupe vision}
{\color{blue}Décrivez le comportement de chacun de vos threads avec des diagrammes d'activité. Apportez les explications qui vous semblent nécessaires pour comprendre votre conception.}
% DIAGRAMME FONCTIONNEL GT ROBOT
\subsection{Groupe de threads gestion du robot}
% DIAGRAMME FONCTIONNEL GT ROBOT
\subsubsection{Diagramme fonctionnel du groupe gestion robot}
{\color{blue} Ajoutez le diagramme fonctionnel du groupe de threads de gestion du robot.}
% DESCRIPTION THREADS GT ROBOT
\subsubsection{Description des threads du groupe gestion robot}
{\color{red} Remplissez le tableau ci-dessous pour expliquer le rôle de chaque thread et donner son niveau de priorité.}
\begin{table}[htp]
\caption{Description des threads du groupe {\tt th\_group\_gestion\_robot}}
\begin{center}
\begin{tabular}{|p{3cm}|p{8.5cm}|p{2cm}|}
\hline
\bf Nom du thread & \bf Rôle & \bf Priorité \\
\hline
\hline
\color{blue}... & \color{blue}... & \color{blue}...\\
\hline
\end{tabular}
\end{center}
\label{tab:gt_moniteur}
\end{table}%
\FloatBarrier
% DIAGRAMMES D'ACTIVITE GT ROBOT
\subsubsection{Diagrammes d'activité du groupe robot}
{\color{blue}Décrivez le comportement de chacun de vos threads avec des diagrammes d'activité. Apportez les explications qui vous semblent nécessaires pour comprendre votre conception.}
%%%%%%%%%%%%%%%
% ANALYSE ET VALIDATION
\section{Analyse et validation de la conception}
{\color{red}Pour chacune des fonctionnalités attendues, indiquez si elle a été réalisée. Ajoutez d'éventuelles remarques de conception si le fonctionnement n'est pas exactement celui attendu et justifiez le respect des propriétés temporelles. Vous n'êtes pas obligé de répondre à ces éléments pour les fonctionnalités réalisées dans la conception préliminaire (ces fonctionnalités sont indiquées dans la suite par un astérisque). Si vous ne souhaitez pas apporter de détails supplémentaires pour ces fonctionnalités, supprimez les de la liste ci-dessous.}
{\color{gray}
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq *}
\paragraph{Description :} Le lancement du serveur doit être réalisé au démarrage du superviseur. En cas d'échec du démarrage du serveur, un message textuel doit être affiché sur la console de lancement de l'application. Ce message doit signaler le problème et le superviseur doit s'arrêter.
\paragraph{\color{black}Réalisation :} {\color{blue} Fait en partie. La fonctionnalité est impléméntée sauf pour l'arrêt suite à l'échec de démarrage du serveur. L'implémentation actuelle stoppe la tâche en charge du démarrage du serveur, mais pas l'ensemble de l'application. Après discussion avec le client, la version actuelle est suffisante.}
}
%%%
{\color{gray}
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq *}
\paragraph{Description :} La connexion entre le moniteur et le superviseur (via le socket) doit être établie suite à la demande de connexion de l'utilisateur.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
}
%%%
{\color{gray}
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq *}
\paragraph{Description :} Tous les messages envoyés depuis le moniteur doivent être réceptionnés par le superviseur.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq *}
\paragraph{Description :} L'application superviseur doit être capable d'envoyer les messages au moniteur (via le serveur) avec un délai d'au plus 10~ms.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} Le superviseur doit détecter la perte de communication avec le moniteur. En cas de perte de la communication un message doit être affiché sur la console de lancement du superviseur.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} En cas de perte de communication entre le superviseur et moniteur, il faut stopper le robot, la communication avec le robot, fermer le serveur et déconnecter la caméra afin de revenir dans le même état qu'au démarrage du superviseur.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
{\color{gray}
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq *}
\paragraph{Description :} Dès que la communication avec le moniteur est en place, la communication entre le superviseur et le robot doit être ouverte. Si la communication est active, il faut envoyer un message d'acquittement au moniteur. En cas d'échec, un message le signalant est renvoyé au moniteur.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} La communication entre le robot et le superviseur doit être surveillée par un mécanisme de compteur afin de détecter une perte du médium de communication.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} Lorsque la communication entre le robot et le superviseur est perdue, un message spécifique doit être envoyé au moniteur. Le système doit fermer la communication entre le robot et le superviseur et se remettre dans un état initial permettant de relancer la communication.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
{\color{gray}
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq *}
\paragraph{Description :} Lorsque l'utilisateur demande, via le moniteur, le démarrage sans watchdog, le robot doit démarrer dans ce mode. En cas de succès, un message d'acquittement est retourné au moniteur. En cas d'échec, un message indiquant l'échec est transmis au moniteur.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} Lorsque l'utilisateur demande, via le moniteur, le démarrage avec watchdog, le robot doit démarrer dans ce mode. Un message d'acquittement est retourné au moniteur. En cas d'échec, un message indiquant l'échec est transmis au moniteur.
Une fois le démarrage effectué, le robot doit rester vivant en envoyant régulièrement le message de rechargement du watchdog.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
{\color{gray}
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq *}
\paragraph{Description :} Lorsque qu'un ordre de mouvement est reçu par le superviseur, le robot doit réaliser ce déplacement en moins de 100~ms.
\paragraph{\color{black}Réalisation :} {\color{blue} Cette fonctionnalité a été implémentée à l'aide d'une tâche qui envoie toutes les 100~ms un ordre de mouvement au robot une fois que celui-ci est démarré (tâche th\_move). Cette implémentation ne garantit pas que le temps soit inférieur à 100~ms entre la réception du message et sa prise en compte par le robot. En effet, le temps de traitement de la réception par la tâche th\_receiveFromMon, le temps de traitement de la tâche th\_move et celui de l'envoi de l'ordre via le Xbee ne sont pas considérés. Afin de réduire ces délais, les priorités de th\_receiveFromMon et de th\_move sont élevés mais ne permettent pas de garantir l'exigence de temps. Augmenter la fréquence de la tâche th\_move permettrait de tenir cette contrainte, mais risque de surcharger la communication avec le robot (une version avec l'envoi de l'ordre que s'il a changé serait souhaitable). Finalement, une version asynchrone (attente d'un événement-donnée entre th\_receiveFromMon et de th\_move) aurait été préférable. Cependant, après discussion avec le client, la version périodique à 100~ms est cependant validée.}
}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} Le niveau de la batterie du robot doit être mis à jour toutes les 500~ms sur le moniteur.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} La caméra doit être démarrée suite à une demande provenant du moniteur. Si l'ouverture de la caméra a échoué, il faut envoyer un message au moniteur.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} Dès que la caméra est ouverte, une image doit être envoyée au moniteur toutes les 100 ms.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} La caméra doit être fermée suite à une demande provenant du moniteur. Un message doit être envoyé au moniteur pour signifier l'acquittement de la demande. L'envoi périodique des images doit alors être stoppé.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} Suite à une demande de recherche de l'arène, le superviseur doit stopper l'envoi périodique des images, faire la recherche de l'arène et renvoyer une image sur laquelle est dessinée cette arène. Si aucune arène n'est trouvée un message d'échec est envoyé.\\
L'utilisateur doit ensuite valider visuellement via le moniteur si l'arène a bien été trouvée. L'utilisateur peut :
\begin{itemize}
\item valider l'arène : dans ce cas, le superviseur doit sauvegarder l'arène trouvée (pour l'utiliser ultérieurement) puis retourner dans son mode d'envoi périodique des images en ajoutant à l'image l'arène dessinée.
\item annuler la recherche : dans ce cas, le superviseur doit simplement retourner dans son mode d'envoi périodique des images et invalider la recherche.
\end{itemize}
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} Suite à une demande de l'utilisateur de calculer la position du robot, le superviseur doit calculer cette position, dessiner sur l'image le résultat et envoyer un message au moniteur avec la position toutes les 100~ms. Si le robot n'a pas été trouvé, un message de position est envoyé avec une position (-1,-1).
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
\stepcounter{cptreq}
\subsection{Fonctionnalité \thecptreq}
\paragraph{Description :} Suite à une demande de l'utilisateur de stopper le calcul de la position du robot, le superviseur doit rebasculer dans un mode d'envoi de l'image sans le calcul de la position.
\paragraph{\color{black}Réalisation :} {\color{red} indiquez si la fonctionnalité est traitée et s'il y a des remarques particulières.}
%%%%%%%%%%%%%%%%%%%
% TRANSFORMATION AADL2XENO
\section{Transformation AADL vers Xenomai}
{\color{red} Cette section est consacrée à la méthode pour passer d'un modèle AADL à un code sous Xenomai. Pour chacun des éléments AADL, vous expliquerez {\bf comment vous l'avez traduit en code} et quels {\bf services de Xenomai} vous avez utilisés {\bf en expliquant ce qu'ils font}. Chaque élément devra être illustré avec des {\bf extraits de code de votre projet}.}
% THREAD
\subsection{Thread}
% INSTANCIATION THREAD
\subsubsection{Instanciation et démarrage}
{\color{blue} Expliquer comment vous implémentez sous Xenomai l'instanciation et le démarrage d'un thread AADL.}
{\color{blue} {\bf Exemple de réponse} : Chaque thread a été implémenté par un {\tt RT\_TASK} déclarés dans le fichier {\tt tasks.h}. La création de la tâche se fait à l'aide du service {\tt rt\_task\_create} et son démarrage à l'aide de {\tt rt\_task\_start}. Toutes les tâches sont crées dans la méthode {\tt init} de {\tt tasks.cpp} et démarrées dans la méthode {\tt run}.
Par exemple, pour la tâche {\tt th\_server}, sa déclaration est faite ligne 73 dans le fichier {\tt tasks.h}
\begin{verbatim}
RT_TASK th_server;
\end{verbatim}
sa création ligne 102 de {\tt tasks.cpp} lors de l'appel de
\begin{verbatim}
rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)
\end{verbatim}
et son démarrage ligne 146 avec
\begin{verbatim}
rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)
\end{verbatim}
}
% CODE THREAD
\subsubsection{Code à exécuter}
{\color{blue} Comment se fait le lien sous Xenomai entre le thread et le traitement à exécuter.}
% PRIORITE THREAD
\subsubsection{Niveau de priorités}
{\color{blue} Expliquer comment vous fixez sous Xenomai le niveau de priorité d'un thread AADL.}
% PERIODICITE THREAD
\subsubsection{Activation périodique}
{\color{blue} Expliquer comment vous rendez périodique l'activation d'un thread AADL sous Xenomai.}
% THREAD EVENEMENTIEL
\subsubsection{Activation événementielle}
{\color{blue} Expliquer les moyens mis en {\oe}uvre dans l'implémentation sous Xenomai pour gérer les activations événementielles d'un thread AADL.}
% PORT D'EVENEMENT
\subsection{Port d’événement}
% INSTANCIATION PORT D'EVENEMENT
\subsubsection{Instanciation}
{\color{blue} Comment avez-vous instancié un port d'événement ?}\\
% ENVOI PORT D'EVENEMENT
\subsubsection{Envoi d’un événement}
{\color{blue} Quels services ont été employés pour signaler un événement ?}
% RECEPTION PORT D'EVENEMENT
\subsubsection{Réception d’un événement}
{\color{blue} Comment se fait l'attente d'un événement ?}
% DONNEE PARTAGEE
\subsection{Donnée partagée}
% INSTANCIATION DONNEE PARTAGEE
\subsubsection{Instanciation}
{\color{blue} Quelle structure instancie une donnée partagée ?}
% LECTURE/ECRITURE DONNEE PARTAGEE
\subsubsection{Accès en lecture et écriture}
{\color{blue} Comment garantissez-vous sous Xenomai l'accès à une donnée partagée ?}
% PORT D'EVENEMENT-DONNEES
\subsection{Ports d’événement-données}
% INSTANCIATION PORT D'EVENEMENT-DONNEES
\subsubsection{Instanciation}
{\color{blue} Donnez la solution retenue pour implémenter un port d'événement-données avec Xenomai.}
% ENVOI PORT D'EVENEMENT-DONNEES
\subsubsection{Envoi d’une donnée}
{\color{blue} Quels services avez-vous employés pour envoyer des données ?}
% RECEPTION PORT D'EVENEMENT-DONNEES
\subsubsection{Réception d’une donnée}
{\color{blue} Quels services avez-vous employés pour recevoir des données ?}
\end{document}

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\begin{appendices}
\section{Annexes}
\subsection{Messages robot-superviseur}
\label{sec:sec:comm_rob_sup}
La communication fonctionne sur le principe d'une communication synchrone de type requête. La communication ne peut être initiée que par le superviseur.
Toutes les communications ont par défaut un retour en cas d'erreur. Ce retour est porté par la valeur de {\tt messageID} d'un objet {\tt Message}. Si la communication s'est bien déroulée la valeur MESSAGE\_ANSWER\_ACK est retournée, sinon une valeur de retour correspondante à l'un des cas d'erreur suivant est produite :
\begin{itemize}
\item MESSAGE\_ANSWER\_ROBOT\_TIMEOUT : la réponse n'est pas arrivée avant 80 ms,
\item MESSAGE\_ANSWER\_ROBOT\_UNKNOWN\_COMMAND : la commande n'a pas été comprise par le robot,
\item MESSAGE\_ANSWER\_ROBOT\_ERROR : la commande n'est pas conforme à sa définition.
\end{itemize}
\FloatBarrier
Les messages envoyés au robot sont composés d'une entête codée sur un octect ({\tt char}) correspondant à l'ordre à réaliser. Certains ordres sont aussi accompagnés d'une donnée codée sur un entier ({\tt int}). Le tableau~\ref{tab:ordre_robot} décrit les entêtes.
\begin{table}[htp]
\begin{center}
\begin{tabular}{|l|c|l|c|c|}
\hline
Entête (\scriptsize{MESSAGE\_ROBOT\_}) & Données & Description & Retour\\
\hline\hline
{\scriptsize PING} & -- & Teste la disponibilité de la communication & --\\
{\scriptsize RESET} & -- & Demande un redémarrage du robot & --\\
\hline
{\scriptsize START\_WITHOUT\_WD} & -- & Démarre le robot sans le {\it watchdog} & -- \\
{\scriptsize START\_WITH\_WD} & -- & Démarre le robot avec le {\it watchdog} & -- \\
{\scriptsize RELOAD\_WD} & -- & Recharge le {\it watchdog} & --\\
\hline
{\scriptsize BATTERY\_GET} & -- & Retourne le niveau de la batterie & niv. batterie\\
{\scriptsize STATE\_GET} & -- & Retourne l'état du robot & état\\
\hline
{\scriptsize GO\_FORWARD} & -- & Déplace le robot en avant & -- \\
{\scriptsize GO\_BACK} & -- & Déplace le robot en arrière & -- \\
{\scriptsize GO\_LEFT} & -- & Fait tourner dans le sens anti-horaire & -- \\
{\scriptsize GO\_RIGHT} & -- & Fait tourner dans le sens horaire & -- \\
{\scriptsize STOP\_MOVE} & -- & Stoppe le mouvement du robot & -- \\
\hline
{\scriptsize MOVE} & distance & Déplace en ligne droite & --\\
{\scriptsize TURN} & angle & Tourne d'un angle donné & -- \\
\hline
\end{tabular}
\end{center}
\caption{Liste des messages du superviseur vers le robot}
\label{tab:ordre_robot}
\end{table}%
\FloatBarrier
Le niveau de la batterie peut prendre comme valeur :
\begin{itemize}
\item BATTERY\_UNKNOWN : la mesure n'a pas abouti,
\item BATTERY\_EMPTY : niveau vide,
\item BATTERY\_LOW : niveau faible,
\item BATTERY\_FULL: niveau haut.
\end{itemize}
Les états possibles du robot sont :
\begin{itemize}
\item MESSAGE\_ROBOT\_STATE\_BUSY : le robot est en train de réaliser un mouvement,
\item MESSAGE\_ROBOT\_STATE\_NOT\_BUSY : le robot ne réalise pas de mouvement.
\end{itemize}
%%%%%%%%%%%%%%%
\subsection{Messages moniteur-superviseur}
\label{sec:comm_mon_sup}
\subsubsection{Moniteur vers Superviseur}
\label{sec:mts}
Les message envoyés du moniteur vers le superviseur sont composés d'un entête de trois octets et d'une donnée d'un octet. Le tableau~\ref{tab:mts} décrit ces entêtes et les données. Certains messages nécessitent une réponse par un acquittement (cf. messages section~\ref{sec:stm}). Les messages spécifiques pour le robot ont les même entêtes que la communication entre le robot et le superviseur.
\begin{table}[htp]
\begin{center}
\begin{tabular}{|l|p{7cm}|}
\hline
{\bf Id} & {\bf Description} \\
\hline
MESSAGE\_ROBOT\_COM\_OPEN & Demande d'ouverture de la comm. avec le robot\\
MESSAGE\_ROBOT\_COM\_CLOSE & Demande de fermeture de la comm. avec le robot \\
\hline
\multicolumn{2}{|l|}{{\bf Acquittement} : oui}\\
\hline
\hline
MESSAGE\_ROBOT\_* & Message portant un ordre pour le robot (voir tableau précédent)\\
\hline
\multicolumn{2}{|p{\textwidth}|}{{\bf Acquittement} : les messages MESSAGE\_ROBOT\_START\_WITH\_WD et MESSAGE\_ROBOT\_START\_WITHOUT\_WD nécessitent un acquitement}\\
\hline
\hline
MESSAGE\_CAM\_OPEN & Demande d'ouverture de la caméra\\
MESSAGE\_CAM\_CLOSE & Demande de fermeture de la caméra\\
MESSAGE\_CAM\_ASK\_ARENA & Demande de détection de l'arène \\
MESSAGE\_CAM\_ARENA\_CONFIRM & L'arène est la bonne\\
MESSAGE\_CAM\_ARENA\_INFIRM & L'arène n'est pas la bonne\\
MESSAGE\_CAM\_POSITION\_COMPUTE\_START & Calcul de la position du robot\\
MESSAGE\_CAM\_POSITION\_COMPUTE\_STOP & Arrêt du calcul de la position du robot\\
\hline
\multicolumn{2}{|p{\textwidth}|}{{\bf Acquittement} : les messages MESSAGE\_CAM\_OPEN et MESSAGE\_CAM\_CLOSE attendent un acquittement.}\\
\hline
\end{tabular}
\end{center}
\caption{Description des messages du moniteur vers le superviseur}
\label{tab:mts}
\end{table}%
\newpage
%%%%%%%%%
\subsubsection{Superviseur vers Moniteur}
\label{sec:stm}
Les messages du superviseur vers le moniteur sont composés d'une entête de 3 octets et de données de taille variables. Le tableau~\ref{tab:stm} décrit ces messages.
\begin{table}[htp]
\begin{center}
\begin{tabular}{lcl}
\hline
Entête & Données & Description\\
\hline
\hline
MESSAGE\_ANSWER\_ACK & -- & Message d'acquittement en cas de succès\\
MESSAGE\_ANSWER\_NACK & -- & Message d'acquittement en cas d'échec\\
MESSAGE\_MONITOR\_LOST & -- & Signale la perte de la comm. avec le robot\\
MESSAGE\_CAM\_IMAGE & Image & Envoi d'une image\\
MESSAGE\_CAM\_POSITION & Position & Envoi de la postion du robot\\
MESSAGE\_ROBOT\_BATTERY\_LEVEL & int & Envoi du niveau de la batterie\\
\hline
\end{tabular}
\end{center}
\caption{Liste des messages du moniteur vers le superviseur}
\label{tab:stm}
\end{table}%
\FloatBarrier
\newpage
\section{Diagramme de classe des bibliothèques}
\label{ann:diag_class}
%
%@startuml
%skinparam monochrome true
%
%class Message{
%-MessageID messageID
%
%+Message()
%+Message(MessageId id)
%+string ToString()
%+bool CompareID(MessageID id)
%+MessageID GetID()
%+void SetID(MessageID id)
%-bool CheckID(MessageID id)
%}
%
%
%class MessageBattery{
% -BatteryLevel level
% +MessageBattery(MessageID id, BatteryLevel level)
% +BatteryLevel GetLevel()
% +void SetLevel(BatteryLevel level)
%}
%
%class MessagePosition{
% -Position pos
% +MessagePosition(MessageID id, Position& pos)
% +Position GetPosition()
% +void SetPosition(Position& pos)
%}
%
%class MessageImg{
% -Img* image
% +MessageImg(MessageID id, Img *image)
% +Img* GetImage()
% +void SetImage(Img* image)
%}
%
%class MessageInt{
% - int value
% + MessageInt(MessageID id, int val)
% +int GetValue()
% +void SetValue(int val)
%}
%
%class MessageString{
% - string s
% +MessageString(MessageID id, string s)
% +string GetString()
% +void SetString(string s)
%}
%
%Message <|-down- MessageImg
%Message <|-down- MessageInt
%Message <|-up- MessageString
%Message <|-up- MessageBattery
%Message <|-- MessagePosition
%
%class ComRobot {
% +int Open()
% +int Open(string usart)
% +int Close()
% +Message *Write(Message* msg)
% +void Write_Pre()
% +void Write_Post()
% +Message *Ping()
% +Message *Reset()
% +Message *PowerOff()
% +Message *StartWithWD()
% +Message *StartWithoutWD()
% +Message *ReloadWD()
% +Message *Move(int length)
% +Message *Turn(int angle)
% +Message *Stop()
% +Message *GoForward()
% +Message *GoBackward()
% +Message *GoLeft()
% +Message *GoRight()
% +Message *GetBattery()
% +Message *GetState()
%}
%
%class ComMonitor {
% +int Open(int port)
% +void Close()
% +int AcceptClient()
% +void Write(Message *msg)
% +void Write_Pre()
% +void Write_Post()
% +Message *Read()
% +void Read_Pre()
% +void Read_Post()
%}
%class Img{
% +ImageMat img
% +Img(ImageMat imgMatrice)
% +string ToString()
% +Jpg ToJpg()
% +Arena SearchArena()
% +int DrawRobot(Position robot)
% +int DrawArena(Arena arenaToDraw)
% +std::list<Position> SearchRobot(Arena arena)
%}
%
%class Camera{
% +Camera(int size, int fps);
%
% +bool Open();
% +void Close();
% +Img Grab();
% +int GetWidth() const;
% +int GetHeight() const;
%
% +bool IsOpen();
% +void SetSize(int size);
%}
%
%class Position{
% +cv::Point2f center
% +cv::Point2f direction
% +float angle
% +int robotId
%}
%
%class Arena{
% +cv::Rect arena
% +Arena()
% +bool IsEmpty()
%}
%
%@enduml
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.55]{./figures_pdf/classes1}
\includegraphics[scale=0.55]{./figures_pdf/classes2}
\caption{Diagramme de classes des bibliothèques De Stijl}
\label{fig:diag17}
\end{center}
\end{figure}
\FloatBarrier
\end{appendices}

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%%%%%%%%%%%%%%%%%%%%%%%
\section{Expression fonctionnelle du besoin}
%%%%%%%%%%%%%%%%%%%%%%%
\subsection{Présentation générale}
L'objectif est de concevoir et de développer l'architecture logicielle du superviseur afin d'assurer le fonctionnement de la plate-forme. Les fonctions attendues sont :
\begin{enumerate}
\item Assurer la communication entre le moniteur et le superviseur.
\item Assurer la communication entre le superviseur et le robot.
\item Superviser l'état du robot.
\item Contrôler le déplacement du robot.
\item Contrôler et diffuser les images de la webcam.
\item Réaliser des missions.\\
\end{enumerate}
\noindent\framebox[\textwidth]{
\begin{minipage}{0.9\textwidth}
{\bf Remarque :} Les plateformes matérielle et logicielle ont de nouveau évoluées cette année. Les bibliothèques fournies ont été réécrites pour faciliter leur prise en main. Bien qu'elles aient été testées, elles comportent certainement des erreurs. Soyez indulgents, nous faisons de notre mieux pour fournir une plate-forme opérationnelle !\\
{\bf Si vous remarquez des erreurs, des problèmes ou des optimisations à faire, n'hésitez pas à le communiquer} (via GitHub pour en garder la trace).
\end{minipage}
}\\
\subsection{Diagramme de contexte}
La figure~\ref{fig:contexte} présente le superviseur dans son contexte et ses interactions avec les autres composants de la plate-forme.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.6]{figures_pdf/contexte}
\caption{Diagramme de contexte}
\label{fig:contexte}
\end{center}
\end{figure}
\FloatBarrier
La webcam produit des données (\texttt{image}) sous la forme d'un tableau d'octets. Le robot reçoit des ordres (\texttt{ordre}) sous la forme d'une chaîne de caractères et retourne une réponse aussi sous la forme d'une chaîne (\texttt{reponse}). Le moniteur envoie un événement (\texttt{connecter serveur}) pour demander la connexion avec le serveur puis établit une communication bi-directionnelle sous la forme d'un flux d'octets (\texttt{inputStream} et \texttt{outputStream}).
%Si l'on se focalise uniquement sur le superviseur, nous avons donc un unique processus (voir figure~\ref{fig:processus}).
%
% \begin{figure}[htbp]
%\begin{center}
%\includegraphics[scale=0.6]{figures_pdf/AADL/system}
%\caption{Vue systéme du Superviseur}
%\label{fig:processus}
%\end{center}
%\end{figure}
%\FloatBarrier
%%%%%%%%%%%%%%%%%%%%%%%%%
\subsection{Description des fonctionnalités}
%%%%%%%%%%%%%%%%%%%%%%%%%
Vous trouverez dans cette partie la description des différentes fonctionnalités attendues. Les annexes apportent des compléments techniques.\\
\noindent\fcolorbox{black}{Fond}{% couleur du texte, couleur du fond
\begin{minipage}{\textwidth}
L'expression des fonctionnalités est repérée par des encadrés avec un fond gris. C'est ce que vous devez réaliser.
\end{minipage}
}
%%%%%%%%%%%%%%%%%%%%%%%%%
\subsubsection{Fonctionnement du moniteur}
%%%%%%%%%%%%%%%%%%%%%%%%%
Le moniteur sert pour le contrôle du robot et la visualisation d'une scène. La communication entre le moniteur et le superviseur est réalisée par un socket avec un serveur du côté du superviseur. La communication est bi-directionnelle : le moniteur peut envoyer des requêtes et le superviseur peut envoyer des données pour mettre à jour certains éléments de l'interface. Les messages sont prédéfinis et sont présentés dans l'annexe~\ref{sec:comm_mon_sup}.
%%%%%%%%%%%%%%%%%%%%%%%%%
\subsubsection{Communication entre le superviseur et le moniteur}
%%%%%%%%%%%%%%%%%%%%%%%%%
La communication entre le serveur et le superviseur est réalisée à l'aide d'un socket. Le superviseur joue le rôle de serveur. Toutes les fonctions pour gérer la communication entre le moniteur et le superviseur sont fournies dans {\tt monitor}.
Les figures~\ref{fig:diag1_2} et~\ref{fig:diag3_6} illustrent le mode de fonctionnement nominal attendu pour la communication entre le superviseur et le moniteur.
%https://sequencediagram.org
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Lancement du serveur.} Le lancement du serveur est réalisé à l'aide de la méthode {\tt Open} de la classe {\tt ComMonitor}.\\
\req{Le lancement du serveur doit être réalisé au démarrage du superviseur. En cas d'échec du démarrage du serveur, un message textuel doit être affiché sur la console de lancement de l'application. Ce message doit signaler le problème et le superviseur doit s'arrêter.}
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Etablissement du socket.} La connexion entre le moniteur et le superviseur est réalisée suite à la demande de l'utilisateur via l'interface graphique. Lorsque la demande est faite, un socket est créé, il faut donc que le serveur soit en attente d'une demande de connexion, c'est-à-dire que la méthode {\tt AcceptClient} de la classe {\tt ComMonitor} soit en cours d'exécution. Cette méthode est bloquante.\\
\req{La connexion entre le moniteur et le superviseur (via le socket) doit être établie suite à la demande de connexion de l'utilisateur.}
%Terminal->*Supervisor:exec
%note left of Supervisor: (req 1) start server
%Supervisor->+Supervisor: ComMonitor::Open()
%Supervisor-->-Supervisor:err
%alt err != failed
% Supervisor->+Supervisor: ComMonitor::AcceptClient()
% Monitor->Supervisor: connexion
% note left of Supervisor: (req 2) connect socket
% Supervisor->Monitor:accept
% Supervisor-->-Supervisor:err
%
%else
% Supervisor->Terminal: print("server failed")
% destroy Supervisor
%end
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{./seq_req/req1-2}
\caption{Diagramme de séquence des fonctionnalités 1 à 2}
\label{fig:diag1_2}
\end{center}
\end{figure}
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Réception des messages.} La réception des messages du serveur par le superviseur est réalisée par l'appel de la méthode {\tt Read} de la classe {\tt ComMonitor}. Cette méthode est bloquante. Les messages du moniteur vers le superviseur sont pré-formatés dans la classe {\tt Message} et définis dans l'annexe~\ref{sec:mts}.\\
\req{Tous les messages envoyés depuis le moniteur doivent être réceptionnés par le superviseur.}
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Envoi des messages.} L'envoi des messages du superviseur vers le moniteur est réalisé à l'aide de la fonction {\tt Write} de la classe {\tt ComMonitor}. Les messages du superviseur vers le moniteur sont pré-formatés et définis dans l'annexe~\ref{sec:stm}.\\
\req{L'application superviseur doit être capable d'envoyer les messages au moniteur (via le serveur) avec un délai d'au plus 10~ms.}
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Détection de la perte de communication.} La perte de communication entre le moniteur et le superviseur est détectée lors de la lecture sur le socket. La méthode {\tt Read} retourne un message de type {\tt MESSAGE\_MONITOR\_LOST} si la communication est perdue. \\
\req{Le superviseur doit détecter la perte de communication avec le moniteur. En cas de perte de la communication un message doit être affiché sur la console de lancement du superviseur.}
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Reprise de la communication.} La communication entre le moniteur et le superviseur est fermé à l'aide de la méthode {\tt Close} de la classe {\tt ComMonitor}. {\bf Attention} cette fonctionnalité ne peut être mise en place que lorsque l'ensemble de l'application est déjà réalisée, il ne sert à rien d'y travailler tant que le reste n'est pas fait.\\
\req{En cas de perte de communication entre le superviseur et moniteur, il faut stopper le robot, la communication avec le robot, fermer le serveur et déconnecter la caméra afin de revenir dans le même état qu'au démarrage du superviseur.}
%loop message is not MESSAGE_MONITOR_LOST
%par
%note left of Monitor: (req 3) receive message from Monitor
%Supervisor->+Supervisor: ComMonitor::Read()
%Monitor->Supervisor: message
%Supervisor-->-Supervisor: message
%note over Supervisor: compute message
%else
%note left of Monitor: (req 4) send message to Monitor
%note over Supervisor: wait message to send
%Supervisor->Monitor: ComMonitor::Write(message)
%end
%note left of Monitor
% (req 5) detect loss of
% communication between Supervisor
% and Monitor
%end note
%end
%note right of Supervisor: (req 6) kill server
%Supervisor->+Supervisor:ComMonitor::Close
%Supervisor->Terminal:print("Monitor is lost")
%note over Supervisor: clear Supervisor
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{./seq_req/req3-6}
\caption{Diagramme de séquence des fonctionnalités 3 à 6}
\label{fig:diag3_6}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%%%%%%%%%%%%%
\subsubsection{Communication entre le superviseur et le robot}
%%%%%%%%%%%%%%%%%%%%%%%%%
La communication avec le robot s'effectue par le biais d'émetteur-récepteur Xbee. Pour communiquer, il est nécessaire de commencer par ouvrir la communication entre le superviseur et le boîtier Xbee. Toutes les fonctions de gestion de la communication entre le robot et le superviseur sont fournies dans la bibliothèque {\tt robot}. La figure~\ref{fig:diag7_9} illustre les fonctionnalités 7 à 9.
\paragraph{Mettre en place la communication avec le robot.} L'ouverture de la communication (c'est-à-dire la réservation d'un port série) avec le robot se fait à l'aide de la fonction {\tt Open} de la classe {\tt ComRobot}. Cette demande est automatiquement demandée par le moniteur dès que le socket est en place.\\
\req{Dès que la communication avec le moniteur est en place, la communication entre le superviseur et le robot doit être ouverte. Si la communication est active, il faut envoyer un message d'acquittement au moniteur. En cas d'échec, un message le signalant est renvoyé au moniteur.}
\paragraph{Surveillance de la communication avec le robot.} La communication entre le robot et le superviseur peut être perdue. Afin de surveiller cela, il faut mettre en place un mécanisme permettant d'inférer cette perte. L'envoi des messages au robot se fait à l'aide de la fonction {\tt Write} de la classe {\tt ComRobot}. En cas d'échec de communication, la méthode retourne un message contenant un code d'erreur. Cependant, l'envoi d'un message par Xbee peut retourner un échec même si le médium de communication est encore opérationnel.
De ce fait, le simple retour d'un échec ne suffit pas à déterminer si la communication est définitivement perdue ou bien si c'est une erreur fugace. Afin de conclure que la communication est perdue, il faut donc mettre en place un mécanisme de compteur. Pour cela, il faut incrémenter un compteur à chaque échec sur l'envoi d'un message et le remettre à zéro à chaque succès. Si le compteur dépasse 3, la communication est alors déclarée perdue.\\
\req{La communication entre le robot et le superviseur doit être surveillée par un mécanisme de compteur afin de détecter une perte du médium de communication.}
\paragraph{Perte de la communication avec le robot.} Le medium de communication entre le robot et le superviseur est stoppé par l'appel à la fonction {\tt close\_communication\_robot}.\\
\req{Lorsque la communication entre le robot et le superviseur est perdue, un message spécifique doit être envoyé au moniteur. Le système doit fermer la communication entre le robot et le superviseur et se remettre dans un état initial permettant de relancer la communication.}
%%%%%%%%%%%%%%%%%%%%%%%%%
\subsubsection{Démarrage du robot}
%%%%%%%%%%%%%%%%%%%%%%%%%
Tous les messages entre le superviseur et le robot sont décrits dans l'annexe~\ref{sec:sec:comm_rob_sup}. L'envoi d'un message se fait par l'utilisation de la méthode {\tt Write} de la classe {\tt ComRobot}. La figure~\ref{fig:diag10_11} représente la séquence pour les fonctionnalités 10 et 11.\\
\noindent\framebox[\textwidth]{
\begin{minipage}{0.9\textwidth}
{\bf Remarque :} Aucun mécanisme n'est mis en {\oe}uvre dans l'implémentation de {\tt Write} de {\tt ComRobot} pour se prémunir des appels concurrents.
\end{minipage}
}
%%%%%%%%%%%%%%%%
\paragraph{Démarrage sans watchdog du robot.} Le robot a deux modes de démarrage. Un mode simple, dit sans watchdog et un mode évolué exposé ci-après.\\
\req{Lorsque l'utilisateur demande, via le moniteur, le démarrage sans watchdog, le robot doit démarrer dans ce mode. En cas de succès, un message d'acquittement est retourné au moniteur. En cas d'échec, un message indiquant l'échec est transmis au moniteur.}
%note right of Monitor: (req 7) connect robot
%Monitor->Supervisor:connexion robot
%Supervisor->+Supervisor: ComRobot::Open()
%Supervisor-->-Supervisor:err
%alt err == 0
%Supervisor->Monitor: ComMonitor::Write(ACK)
%else
%Supervisor->Monitor: ComMonitor::Write(NO_ACK)
%end
%note right of Monitor
% (req 8) monitor communication with robot
%end note
%loop cmpt <= 3
%Supervisor->+Supervisor: ComRobot:Write(message)
%Supervisor-->-Supervisor:msg
%alt msg is not an error
% note over Supervisor: cmpt = 0
%else
% note over Supervisor: cmpt ++
%end
%end
%note right of Monitor: (req 9) robot communication lost
%Supervisor->Monitor: ComMonitor::Write(LOST_DMB)
%Supervisor->Supervisor: ComRobot::Close()
%note over Supervisor: initialize_communication_robot
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.48]{./seq_req/req7-9}
\caption{Diagramme de séquence des fonctionnalités 7 à 9}
\label{fig:diag7_9}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%%%%
\paragraph{Démarrage avec watchdog du robot.} En cas de perte de la communication entre le superviseur et le robot, ce dernier n'est plus contrôlable et continue à exécuter des ordres. Pour éviter cela, un mécanisme de surveillance à base de watchdog a été mis en place sur le robot.
Le principe est simple : au démarrage du robot (c.-à-d. quand le robot traite l'ordre de démarrage avec watchdog), un watchdog périodique d'une seconde est lancé. \`A chaque expiration du watchdog un compteur dans le robot est incrémenté. Si le compteur atteint 3, le robot s'arrête et doit être redémarré manuellement. Pour éviter cela, le robot doit recevoir du superviseur un ordre spécifique de rechargement du watchdog (DMB\_RELOAD\_WD). Si l'ordre est valide, le compteur est décrémenté de 1 (minimum 0). Pour que cet ordre soit valide il faut qu'il arrive au moment où le watchdog expire avec un tolérance de 50~ms. \\
\req{Lorsque l'utilisateur demande, via le moniteur, le démarrage avec watchdog, le robot doit démarrer dans ce mode. Un message d'acquittement est retourné au moniteur. En cas d'échec, un message indiquant l'échec est transmis au moniteur.
Une fois le démarrage effectué, le robot doit rester vivant. Pour cela, il faut que le moniteur envoie régulièrement le message de rechargement du watchdog.}
%alt
%note right of Monitor
% (req 10) start without watchdog
%end note
%Monitor->Supervisor:start_robot_without_wd
%Supervisor->+Supervisor: ComRobot::Write(START_WITHOUT_WD)
%Supervisor-->-Supervisor:err
%note over Monitor, Supervisor:ack or no_ack
%
%else
%note right of Monitor
% (req 11) start with watchdog
%end note
%
%Monitor->Supervisor:start_robot_with_wd
%Supervisor->+Supervisor: ComRobot::Write(START_WITH_WD)
%Supervisor-->-Supervisor:err
%alt err == ROBOT_OK
%Supervisor->Monitor: ComMonitor::Write(message(ACK))
%note over Supervisor
% start to reload wd periodically
%end note
%else
%Supervisor->Monitor: ComMonitor::Write(message(NO_ACK)
%end
%end
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{./seq_req/req10-11}
\caption{Diagramme de séquence des fonctionnalités 10 et 11}
\label{fig:diag10_11}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%%%%%%%%%%%%%
\subsubsection{Déplacement et état du robot}
%%%%%%%%%%%%%%%%%%%%%%%%%
Le robot n'a aucune intelligence et ne réagit qu'aux ordres qu'il reçoit. La figure~\ref{fig:diag12_13} représente la séquence pour les fonctionnalités 12 et 13.
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Déplacement manuel du robot.} Le robot peut recevoir cinq ordres de mouvement (avancer, reculer, tourner à droite, tourner à gauche et stopper). Lorsque l'utilisateur presse les flèches de l'interface graphique un message est envoyé au superviseur avec le mouvement à réaliser.\\
\req{Lorsque qu'un ordre de mouvement est reçu par le superviseur, le robot doit réaliser ce déplacement en moins de 100~ms.}
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Niveau de batterie du robot.} Il est possible de récupérer le niveau de la batterie du robot à l'aide de la fonction {\tt Write} de {\tt ComRobot} avec l'entête {\tt DMB\_GET\_VBAT}. La valeur retournée est ensuite à transmettre au moniteur.\\
\req{Le niveau de la batterie du robot doit être mis à jour toutes les 500~ms sur le moniteur.}
%par
%note right of Monitor
% (req 12) move robot
%end note
%loop
%Monitor->Supervisor:move_robot(move)
%note over Supervisor: treat the message
%Supervisor->Supervisor: ComRobot::Write(Message(move))
%end
%else
%note right of Monitor
% (req 13) check battery
%end note
%loop 500 ms
%Supervisor->+Supervisor: ComRobot::Write(Message(GET_VBAT))
%Supervisor-->-Supervisor: levelBat
%Supervisor->Monitor:ComMonitor::Write(Message(levelBat))
%end
%end
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{./seq_req/req12-13}
\caption{Diagramme de séquence des fonctionnalités 12 et 13}
\label{fig:diag12_13}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%%%%%%%%%%%%%
\subsubsection{Gestion de la caméra}
%%%%%%%%%%%%%%%%%%%%%%%%%
Les fonctions permettant la manipulation des images sont fournies dans les librairies {\tt img} et {\tt camera}. L'implémentation des méthodes utilise \textsc{openCV}, une libraire libre en C/C++ de traitement d'images.
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Ouverture de la caméra.} La méthode {\tt Open} de la classe {\tt Camera} donne accès à la caméra.\\
\req{La caméra doit être démarrée suite à une demande provenant du moniteur. Si l'ouverture de la caméra a échoué, il faut envoyer un message au moniteur.}
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Capture d'une image (mode nominal).} La méthode {\tt Grab} de {\tt Camera} permet de capturer une image. L'envoi de l'image au moniteur s'effectue normalement par l'envoi d'un message\footnote{L'image est compressée lors de l'envoi du message.}. La fréquence de capture d'une image est fixée par un paramètre lors de l'instanciation d'un objet {\tt Camera}.\\
\req{Dès que la caméra est ouverte, une image doit être envoyée au moniteur toutes les 100 ms.}
%%%%%%%%%%%%%%%%%%%%%%%%%
\paragraph{Fermeture de la caméra.} La méthode {\tt Close} de la classe {\tt Camera} permet de fermer proprement la caméra.\\
\req{La caméra doit être fermée suite à une demande provenant du moniteur. Un message doit être envoyé au moniteur pour signifier l'acquittement de la demande. L'envoi périodique des images doit alors être stoppé.}
%note right of Monitor
%(req 14) open camera
%end note
%Monitor->Supervisor: open camera
%Supervisor->+Supervisor: Camera::Open()
%Supervisor-->-Supervisor: err
%note over Monitor, Supervisor: ack or no_ack
%par
%loop camera active
%note right of Monitor
%(req 15) capture image
%end note
%Supervisor->+Supervisor: Camera:Grab()
%Supervisor-->-Supervisor: image
%Supervisor->+Supervisor: Img::ToJpg(image)
%Supervisor-->-Supervisor: jpgimage
%Supervisor->Monitor:ComMonitor::Write(Message(jpgimage))
%end
%else
% note right of Monitor
% (req 16) close camera
% end note
% Monitor->Supervisor: close camera
% Supervisor->+Supervisor: Camera::Close()
% Supervisor-->-Supervisor: err
% note over Monitor, Supervisor: ack or no_ack
%end
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{./seq_req/req14-16}
\caption{Diagramme de séquence des fonctionnalités 14 et 16}
\label{fig:diag14_15}
\end{center}
\end{figure}
\FloatBarrier
\paragraph{Calibration de l'arène} Pour accélérer le traitement de l'image et le rendre plus stable\footnote{Si vous placez un robot en dehors de l'arène, il y a de fortes chances pour que cela perturbe le calcul de la position du robot.}, il est préférable de limiter la zone d'étude à l'arène. Pour cela il est nécessaire de faire un pré-traitement qui recherche l'arène.
Le calcul se fait par l'appel à la méthode {\tt SearchArena} de {\tt Img}. Il est possible de tracer sur l'image l'arène en faisant appel à la méthode {\tt DrawArena}.\\
\req{Suite à une demande de recherche de l'arène, le superviseur doit stopper l'envoi périodique des images, faire la recherche de l'arène et renvoyer une image sur laquelle est dessinée cette arène. Si aucune arène n'est trouvée un message d'échec est envoyé.\\
L'utilisateur doit ensuite valider visuellement via le moniteur si l'arène a bien été trouvée. L'utilisateur peut :
\begin{itemize}
\item valider l'arène : dans ce cas, le superviseur doit sauvegarder l'arène trouvée (pour l'utiliser ultérieurement) puis retourner dans son mode d'envoi périodique des images en ajoutant à l'image l'arène dessinée.
\item annuler la recherche : dans ce cas, le superviseur doit simplement retourner dans son mode d'envoi périodique des images et invalider la recherche.
\end{itemize}
}
%note left of Monitor:(req 17) find arena
%Monitor->Supervisor:find arena
%note over Supervisor:stop periodic image
%Supervisor->+Supervisor: Camera:Grab()
%Supervisor-->-Supervisor: image
%Supervisor->+Supervisor: Img::SearchArena(image)
%Supervisor-->-Supervisor: arena
%alt arena == NULL
%Supervisor->Monitor:ComMonitor::Write(Message(NO_ACK))
%else
%Supervisor->+Supervisor: Img::DrawArena(image, arena)
%Supervisor-->-Supervisor: image
%Supervisor->+Supervisor: Img::ToJpg(image)
%Supervisor-->-Supervisor: jpgimage
%Supervisor->Monitor:ComMonitor::Write(Message(jpgimage))
%alt
% Monitor->Supervisor: arena ok
% note over Supervisor: save arena
%else
% Monitor->Supervisor: arena ko
% note over Supervisor: delete arena
%end
%end
%
%note over Supervisor: restart periodic image
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{./seq_req/req17}
\caption{Diagramme de séquence de la fonctionnalité 17}
\label{fig:diag16}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%
\paragraph{Calcul de la position du robot.} Le traitement d'une image pour trouver la position du robot se fait à l'aide de la méthode {\tt SearchRobot} de {\tt Img}. Il est possible de dessiner sur l'image la position trouvée en faisant appel à la méthode {\tt DrawRobot}. La position est envoyée du superviseur vers le moniteur en utilisant un message avec une entête dédié.\\
\req{Suite à une demande de l'utilisateur de calculer la position du robot, le superviseur doit calculer cette position, dessiner sur l'image le résultat et envoyer un message au moniteur avec la position toutes les 100~ms. Si le robot n'a pas été trouvé, un message de position est envoyé avec une position (-1,-1).}
%%%%%%%%%%%%%
\paragraph{Stopper le calcul de la position du robot.} Il est possible pour l'utilisateur de demander l'arrêt du calcul de la position.\\
\req{Suite à une demande de l'utilisateur de stopper le calcul de la position du robot, le superviseur doit rebasculer dans un mode d'envoi de l'image sans le calcul de la position.}
% note right of Monitor:(req 18) compute position
%Monitor->Supervisor:find_position
%loop
%Supervisor->+Supervisor: Camera:Grab()
%Supervisor-->-Supervisor: image
%Supervisor->+Supervisor: Img::SearchRobot(image, arena)
%Supervisor-->-Supervisor: position
%alt position != null
% Supervisor->+Supervisor: Img::DrawRobot(image, positin)
% Supervisor-->-Supervisor: image
% Supervisor->Monitor:ComMonitor::Write(Message(position))
%else
% Supervisor->Monitor:ComMonitor::Write(Message(position nulle))
%end
% Supervisor->+Supervisor: Img::ToJpg(image)
% Supervisor-->-Supervisor: jpgimage
% Supervisor->Monitor:ComMonitor::Write(Message(image))
%end
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=0.4]{./seq_req/req18}
\caption{Diagramme de séquence de la fonctionnalité 18}
\label{fig:diag17}
\end{center}
\end{figure}
\FloatBarrier
%%%%%%%%%%%%%%%%%%%%%%%%%%
\subsubsection{Réaliser une mission}
%%%%%%%%%%%%%%%%%%%%%%%%%%
TBD
%Les missions à effectuer consistent à déplacer le robot d'une position à une autre. Le choix de la destination se fait par l'utilisateur en cliquant sur l'image du moniteur puis en envoyant un message de type mission en la validant avec le bouton\og send mission \fg.
%
%Une mission est constituée de différents champs décrits dans un objet \texttt{DMission}. La position à atteindre peut être récupérée à l'aide de la méthode \texttt{d\_mission\_get\_position}. De plus, une mission est identifiée par un numéro contenu dans son champ \texttt{id}.
%
%La réalisation d'une mission s'effectue à l'aide des méthodes \texttt{d\_robot\_move} et \texttt{d\_robot\_turn}. Quand le point final est atteint, le superviseur doit envoyer un message de type mission portant l'identifiant de la mission. La méthode {\tt d\_message\_mission\_terminate} permet de construire un message portant les valeurs appropriées.
%
%Il est aussi possible pour l'utilisateur de mettre fin à une mission en cours en envoyant un message d'alerte (bouton \og Stop mission \fg). Ce message est de type {\tt MESSAGE\_TYPE\_MISSION} et porte \texttt{MISSION\_TYPE\_STOP} comme valeur dans le champ type. Dans ce cas le robot doit immédiatement s'arrêter puis le superviseur doit envoyer un message de fin de mission.
%
%Le diagramme~\ref{diag:seq_position} donne un aperçu de cette séquence.\\
%
% \noindent\fcolorbox{black}{Fond}{% couleur du texte, couleur du fond
%\begin{minipage}{\textwidth}
%Réaliser la fonction qui permet d'effectuer une mission. Aucune méthode n'est fournie pour concevoir le déplacement, le plus simple étant de tourner le robot dans la direction du point à atteindre puis d'avancer de la distance souhaitée.
%\end{minipage}
%}

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\section{Vue générale de la plate-forme}
Le projet {\it De Stijl} est une plate-forme de contrôle d'un robot mobile développée au département Génie \'Electronique et Informatique. Les éléments constituant la plate-forme sont fournis et ont été testés de manière unitaire, mais nous ne garantissons pas un fonctionnement parfait. Toutes suggestions, corrections et modifications seront appréciées pour faire évoluer ce TP. Vous pouvez soumettre vos corrections (sujet, code ou autre) via le dépôt \href{https://github.com/INSA-GEI/dumber/}{GitHub}.
\subsection{\'Eléments de la plate-forme}
La plate-forme est constituée de quatre éléments (voir figure~\ref{fig:vue_gen}) :
\begin{enumerate}
\item {\bf L'arène :} Boîte rectangulaire de couleur grise, elle est le terrain dans lequel le robot évolue.% Deux zones de couleur y sont tracées pour représenter des objectifs à atteindre.
\item {\bf Le robot mobile :} Robot deux roues embarquant un microcontrôleur et un ensemble de composants matériels nécessaires à son déplacement. L'intelligence embarquée est volontairement limitée au contrôle de son déplacement (contrôle des moteurs) et à des fonctionnalités pour connaître son état.
\item {\bf Le superviseur :} Entité principale de la plate-forme, elle est dédiée au contrôle et à la supervision du robot. Elle est couplée à une Webcam fixée au-dessus du terrain afin d'en faire une acquisition visuelle et de localiser le robot.
\item {\bf Le moniteur :} Entité entièrement logicielle et distante, son rôle est d'offrir une interface de contrôle pour l'utilisateur.\\
\end{enumerate}
La communication entre les équipements est hétérogène et assurée par différents supports :
\begin{enumerate}
\item La communication entre le robot et le superviseur est réalisée par une liaison sans fils point à point à l'aide de modules XBee. Cette communication est vue comme une liaison série.
\item La communication entre le superviseur et le moniteur est réalisée par un socket. La liaison physique est assurée par WiFi.
\end{enumerate}
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=.6]{figures_pdf/schema_general2.pdf}
\caption{Vue générale de la plate-forme}
\label{fig:vue_gen}
\end{center}
\end{figure}
\FloatBarrier
\subsubsection{Arène}
L'arène (voir figure~\ref{fig:arene}) a été réalisée dans les ateliers du département par J. Perez. C'est une boîte de 60$\times$80 cm en Medium et recouverte d'une peinture uniforme grise. Les bords sont peints en blanc. Deux zones distinctes sont peintes sur les bords opposés. L'une étant de couleur verte (ou orange) et l'autre de couleur rouge. Actuellement ces zones ne servent pas. %Ces zones sont désignées comme étant des buts.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=.6]{figures_pdf/arene.pdf}
\caption{Vue schématique de l'arène}
\label{fig:arene}
\end{center}
\end{figure}
\FloatBarrier
\subsubsection{Robot}
La version 2.1 du robot a été conçue et réalisée par S. Di Mercurio. Schématiquement (figure~\ref{fig:robot}), le robot est constitué de deux moteurs, d'un microcontrôleur STM32F103RB et d'une puce Xbee assurant une liaison série point à point avec le superviseur. Chaque robot a un symbol différent sur le dos afin de l'identifier et de le localiser dans l'arène.
Le robot est mobile sur deux roues avec un patin. Le contrôle de la trajectoire est assuré par le contrôle en vitesse des moteurs.
Le code embarqué dans les robots a été produit par S. Di Mercurio et L. Senaneuch. Il offre tous les services nécessaires pour contrôler le robot.
\begin{figure}[htbp]
\begin{center}
\includegraphics[scale=.6]{figures_pdf/schema_robot.pdf}
\caption{Vue schématique du robot}
\label{fig:robot}
\end{center}
\end{figure}
\FloatBarrier
\noindent\framebox[\textwidth]{
\begin{minipage}{0.9\textwidth}
{\bf Remarque :} L'application que vous allez réaliser sera celle du superviseur. Vous ne toucherez pas au code embarqué dans le robot.
\end{minipage}
}\\
\subsubsection{Superviseur}
Le superviseur orchestre le fonctionnement de la plate-forme en assurant le respect des contraintes temporelles du système. Il est déployé sur une Raspberry Pi 3B sur laquelle est installé un Ubuntu patché PREEMPT-RT avec l'extension mercury de Xenomai 3.0. Une Raspberry~Pi est un ordinateur à processeur ARM de taille réduite. La version 3B possède un processeur Broadcom BCM2837 64 bit à quatre cœurs ARM Cortex-A53 à 1,2 GHz, de puces WiFi 802.11n et Bluetooth 4.1. Un module Xbee a été ajouté pour communiquer avec le robot.
La webcam est intégrée au bloc du superviseur et est une caméra Raspberry.
\subsubsection{Moniteur}
Le moniteur permet à l'utilisateur de saisir les ordres que le robot doit réalisée et aussi de connaître l'état global du système. Il a été développé par S. Di~Mercurio en C\# à l'aide de \href{https://www.monodevelop.com}{MonoDevelop}. Le moniteur communique avec le superviseur via un socket. Le serveur est mis en place sur la superviseur et le moniteur en est le client.
\subsection{Bibliothèques logicielles}
\framebox[\textwidth]{
\begin{minipage}{0.9\textwidth}
Votre travail consistera à concevoir uniquement l'architecture logicielle du superviseur. Toutes les fonctions de traitement (communication, vidéo, etc.) {\bf ont déjà été implémentées} par L. Senaneuch et S. Di Mercurio. Vous n'aurez pas à modifier ce code, simplement à faire appel aux fonctions. Il n'en reste pas moins un gros travail d'architecte logiciel à faire.
\end{minipage}
}\\
Le code est disponible sur la branche stage du dépôt \href{https://github.com/INSA-GEI/dumber/}{GEI-INSA/dumber} sur GitHub . L'annexe~\ref{ann:diag_class} présente sous forme de diagramme de classes les bibliothèques disponibles.\\
Les fonctions de traitement sont réparties en cinq bibliothèques :
\begin{itemize}
\item commonitor : services de communication entre le superviseur et le moniteur,
\item comrobot : services de communication entre le superviseur et le robot,
\item message : services définissant le format des messages entre le moniteur, le superviseur et le robot,
\item camera : services de gestion de la caméra,
\item img : services réalisant tous les traitements vidéos. \\
\end{itemize}
\framebox[\textwidth]{
\begin{minipage}{0.9\textwidth}
Toutes les bibliothèques ont été développées en C++, mais vous n'avez pas besoin de connaissances évoluées pour les utiliser (aucun support ne sera fourni par les encadrants pour le C++). Des explications sont fournies dans un document annexe pour manipuler les bibliothèques, mais d'une manière générale, vous n'avez pas besoin de connaissances évoluées en programmation objet pour les utiliser.
\end{minipage}
}

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{\bf Fonctionnalité \thecptreq}\, : #1
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\pagestyle{fancy}
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\fancyhead[LE]{}
\fancyhead[LO]{Programmation et conception de systémes temps réel -- 4éme année AE/IR}
\fancyfoot[LO]{INSA Toulouse — P.-E. Hladik}
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%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
\title{{\Huge Projet De Stijl 2.0}
{\small : Plateforme pour robots mobiles}\\
{\scriptsize Programmation et conception de systémes temps réel -- 4éme année AE/IR}\\
{\scriptsize Institut National des Sciences Appliquées de Toulouse}\\
---\\
Cahier des charges fonctionnel \\
{\large Version 3.0.1 (\today)}\\
{\scriptsize Référent pédagogique : P.-E. Hladik (\texttt{pehladik@insa-toulouse.fr})}\\
{\scriptsize Référents plateforme : S. Di Mercurio (\texttt{dimercur@insa-toulouse.fr})}\\
---
}
\begin{document}
\maketitle
%\tableofcontents
%\newpage
\section*{Travail demandé}
\begin{enumerate}
\item Le travail sera réalisé dans le cadre d'un groupe de trois ou quatre étudiants sur deux séances de TD et cinq séances de TP.
\item Il est attendu une conception complète lors lors de la 3e séance de TP. La conception sera sous forme de brouillon, mais doit couvrir l'ensemble des exigences.
\item Le projet fera l'objet d'un rapport évalué ainsi qu'une démonstration (si l'emploi du temps le permet). Un squelette pour le rapport est disponible sur la page moodle de l'enseignement.
\item L'évaluation a pour but de juger de vos compétences pour rédiger un compte rendu, réaliser la conception d'une application temps réel et programmer sur un système temps réel, mais aussi sur vos connaissances plus générale des systèmes temps réel.
\item Le code réalisé devra être rendu sous forme d'archive ne comprenant que les codes sources modifiés.
\item Le rendu du rapport et du code se fera sous la forme d'une archive à envoyer à votre encadrant de TP.
\item La démonstration aura lieu la semaine qui suit la dernière séance de TP.
\end{enumerate}
\section*{Ressources indispensables}
\begin{enumerate}
\item Page Moodle : \href{https://moodle.insa-toulouse.fr/course/view.php?id=235}{Programmation et conception sur exécutif temps réel}
\item Dépôt GEI-INSA sur GitHub : \href{https://github.com/INSA-GEI/dumber/}{dumber}
\end{enumerate}
\newpage
\input{src/plateforme}
\newpage
\input{src/besoins}
\newpage
\input{src/annexes}
\end{document}

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END-ISO-10303-21;

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hardware/meca/Chargeur/1593K PCB.dwg Normal file
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hardware/meca/Chargeur/1593K PCB.igs Normal file
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S 1
,,,9H1593K PCB,22HAutodesk Inventor 2016,7Hunknown,32,38,7,99,15,,1.,2, G 1
2HMM,1,0.08,15H20160920.150514,0.01,10000.,8Hdimercur,,11,0,15H20160920.G 2
125417; G 3
186 1 00000000D 1
186 -241 1 0 0D 2
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186,3,1,0,0,1,237; 1P 1
514,18,5,1,7,1,9,1,11,1,13,1,15,1,17,1,19,1,21,1,23,1,25,1,27,1, 3P 2
29,1,31,1,33,1,35,1,37,1,39,1; 3P 3
510,197,1,1,41; 5P 4
510,199,1,1,43; 7P 5
510,201,1,1,45; 9P 6
510,203,1,1,47; 11P 7
510,205,1,1,49; 13P 8
510,207,1,1,51; 15P 9
510,209,1,1,53; 17P 10
510,211,1,1,55; 19P 11
510,213,1,1,57; 21P 12
510,215,1,1,59; 23P 13
510,217,1,1,61; 25P 14
510,219,1,1,63; 27P 15
510,221,1,1,65; 29P 16
510,223,1,1,67; 31P 17
510,225,1,1,69; 33P 18
510,227,1,1,71; 35P 19
510,229,5,1,73,75,77,79,81; 37P 20
510,231,5,1,83,85,87,89,91; 39P 21
508,5,0,235,1,0,0,0,235,2,1,0,0,235,3,0,0,0,235,4,0,0,0,235,2,0, 41P 22
0; 41P 23
508,5,0,235,5,0,0,0,235,6,1,0,0,235,7,0,0,0,235,8,0,0,0,235,6,0, 43P 24
0; 43P 25
508,5,0,235,9,0,0,0,235,10,1,0,0,235,11,0,0,0,235,12,0,0,0,235, 45P 26
10,0,0; 45P 27
508,5,0,235,13,0,0,0,235,14,1,0,0,235,15,0,0,0,235,16,0,0,0,235, 47P 28
14,0,0; 47P 29
508,4,0,235,17,1,0,0,235,18,0,0,0,235,19,0,0,0,235,20,1,0; 49P 30
508,4,0,235,21,1,0,0,235,22,0,0,0,235,23,0,0,0,235,18,1,0; 51P 31
508,4,0,235,24,1,0,0,235,25,0,0,0,235,26,0,0,0,235,22,1,0; 53P 32
508,4,0,235,27,1,0,0,235,28,0,0,0,235,29,0,0,0,235,25,1,0; 55P 33
508,4,0,235,30,1,0,0,235,31,0,0,0,235,32,0,0,0,235,28,1,0; 57P 34
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508,4,0,235,48,1,0,0,235,49,0,0,0,235,50,0,0,0,235,46,1,0; 69P 40
508,4,0,235,51,1,0,0,235,20,0,0,0,235,52,0,0,0,235,49,1,0; 71P 41
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235,42,0,0,0,235,39,0,0,0,235,36,0,0,0,235,33,0,0,0,235,30,0,0, 73P 43
0,235,27,0,0,0,235,24,0,0,0,235,21,0,0; 73P 44
508,2,0,235,3,1,0,0,235,4,1,0; 75P 45
508,2,0,235,7,1,0,0,235,8,1,0; 77P 46
508,2,0,235,11,1,0,0,235,12,1,0; 79P 47
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508,1,0,235,13,1,0; 91P 55
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3.14159265358979,3.14159265358979,4.71238898038469, 93P 57
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-27.9999999999999,0.,0.,6.28318530717959,0.,0.,0.; 93P 65
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3.14159265358979,3.14159265358979,4.71238898038469, 101P 82
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0.,0.,0.; 101P 89
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0.,0.,0.; 103P 92
126,4,2,0,0,0,0,-3.14159265358979,-3.14159265358979, 105P 93
-3.14159265358979,-1.5707963267949,-1.5707963267949, 105P 94
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1.22464679914736D-16,1.5707963267949,1.5707963267949, 107P 101
3.14159265358979,3.14159265358979,3.14159265358979,1., 107P 102
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1.22464679914736D-16,3.14159265358979,0.,0.,0.; 107P 106
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3.14159265358979,3.14159265358979,4.71238898038469, 109P 108
4.71238898038469,6.28318530717959,6.28318530717959, 109P 109
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6.2564376354736D-14,0.,0.,6.28318530717959,0.,0.,0.; 109P 116
126,1,1,0,0,1,0,-0.5,-0.5,0.499999999999999,0.499999999999999, 111P 117
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-1.6,-0.5,0.499999999999999,0.,0.,0.; 111P 119
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-3.14159265358979,-1.5707963267949,-1.5707963267949, 113P 121
1.22464679914747D-16,1.22464679914747D-16,1.22464679914747D-16, 113P 122
1.,0.707106781186547,1.,0.707106781186546,1.,26.4, 113P 123
6.19765458911452D-14,-1.6,26.4,-1.59999999999994,-1.6,28., 113P 124
-1.59999999999994,-1.6,29.6,-1.59999999999994,-1.6,29.6, 113P 125
6.23684328668724D-14,-1.6,-3.14159265358979, 113P 126
1.22464679914747D-16,0.,0.,0.; 113P 127
126,4,2,0,0,0,0,1.22464679914747D-16,1.22464679914747D-16, 115P 128
1.22464679914747D-16,1.5707963267949,1.5707963267949, 115P 129
3.14159265358979,3.14159265358979,3.14159265358979,1., 115P 130
0.707106781186547,1.,0.707106781186547,1.,29.6, 115P 131
6.23684328668724D-14,-1.6,29.6,1.60000000000006,-1.6,28., 115P 132
1.60000000000006,-1.6,26.4,1.60000000000006,-1.6,26.4, 115P 133
6.23684328668724D-14,-1.6,1.22464679914747D-16,3.14159265358979, 115P 134
0.,0.,0.; 115P 135
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3.14159265358979,3.14159265358979,4.71238898038469, 117P 137
4.71238898038469,6.28318530717959,6.28318530717959, 117P 138
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0.707106781186546,1.,0.707106781186546,1.,1.60000000000001,-28., 117P 140
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1.60000000000001,-26.4,0.,1.60000000000001,-28.,0.,0., 117P 144
6.28318530717959,0.,0.,0.; 117P 145
126,1,1,0,0,1,0,-0.500000000000001,-0.500000000000001,0.5,0.5, 119P 146
1.,1.,1.60000000000001,-28.,-1.38777878078145D-16, 119P 147
1.60000000000001,-28.,-1.6,-0.500000000000001,0.5,0.,0.,0.; 119P 148
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3.14159265358979,3.14159265358979,3.14159265358979,1., 123P 156
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0.,3.14159265358979,0.,0.,0.; 123P 160
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 125P 161
-3.35292539815827,-1.6,-11.0000000000002,-3.35292539815827,-1.6, 125P 162
0.,1.,0.,0.,0.; 125P 163
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-11.0000000000002, 127P 164
-3.35292539815827,0.,-11.0000000000002,-3.35292539815827,-1.6, 127P 165
0.,1.,0.,0.,0.; 127P 166
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 129P 167
-3.35292539815827,0.,-11.0000000000002,-3.35292539815827,0.,0., 129P 168
1.,0.,0.,0.; 129P 169
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 131P 170
-3.35292539815827,0.,-14.3056266003596,-3.35292539815827,-1.6, 131P 171
0.,1.,0.,0.,0.; 131P 172
126,4,2,0,0,0,0,6.69597285349659D-16,6.69597285349659D-16, 133P 173
6.69597285349659D-16,1.5707963267949,1.5707963267949, 133P 174
3.14159265358979,3.14159265358979,3.14159265358979,1., 133P 175
0.707106781186548,1.,0.707106781186548,1.,-11.0000000000002, 133P 176
-3.35292539815827,-1.6,-7.68390822688196,-3.35292539815827,-1.6, 133P 177
-7.68390822688196,-6.66901717127651,-1.6,-7.68390822688196, 133P 178
-9.98510894439475,-1.6,-11.0000000000002,-9.98510894439475,-1.6, 133P 179
6.69597285349659D-16,3.14159265358979,0.,0.,0.; 133P 180
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-11.0000000000002, 135P 181
-9.98510894439476,0.,-11.0000000000002,-9.98510894439476,-1.6, 135P 182
0.,1.,0.,0.,0.; 135P 183
126,4,2,0,0,0,0,6.69597285349659D-16,6.69597285349659D-16, 137P 184
6.69597285349659D-16,1.5707963267949,1.5707963267949, 137P 185
3.14159265358979,3.14159265358979,3.14159265358979,1., 137P 186
0.707106781186548,1.,0.707106781186548,1.,-11.0000000000002, 137P 187
-3.35292539815827,0.,-7.68390822688196,-3.35292539815827,0., 137P 188
-7.68390822688196,-6.66901717127651,0.,-7.68390822688196, 137P 189
-9.98510894439475,0.,-11.0000000000002,-9.98510894439475,0., 137P 190
6.69597285349659D-16,3.14159265358979,0.,0.,0.; 137P 191
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-11.0000000000002, 139P 192
-9.98510894439476,-1.6,-14.3056266003596,-9.98510894439476,-1.6, 139P 193
0.,1.,0.,0.,0.; 139P 194
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 141P 195
-9.98510894439476,0.,-14.3056266003596,-9.98510894439476,-1.6, 141P 196
0.,1.,0.,0.,0.; 141P 197
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-11.0000000000002, 143P 198
-9.98510894439476,0.,-14.3056266003596,-9.98510894439476,0.,0., 143P 199
1.,0.,0.,0.; 143P 200
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 145P 201
-9.98510894439476,-1.6,-14.3056266003596,-42.83098282869,-1.6, 145P 202
0.,1.,0.,0.,0.; 145P 203
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 147P 204
-42.83098282869,0.,-14.3056266003596,-42.83098282869,-1.6,0.,1., 147P 205
0.,0.,0.; 147P 206
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 149P 207
-9.98510894439476,0.,-14.3056266003596,-42.83098282869,0.,0.,1., 149P 208
0.,0.,0.; 149P 209
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 151P 210
-42.83098282869,-1.6,42.3056266003596,-42.83098282869,-1.6,0., 151P 211
1.,0.,0.,0.; 151P 212
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,42.3056266003596, 153P 213
-42.83098282869,0.,42.3056266003596,-42.83098282869,-1.6,0.,1., 153P 214
0.,0.,0.; 153P 215
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 155P 216
-42.83098282869,0.,42.3056266003596,-42.83098282869,0.,0.,1.,0., 155P 217
0.,0.; 155P 218
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,42.3056266003596, 157P 219
-42.83098282869,-1.6,42.3056266003596,-9.9851089443952,-1.6,0., 157P 220
1.,0.,0.,0.; 157P 221
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,42.3056266003596, 159P 222
-9.9851089443952,0.,42.3056266003596,-9.9851089443952,-1.6,0., 159P 223
1.,0.,0.,0.; 159P 224
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,42.3056266003596, 161P 225
-42.83098282869,0.,42.3056266003596,-9.9851089443952,0.,0.,1., 161P 226
0.,0.,0.; 161P 227
126,1,1,0,0,1,0,0.,0.,0.999999999999999,0.999999999999999,1.,1., 163P 228
42.3056266003596,-9.9851089443952,-1.6,38.9999999999998, 163P 229
-9.9851089443952,-1.6,0.,0.999999999999999,0.,0.,0.; 163P 230
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,38.9999999999998, 165P 231
-9.9851089443952,0.,38.9999999999998,-9.9851089443952,-1.6,0., 165P 232
1.,0.,0.,0.; 165P 233
126,1,1,0,0,1,0,0.,0.,0.999999999999999,0.999999999999999,1.,1., 167P 234
42.3056266003596,-9.9851089443952,0.,38.9999999999998, 167P 235
-9.9851089443952,0.,0.,0.999999999999999,0.,0.,0.; 167P 236
126,4,2,0,0,0,0,0.,0.,0.,1.5707963267949,1.5707963267949, 169P 237
3.14159265358979,3.14159265358979,3.14159265358979,1., 169P 238
0.707106781186547,1.,0.707106781186546,1.,38.9999999999998, 169P 239
-9.98510894439519,-1.6,35.6839082268816,-9.98510894439519,-1.6, 169P 240
35.6839082268816,-6.66901717127695,-1.6,35.6839082268816, 169P 241
-3.35292539815871,-1.6,38.9999999999998,-3.35292539815871,-1.6, 169P 242
0.,3.14159265358979,0.,0.,0.; 169P 243
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,38.9999999999998, 171P 244
-3.35292539815871,0.,38.9999999999998,-3.35292539815871,-1.6,0., 171P 245
1.,0.,0.,0.; 171P 246
126,4,2,0,0,0,0,0.,0.,0.,1.5707963267949,1.5707963267949, 173P 247
3.14159265358979,3.14159265358979,3.14159265358979,1., 173P 248
0.707106781186547,1.,0.707106781186546,1.,38.9999999999998, 173P 249
-9.98510894439519,0.,35.6839082268816,-9.98510894439519,0., 173P 250
35.6839082268816,-6.66901717127695,0.,35.6839082268816, 173P 251
-3.35292539815871,0.,38.9999999999998,-3.35292539815871,0.,0., 173P 252
3.14159265358979,0.,0.,0.; 173P 253
126,1,1,0,0,1,0,0.,0.,0.999999999999999,0.999999999999999,1.,1., 175P 254
38.9999999999998,-3.35292539815871,-1.6,42.3056266003596, 175P 255
-3.35292539815871,-1.6,0.,0.999999999999999,0.,0.,0.; 175P 256
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,42.3056266003596, 177P 257
-3.35292539815871,0.,42.3056266003596,-3.35292539815871,-1.6,0., 177P 258
1.,0.,0.,0.; 177P 259
126,1,1,0,0,1,0,0.,0.,0.999999999999999,0.999999999999999,1.,1., 179P 260
38.9999999999998,-3.35292539815871,0.,42.3056266003596, 179P 261
-3.35292539815871,0.,0.,0.999999999999999,0.,0.,0.; 179P 262
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,42.3056266003596, 181P 263
-3.35292539815871,-1.6,42.3056266003596,14.8309828286996,-1.6, 181P 264
0.,1.,0.,0.,0.; 181P 265
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,42.3056266003596, 183P 266
14.8309828286996,0.,42.3056266003596,14.8309828286996,-1.6,0., 183P 267
1.,0.,0.,0.; 183P 268
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,42.3056266003596, 185P 269
-3.35292539815871,0.,42.3056266003596,14.8309828286996,0.,0.,1., 185P 270
0.,0.,0.; 185P 271
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,42.3056266003596, 187P 272
14.8309828286996,-1.6,-14.3056266003596,14.8309828286996,-1.6, 187P 273
0.,1.,0.,0.,0.; 187P 274
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 189P 275
14.8309828286996,0.,-14.3056266003596,14.8309828286996,-1.6,0., 189P 276
1.,0.,0.,0.; 189P 277
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,42.3056266003596, 191P 278
14.8309828286996,0.,-14.3056266003596,14.8309828286996,0.,0.,1., 191P 279
0.,0.,0.; 191P 280
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 193P 281
14.8309828286996,-1.6,-14.3056266003596,-3.35292539815827,-1.6, 193P 282
0.,1.,0.,0.,0.; 193P 283
126,1,1,0,0,1,0,0.,0.,1.,1.,1.,1.,-14.3056266003596, 195P 284
14.8309828286996,0.,-14.3056266003596,-3.35292539815827,0.,0., 195P 285
1.,0.,0.,0.; 195P 286
128,1,8,1,2,0,1,0,0,1,-0.499999999999999,-0.499999999999999,0.5, 197P 287
0.5,-3.14159265358979,-3.14159265358979,-3.14159265358979, 197P 288
-1.5707963267949,-1.5707963267949,0.,0.,1.5707963267949, 197P 289
1.5707963267949,3.14159265358979,3.14159265358979, 197P 290
3.14159265358979,1.,1.,0.707106781186548,0.707106781186548,1., 197P 291
1.,0.707106781186548,0.707106781186548,1.,1.,0.707106781186548, 197P 292
0.707106781186548,1.,1.,0.707106781186548,0.707106781186548,1., 197P 293
1.,29.6,-27.9999999999999,-1.6,29.6,-27.9999999999999,0.,29.6, 197P 294
-26.3999999999999,-1.6,29.6,-26.3999999999999,0.,28., 197P 295
-26.3999999999999,-1.6,28.,-26.3999999999999,0.,26.4, 197P 296
-26.3999999999999,-1.6,26.4,-26.3999999999999,0.,26.4, 197P 297
-27.9999999999999,-1.6,26.4,-27.9999999999999,0.,26.4, 197P 298
-29.5999999999999,-1.6,26.4,-29.5999999999999,0.,28., 197P 299
-29.5999999999999,-1.6,28.,-29.5999999999999,0.,29.6, 197P 300
-29.5999999999999,-1.6,29.6,-29.5999999999999,0.,29.6, 197P 301
-27.9999999999999,-1.6,29.6,-27.9999999999999,0., 197P 302
-0.499999999999999,0.5,-3.14159265358979,3.14159265358979; 197P 303
128,1,8,1,2,0,1,0,0,1,-0.5,-0.5,0.5,0.5,-3.14159265358979, 199P 304
-3.14159265358979,-3.14159265358979,-1.5707963267949, 199P 305
-1.5707963267949,0.,0.,1.5707963267949,1.5707963267949, 199P 306
3.14159265358979,3.14159265358979,3.14159265358979,1.,1., 199P 307
0.707106781186548,0.707106781186548,1.,1.,0.707106781186548, 199P 308
0.707106781186548,1.,1.,0.707106781186548,0.707106781186548,1., 199P 309
1.,0.707106781186548,0.707106781186548,1.,1.,1.6, 199P 310
1.95943487863577D-16,-1.6,1.6,1.95943487863577D-16,0.,1.6,1.6, 199P 311
-1.6,1.6,1.6,0.,-1.95943487863577D-16,1.6,-1.6, 199P 312
-1.95943487863577D-16,1.6,0.,-1.6,1.6,-1.6,-1.6,1.6,0.,-1.6, 199P 313
-1.95943487863577D-16,-1.6,-1.6,-1.95943487863577D-16,0.,-1.6, 199P 314
-1.6,-1.6,-1.6,-1.6,0.,1.95943487863577D-16,-1.6,-1.6, 199P 315
1.95943487863577D-16,-1.6,0.,1.6,-1.6,-1.6,1.6,-1.6,0.,1.6, 199P 316
1.95943487863577D-16,-1.6,1.6,1.95943487863577D-16,0.,-0.5,0.5, 199P 317
-3.14159265358979,3.14159265358979; 199P 318
128,1,8,1,2,0,1,0,0,1,-0.499999999999999,-0.499999999999999,0.5, 201P 319
0.5,-3.14159265358979,-3.14159265358979,-3.14159265358979, 201P 320
-1.5707963267949,-1.5707963267949,0.,0.,1.5707963267949, 201P 321
1.5707963267949,3.14159265358979,3.14159265358979, 201P 322
3.14159265358979,1.,1.,0.707106781186548,0.707106781186548,1., 201P 323
1.,0.707106781186548,0.707106781186548,1.,1.,0.707106781186548, 201P 324
0.707106781186548,1.,1.,0.707106781186548,0.707106781186548,1., 201P 325
1.,29.6,6.23684328668724D-14,-1.6,29.6,6.23684328668724D-14,0., 201P 326
29.6,1.60000000000006,-1.6,29.6,1.60000000000006,0.,28., 201P 327
1.60000000000006,-1.6,28.,1.60000000000006,0.,26.4, 201P 328
1.60000000000006,-1.6,26.4,1.60000000000006,0.,26.4, 201P 329
6.19765458911452D-14,-1.6,26.4,6.19765458911452D-14,0.,26.4, 201P 330
-1.59999999999994,-1.6,26.4,-1.59999999999994,0.,28., 201P 331
-1.59999999999994,-1.6,28.,-1.59999999999994,0.,29.6, 201P 332
-1.59999999999994,-1.6,29.6,-1.59999999999994,0.,29.6, 201P 333
6.23684328668724D-14,-1.6,29.6,6.23684328668724D-14,0., 201P 334
-0.499999999999999,0.5,-3.14159265358979,3.14159265358979; 201P 335
128,1,8,1,2,0,1,0,0,1,-0.5,-0.5,0.500000000000001, 203P 336
0.500000000000001,-3.14159265358979,-3.14159265358979, 203P 337
-3.14159265358979,-1.5707963267949,-1.5707963267949,0.,0., 203P 338
1.5707963267949,1.5707963267949,3.14159265358979, 203P 339
3.14159265358979,3.14159265358979,1.,1.,0.707106781186548, 203P 340
0.707106781186548,1.,1.,0.707106781186548,0.707106781186548,1., 203P 341
1.,0.707106781186548,0.707106781186548,1.,1.,0.707106781186548, 203P 342
0.707106781186548,1.,1.,1.60000000000001,-28.,-1.6, 203P 343
1.60000000000001,-28.,-1.38777878078145D-16,1.60000000000001, 203P 344
-26.4,-1.6,1.60000000000001,-26.4,-1.38777878078145D-16, 203P 345
9.15933995315754D-15,-26.4,-1.6,9.15933995315754D-15,-26.4, 203P 346
-1.38777878078145D-16,-1.59999999999999,-26.4,-1.6, 203P 347
-1.59999999999999,-26.4,-1.38777878078145D-16,-1.59999999999999, 203P 348
-28.,-1.6,-1.59999999999999,-28.,-1.38777878078145D-16, 203P 349
-1.59999999999999,-29.6,-1.6,-1.59999999999999,-29.6, 203P 350
-1.38777878078145D-16,9.15933995315754D-15,-29.6,-1.6, 203P 351
9.15933995315754D-15,-29.6,-1.38777878078145D-16, 203P 352
1.60000000000001,-29.6,-1.6,1.60000000000001,-29.6, 203P 353
-1.38777878078145D-16,1.60000000000001,-28.,-1.6, 203P 354
1.60000000000001,-28.,-1.38777878078145D-16,-0.5, 203P 355
0.500000000000001,-3.14159265358979,3.14159265358979; 203P 356
128,1,1,1,1,0,0,1,0,0,0.,0.,0.16,0.16,0.,0.,0.33056266003594, 205P 357
0.33056266003594,1.,1.,1.,1.,-14.3056266003596, 205P 358
-3.35292539815827,0.,-14.3056266003596,-3.35292539815827,-1.6, 205P 359
-11.0000000000002,-3.35292539815827,0.,-11.0000000000002, 205P 360
-3.35292539815827,-1.6,0.,0.16,0.,0.33056266003594; 205P 361
128,1,4,1,2,0,0,0,0,0,-0.241247846783122,-0.241247846783122, 207P 362
0.241247846783122,0.241247846783122,0.,0.,0.,1.5707963267949, 207P 363
1.5707963267949,3.14159265358979,3.14159265358979, 207P 364
3.14159265358979,1.,1.,0.707106781186548,0.707106781186548,1., 207P 365
1.,0.707106781186548,0.707106781186548,1.,1.,-11.0000000000002, 207P 366
-3.35292539815827,0.,-11.0000000000002,-3.35292539815827,-1.6, 207P 367
-7.68390822688196,-3.35292539815827,0.,-7.68390822688196, 207P 368
-3.35292539815827,-1.6,-7.68390822688196,-6.66901717127651,0., 207P 369
-7.68390822688196,-6.66901717127651,-1.6,-7.68390822688196, 207P 370
-9.98510894439475,0.,-7.68390822688196,-9.98510894439475,-1.6, 207P 371
-11.0000000000002,-9.98510894439475,0.,-11.0000000000002, 207P 372
-9.98510894439475,-1.6,-0.241247846783122,0.241247846783122,0., 207P 373
3.14159265358979; 207P 374
128,1,1,1,1,0,0,1,0,0,-0.16,-0.16,0.,0.,-0.33056266003594, 209P 375
-0.33056266003594,0.,0.,1.,1.,1.,1.,-14.3056266003596, 209P 376
-9.98510894439476,-1.6,-14.3056266003596,-9.98510894439476,0., 209P 377
-11.0000000000002,-9.98510894439476,-1.6,-11.0000000000002, 209P 378
-9.98510894439476,0.,-0.16,0.,-0.33056266003594,0.; 209P 379
128,1,1,1,1,0,0,1,0,0,-0.16,-0.16,0.,0.,-3.28458738842953, 211P 380
-3.28458738842953,0.,0.,1.,1.,1.,1.,-14.3056266003596, 211P 381
-42.83098282869,-1.6,-14.3056266003596,-42.83098282869,0., 211P 382
-14.3056266003596,-9.98510894439476,-1.6,-14.3056266003596, 211P 383
-9.98510894439476,0.,-0.16,0.,-3.28458738842953,0.; 211P 384
128,1,1,1,1,0,0,1,0,0,0.,0.,0.16,0.16,0.,0.,5.66112532007192, 213P 385
5.66112532007192,1.,1.,1.,1.,-14.3056266003596,-42.83098282869, 213P 386
0.,-14.3056266003596,-42.83098282869,-1.6,42.3056266003596, 213P 387
-42.83098282869,0.,42.3056266003596,-42.83098282869,-1.6,0., 213P 388
0.16,0.,5.66112532007192; 213P 389
128,1,1,1,1,0,0,1,0,0,0.,0.,0.16,0.16,0.,0.,3.28458738842948, 215P 390
3.28458738842948,1.,1.,1.,1.,42.3056266003596,-42.83098282869, 215P 391
0.,42.3056266003596,-42.83098282869,-1.6,42.3056266003596, 215P 392
-9.9851089443952,0.,42.3056266003596,-9.9851089443952,-1.6,0., 215P 393
0.16,0.,3.28458738842948; 215P 394
128,1,1,1,1,0,0,1,0,0,-0.16,-0.16,0.,0.,-0.33056266003598, 217P 395
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ENDSEC;
END-ISO-10303-21;

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