fonction terminée à vérifier

software/raspberry/superviseur-robot/tasks.cpp

@@ -146,6 +146,10 @@ void Tasks::Init() {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
+    if (err = rt_task_create(&th_vision, "th_vision", 0, PRIORITY_TMOVE, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
     
     cout << "Tasks created successfully" << endl << flush;
 
@@ -199,6 +203,10 @@ void Tasks::Run() {
         cerr << "Error task start: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
+    if (err = rt_task_start(&th_vision, (void(*)(void*)) & Tasks::Vision, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
     
     cout << "Tasks launched" << endl << flush;
 }
@@ -507,6 +515,9 @@ void Tasks::AskBattery(void *arg){
 }
 
 
+//This task works on a difficult principle that fully make it controllable through 
+// monitor, accessing booleans variables to set getPosition or searchArena
+
 void Tasks::Vision(void *arg){
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
     // Synchronization barrier (waiting that all tasks are starting)
@@ -521,7 +532,12 @@ void Tasks::Vision(void *arg){
     list<Position> positionList;
     list<Position>::iterator it;
     string strPos;
-    MessagePosition msgPos;
+    MessagePosition* msgPos;
+    Message* msgPosMsg;
+    MessageImg* msgImg;
+    Message* msgImgMsg;
+    msgPos->SetID(MESSAGE_CAM_POSITION);
+    msgImg->SetID(MESSAGE_CAM_IMAGE);
     rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
     killVision=0;
     rt_mutex_release(&mutex_killVision);
@@ -545,17 +561,35 @@ void Tasks::Vision(void *arg){
                 acquireImageOk=acquireImage;
             }
             if(getPositionOk==1){
+                //On démarre la recherche du robot dans la zone définie par l'arène
                 positionList=img.SearchRobot(arena);
+                //Définitition et assignation de l'itérateur de parcrous de la liste positionList
                 it=positionList.begin();
-                //it++;
+                //Définition d'un messagePosition qui va contenir l'information (x,y)
-                //msgPos(MESSAGE_CAM_POSITION,*it);
+                msgPos->SetPosition(*it);
-                //WriteInQueue(&q_messageToMon,msgPos);r
+                //Transformation en message classique
-                //img.DrawRobot(position.);
+                msgPosMsg=msgPos->Copy();
+                //Envoi
+                WriteInQueue(&q_messageToMon,msgPos);
+                //Dessis du robot sur l'image
+                img.DrawRobot(*it);
             }
+            //Définition d'un messageImg contenant l'image avec le robot et l'arène dessinés (ou pas)
+            msgImg->SetImage(&img);
+            //Transformation en message classique
+            msgImgMsg=msgImg->Copy();
+            //Envoi
+            WriteInQueue(&q_messageToMon,msgImg);
         }
-        
     }
-    
+    rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
+        searchArena=0;
+    rt_mutex_release(&mutex_searchArena);
+    searchArenaOk=1;
+    rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
+        getPosition=0;
+    rt_mutex_release(&mutex_getPosition);
+    getPositionOk=1;
 }
 
 

software/simulateur/main.cpp

@@ -135,7 +135,7 @@ int main(int argc, char const *argv[]) {
                     break;
                 case LABEL_ROBOT_START_WITH_WD:
                     s += LABEL_ROBOT_OK;
-                    cout << ">>> I start without watchdog" << endl;
+                    cout << ">>> I start with watchdog" << endl;
                     break;
                 case LABEL_ROBOT_MOVE:
                     switch (buffer[2]) {