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suppression fonction batterie et chgt priorités startrobot

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This commit is contained in:
Romain Vitrat 2020-03-26 07:36:56 +01:00
parent f65b413a40
commit cb30b572c7
3 changed files with 27 additions and 55 deletions
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70
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -24,10 +24,9 @@
#define PRIORITY_TMOVE 20
#define PRIORITY_TSENDTOMON 22
#define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 20
#define PRIORITY_TSTARTROBOTWITHWATCHDOG 20
#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 22
#define PRIORITY_TSTARTROBOTWITHWATCHDOG 22
#define PRIORITY_TCAMERA 21
#define PRIORITY_TBATTERY 31
/*
@ -104,10 +103,6 @@ void Tasks::Init() {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&sem_askBattery, NULL, 0, S_FIFO)) {
cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Semaphores created successfully" << endl << flush;
/**************************************************************************************/
@ -141,10 +136,7 @@ void Tasks::Init() {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_askBattery, "th_askBattery", 0, PRIORITY_TBATTERY, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks created successfully" << endl << flush;
/**************************************************************************************/
@ -193,10 +185,6 @@ void Tasks::Run() {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_askBattery, (void(*)(void*)) & Tasks::Ask_Battery, this)) {
cerr << "Error battery start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks launched" << endl << flush;
}
@ -291,7 +279,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
delete(msgRcv);
exit(-1);
//exit(-1);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
rt_sem_v(&sem_openComRobot);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
@ -360,7 +349,7 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
/* The task startRobot starts here */
/**************************************************************************************/
while (1) {
int err;
Message* p_mess_answer_battery;
Message * msgSend;
rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
cout << "Start robot without watchdog (";
@ -377,11 +366,16 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
robotStarted = 1;
rt_mutex_release(&mutex_robotStarted);
rt_task_set_periodic(NULL, TM_NOW, 5000000000);
rt_task_set_periodic(NULL, TM_NOW, 3000000000);
while (1) {
rt_task_wait_period(NULL);
rt_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot);
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Write(p_mess_answer_battery);
rt_mutex_release(&mutex_monitor);
cout << endl << flush;
}
}
}
@ -403,6 +397,7 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
/* The task startRobot starts here */
/**************************************************************************************/
while (1) {
Message* p_mess_answer_battery;
Message * msgSend;
int cpt=1;
int err;
@ -422,13 +417,21 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
robotStarted = 1;
rt_mutex_release(&mutex_robotStarted);
rt_task_set_periodic(NULL, TM_NOW, 5000000000);
rt_task_set_periodic(NULL, TM_NOW, 300000000);
while (1) {
cpt++;
rt_task_wait_period(NULL);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(robot.ReloadWD());
rt_mutex_release(&mutex_robot);
if(cpt%10==0){
rt_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot);
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Write(p_mess_answer_battery);
rt_mutex_release(&mutex_monitor);
cout << endl << flush;
}
}
}
@ -476,29 +479,6 @@ void Tasks::MoveTask(void *arg) {
}
void Tasks::Ask_Battery(void *arg){
Message* p_mess_answer_battery;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task starts here */
/**************************************************************************************/
while(1){
rt_sem_p(&sem_askBattery, TM_INFINITE);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot);
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Write(p_mess_answer_battery);
rt_mutex_release(&mutex_monitor);
cout << endl << flush;
}
}
/**
* Write a message in a given queue
* @param queue Queue identifier

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

@ -77,7 +77,6 @@ private:
RT_TASK th_startRobotWithoutWatchdog;
RT_TASK th_startRobotWithWatchdog;
RT_TASK th_move;
RT_TASK th_askBattery;
/**********************************************************************/
/* Mutex */
@ -86,7 +85,6 @@ private:
RT_MUTEX mutex_robot;
RT_MUTEX mutex_robotStarted;
RT_MUTEX mutex_move;
RT_MUTEX mutex_askBattery;
/**********************************************************************/
/* Semaphores */
@ -96,7 +94,6 @@ private:
RT_SEM sem_serverOk;
RT_SEM sem_startRobotWithoutWatchdog;
RT_SEM sem_startRobotWithWatchdog;
RT_SEM sem_askBattery;
/**********************************************************************/
/* Message queues */
@ -142,10 +139,7 @@ private:
*/
void MoveTask(void *arg);
void Ask_Battery(void *arg);
/**********************************************************************/
/* Queue services */

4
software/simulateur/nbproject/private/private.xml
View file

@ -6,8 +6,6 @@
</data>
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/home/etud/dumber/software/simulateur/main.cpp</file>
</group>
<group/>
</open-files>
</project-private>