vitrat/real_time
1
0
Fork 0
Code Issues Pull requests Releases Wiki Activity

Màj batterie et démarrage robot

Browse source
This commit is contained in:
Romain Vitrat 2020-03-26 16:47:36 +01:00
parent 6ffb7b6773
commit db9216cd7f
5 changed files with 32 additions and 47 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

1
software/raspberry/superviseur-robot/lib/comrobot.cpp
View file

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

7
software/raspberry/superviseur-robot/nbproject/private/private.xml
View file

@ -7,12 +7,7 @@
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/> <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"> <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group> <group>
<file>file:/home/romainv/Documents/temps_reel/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file> <file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home/romainv/Documents/temps_reel/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
<file>file:/home/romainv/Documents/temps_reel/dumber/software/raspberry/superviseur-robot/lib/commonitor.h</file>
<file>file:/home/romainv/Documents/temps_reel/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
<file>file:/home/romainv/Documents/temps_reel/dumber/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home/romainv/Documents/temps_reel/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
</group> </group>
</open-files> </open-files>
</project-private> </project-private>

30
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -355,13 +355,10 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
Message * msgSend;
/**************************************************************************************/ /**************************************************************************************/
/* The task startRobot starts here */ /* The task startRobot starts here */
/**************************************************************************************/ /**************************************************************************************/
while (1) {
int err;
Message * msgSend;
rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE); rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
cout << "Start robot without watchdog ("; cout << "Start robot without watchdog (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@ -369,20 +366,17 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
rt_mutex_release(&mutex_robot); rt_mutex_release(&mutex_robot);
cout << msgSend->GetID(); cout << msgSend->GetID();
cout << ")" << endl; cout << ")" << endl;
cout << "Movement answer: " << msgSend->ToString() << endl << flush; cout << "Movement answer: " << msgSend->ToString() << endl << flush;
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
if (msgSend->GetID() == MESSAGE_ANSWER_ACK) { if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
robotStarted = 1; robotStarted = 1;
rt_mutex_release(&mutex_robotStarted); rt_mutex_release(&mutex_robotStarted);
rt_task_set_periodic(NULL, TM_NOW, 5000000000); rt_task_set_periodic(NULL, TM_NOW, 500000000);
while (1) { while (1) {
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
rt_sem_v(&sem_askBattery); rt_sem_v(&sem_askBattery);
}
} }
} }
} }
@ -402,10 +396,8 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
/**************************************************************************************/ /**************************************************************************************/
/* The task startRobot starts here */ /* The task startRobot starts here */
/**************************************************************************************/ /**************************************************************************************/
while (1) {
Message * msgSend; Message * msgSend;
int cpt=1; int cpt=0;
int err;
rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE); rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
cout << "Start robot with watchdog ("; cout << "Start robot with watchdog (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@ -422,18 +414,18 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
robotStarted = 1; robotStarted = 1;
rt_mutex_release(&mutex_robotStarted); rt_mutex_release(&mutex_robotStarted);
rt_task_set_periodic(NULL, TM_NOW, 5000000000); rt_task_set_periodic(NULL, TM_NOW, 500000000);
while (1) { while (1) {
cpt++;
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
cpt++;
if(cpt==2){
robot.Write(robot.ReloadWD()); robot.Write(robot.ReloadWD());
if(cpt%10==0){ cpt=0;
}
rt_sem_v(&sem_askBattery); rt_sem_v(&sem_askBattery);
} }
} }
} }
}
}
@ -490,9 +482,7 @@ void Tasks::Ask_Battery(void *arg){
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery()); p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot); rt_mutex_release(&mutex_robot);
rt_mutex_acquire(&mutex_monitor, TM_INFINITE); WriteInQueue(&q_messageToMon, p_mess_answer_battery);
monitor.Write(p_mess_answer_battery);
rt_mutex_release(&mutex_monitor);
cout << endl << flush; cout << endl << flush;
} }
} }

3
software/simulateur/main.cpp
View file

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

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

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