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màs réelle des booléens

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This commit is contained in:
Romain Vitrat 2020-03-27 10:25:27 +01:00
parent 6c2afb7e67
commit dbfb0bf9ec
4 changed files with 109 additions and 20 deletions
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11
software/raspberry/superviseur-robot/nbproject/private/private.xml
View file

@ -7,7 +7,18 @@
<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/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/camera.cpp</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/messages.cpp</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/main.cpp</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/img.cpp</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/img.h</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/camera.h</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/messages.h</file>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/comrobot.h</file>
</group>
</open-files>
</project-private>

81
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -75,12 +75,11 @@ void Tasks::Init() {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_kill_battery, NULL)) {
if (err = rt_mutex_create(&mutex_killBattery, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Mutexes created successfully" << endl << flush;
/**************************************************************************************/
@ -367,9 +366,9 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
/* The task startRobot starts here */
/**************************************************************************************/
//Boolean to get the battery
rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
killBatteryBool=0;
rt_mutex_release(&mutex_kill_battery);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=0;
rt_mutex_release(&mutex_killBattery);
rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
cout << "Start robot without watchdog (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@ -388,9 +387,9 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
while (killBattery==0) {
rt_task_wait_period(NULL);
rt_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
killBattery=killBatteryBool;
rt_mutex_release(&mutex_kill_battery);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=killBattery;
rt_mutex_release(&mutex_killBattery);
}
}
}
@ -414,9 +413,9 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
/* The task startRobot starts here */
/**************************************************************************************/
//Boolean to get the battery
rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
killBatteryBool=0;
rt_mutex_release(&mutex_kill_battery);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=0;
rt_mutex_release(&mutex_killBattery);
rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
cout << "Start robot with watchdog (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@ -440,9 +439,9 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
}
rt_task_wait_period(NULL);
rt_sem_v(&sem_askBattery);
rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
killBattery=killBatteryBool;
rt_mutex_release(&mutex_kill_battery);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=killBattery;
rt_mutex_release(&mutex_killBattery);
}
}
}
@ -508,6 +507,60 @@ void Tasks::AskBattery(void *arg){
}
void Tasks::Vision(void *arg){
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
rt_sem_p(&sem_askBattery, TM_INFINITE);
int killVisionOk=0;
int acquireImageOk=1;
int searchArenaOk=0;
int drawArenaOk=0;
int getPositionOk=0;
Arena arena;
list<Position> positionList;
list<Position>::iterator it;
string strPos;
MessagePosition msgPos;
rt_mutex_acquire(&mutex_killVision, TM_INFINITE);
killVision=0;
rt_mutex_release(&mutex_killVision);
camera.Open();
while(killVisionOk==0){
while(acquireImageOk==1){
camera.Grab();
if(searchArenaOk==1){
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=0;
rt_mutex_release(&mutex_acquireImage);
acquireImageOk=acquireImage;
arena=img.SearchArena();
img.DrawArena(arena);
}
if(drawArenaOk==1){
img.DrawArena(arena);
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=1;
rt_mutex_release(&mutex_acquireImage);
acquireImageOk=acquireImage;
}
if(getPositionOk==1){
positionList=img.SearchRobot(arena);
it=positionList.begin();
//it++;
//msgPos(MESSAGE_CAM_POSITION,*it);
//WriteInQueue(&q_messageToMon,msgPos);r
//img.DrawRobot(position.);
}
}
}
}
/**
* Write a message in a given queue
* @param queue Queue identifier

33
software/raspberry/superviseur-robot/tasks.h
View file

@ -36,7 +36,7 @@
using namespace std;
class Tasks {
class Tasks{
public:
/**
* @brief Initializes main structures (semaphores, tasks, mutex, etc.)
@ -64,9 +64,21 @@ private:
/**********************************************************************/
ComMonitor monitor;
ComRobot robot;
int robotStarted = 0;
int killBatteryBool = 0;
int killRobotWithoutWd = 0;
Camera camera;
Img img;
bool robotStarted = 0;
//variables de fermeture batterie :
bool killBattery;
//variables de fermeture caméra :
bool killVision;
bool acquireImage;
bool searchArena;
bool drawArena;
bool getPosition;
int move = MESSAGE_ROBOT_STOP;
/**********************************************************************/
@ -80,6 +92,7 @@ private:
RT_TASK th_startRobotWithWatchdog;
RT_TASK th_move;
RT_TASK th_askBattery;
RT_TASK th_vision;
/**********************************************************************/
/* Mutex */
@ -88,7 +101,13 @@ private:
RT_MUTEX mutex_robot;
RT_MUTEX mutex_robotStarted;
RT_MUTEX mutex_move;
RT_MUTEX mutex_kill_battery;
RT_MUTEX mutex_killBattery;
RT_MUTEX mutex_killVision;
RT_MUTEX mutex_acquireImage;
RT_MUTEX mutex_searchArena;
RT_MUTEX mutex_drawArena;
RT_MUTEX mutex_getPosition;
/**********************************************************************/
/* Semaphores */
@ -99,6 +118,7 @@ private:
RT_SEM sem_startRobotWithoutWatchdog;
RT_SEM sem_startRobotWithWatchdog;
RT_SEM sem_askBattery;
RT_SEM sem_allowStartCaptureImage;
/**********************************************************************/
/* Message queues */
@ -149,6 +169,9 @@ private:
void AskBattery(void *arg);
void Vision(void *arg);
/**********************************************************************/
/* Queue services */
/**********************************************************************/

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

@ -6,6 +6,8 @@
</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/>
<group>
<file>file:/home/romainv/Documents/temps_reel/dumber1/software/simulateur/main.cpp</file>
</group>
</open-files>
</project-private>