vitrat/real_time
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base: vitrat:7194d369d4cd76098480e4a215579f105d4cf406
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vitrat:Raphael
vitrat:master
vitrat:vision
vitrat:battery_watchdog
vitrat:start_robot_update
...
compare: vitrat:64c7234be1de05b187cd601b5c2cd0b72b473b69
Branches Tags
vitrat:Raphael
vitrat:master
vitrat:vision
vitrat:battery_watchdog
vitrat:start_robot_update

3 commits
7194d369d4 ... 64c7234be1

Author SHA1 Message Date
benistan
64c7234be1 Modified Received From Mon (killBattery) 2020-03-28 10:14:22 +01:00
benistan
02522cfe0e Merge branch 'Raphael' of https://git.etud.insa-toulouse.fr/vitrat/real_time into Raphael 2020-03-28 09:59:18 +01:00
benistan
372822c44b Change Receive from Mon upper 2020-03-27 11:37:55 +01:00
3 changed files with 22 additions and 25 deletions
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5
software/raspberry/superviseur-robot/nbproject/private/private.xml
View file

@ -7,7 +7,10 @@
<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/tasks.h</file>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/lib/img.h</file>
<file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/lib/messages.h</file>
</group>
</open-files>
</project-private>

41
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -103,22 +103,12 @@ void Tasks::Init() {
if (err = rt_mutex_create(&mutex_killSendMon, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_killStartRobWD, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_killDetectLostSupRob, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_killStartRob, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_acquireImage, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
@ -328,7 +318,7 @@ void Tasks::SendToMonTask(void* arg) {
*/
void Tasks::ReceiveFromMonTask(void *arg) {
Message *msgRcv;
bool Ok=1;
bool killReceiveFromMonOk=0;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
@ -347,8 +337,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
/**************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE);
cout << "Received message from monitor activated" << endl << flush;
while (Ok) {
while (!killReceiveFromMonOk) {
msgRcv = monitor.Read();
cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
@ -367,15 +356,11 @@ void Tasks::ReceiveFromMonTask(void *arg) {
rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
killSendMon=1;
rt_mutex_release(&mutex_killSendMon);
rt_mutex_acquire(&mutex_killStartRobWD, TM_INFINITE);
killStartRobWD=1;
rt_mutex_release(&mutex_killStartRobWD);
rt_mutex_release(&mutex_killSendMon);
rt_mutex_acquire(&mutex_killStartRob, TM_INFINITE);
killStartRob=1;
rt_mutex_release(&mutex_killStartRob);
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=1;
rt_mutex_release(&mutex_killBattery);
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
killDetectlostSupRob=1;
@ -389,33 +374,41 @@ void Tasks::ReceiveFromMonTask(void *arg) {
} else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
cout << "Command Open Camera Received" << endl << flush;
//start task Vision
} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
cout << "Command Open Communication with Robot Received" << endl << flush;
rt_sem_v(&sem_openComRobot);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
cout << "Command Start Robot without Watchdog Received" << endl << flush;
rt_sem_v(&sem_startRobotWithoutWatchdog);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
cout << "Command Start Robot with Watchdog Received" << endl << flush;
//start task robot with watchdog
} else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
cout << "Command Search Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=1;
rt_mutex_release(&mutex_searchArena);
} else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
cout << "Command Get Root Position Received" << endl << flush;
rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
getPosition=1;
rt_mutex_release(&mutex_getPosition);
} else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
cout << "Command Stop Getting Robot Position Received" << endl << flush;
rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
getPosition=0;
rt_mutex_release(&mutex_getPosition);
} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
cout << "Command Confirm Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_drawArena, TM_INFINITE);
drawArena=1;
rt_mutex_release(&mutex_drawArena);
@ -428,7 +421,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
acquireImage=1;
rt_mutex_release(&mutex_acquireImage);
} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
} else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
cout << "Command Infirm Arena Received" << endl << flush;
rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
searchArena=0;
rt_mutex_release(&mutex_searchArena);
@ -449,8 +443,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
}
delete(msgRcv); // must be deleted manually, no consumer
//Update loop condition
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
Ok=!killReceiveFromMon;
killReceiveFromMonOk=killReceiveFromMon;
rt_mutex_release(&mutex_killReceiveFromMon);
}

1
software/raspberry/superviseur-robot/tasks.h
View file

@ -78,7 +78,6 @@ private:
/**********************************************************************/
/* Tasks */
/**********************************************************************/
RT_TASK th_server;