225 lines
6.5 KiB
C++
225 lines
6.5 KiB
C++
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#include "../header/functions.h"
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char mode_start;
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void write_in_queue(RT_QUEUE *, MessageToMon);
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void f_server(void *arg) {
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int err;
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/* INIT */
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RT_TASK_INFO info;
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rt_task_inquire(NULL, &info);
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printf("Init %s\n", info.name);
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rt_sem_p(&sem_barrier, TM_INFINITE);
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err = run_nodejs("/usr/local/bin/node", "/home/pi/Interface_Robot/server.js");
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if (err < 0) {
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printf("Failed to start nodejs: %s\n", strerror(-err));
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exit(EXIT_FAILURE);
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} else {
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#ifdef _WITH_TRACE_
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printf("%s: nodejs started\n", info.name);
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#endif
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open_server();
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rt_sem_broadcast(&sem_serverOk);
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}
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}
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void f_sendToMon(void * arg) {
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int err;
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MessageToMon msg;
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/* INIT */
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RT_TASK_INFO info;
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rt_task_inquire(NULL, &info);
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printf("Init %s\n", info.name);
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rt_sem_p(&sem_barrier, TM_INFINITE);
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#ifdef _WITH_TRACE_
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printf("%s : waiting for sem_serverOk\n", info.name);
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#endif
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rt_sem_p(&sem_serverOk, TM_INFINITE);
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while (1) {
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#ifdef _WITH_TRACE_
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printf("%s : waiting for a message in queue\n", info.name);
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#endif
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if (rt_queue_read(&q_messageToMon, &msg, sizeof (MessageToRobot), TM_INFINITE) >= 0) {
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#ifdef _WITH_TRACE_
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printf("%s : message {%s,%s} in queue\n", info.name, msg.header, msg.data);
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#endif
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send_message_to_monitor(msg.header, msg.data);
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free_msgToMon_data(&msg);
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rt_queue_free(&q_messageToMon, &msg);
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} else {
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printf("Error msg queue write: %s\n", strerror(-err));
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}
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}
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}
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void f_receiveFromMon(void *arg) {
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MessageFromMon msg;
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int err;
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/* INIT */
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RT_TASK_INFO info;
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rt_task_inquire(NULL, &info);
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printf("Init %s\n", info.name);
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rt_sem_p(&sem_barrier, TM_INFINITE);
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#ifdef _WITH_TRACE_
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printf("%s : waiting for sem_serverOk\n", info.name);
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#endif
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rt_sem_p(&sem_serverOk, TM_INFINITE);
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do {
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#ifdef _WITH_TRACE_
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printf("%s : waiting for a message from monitor\n", info.name);
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#endif
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err = receive_message_from_monitor(msg.header, msg.data);
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#ifdef _WITH_TRACE_
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printf("%s: msg {header:%s,data=%s} received from UI\n", info.name, msg.header, msg.data);
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#endif
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if (strcmp(msg.header, HEADER_MTS_COM_DMB) == 0) {
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if (msg.data[0] == OPEN_COM_DMB) { // Open communication supervisor-robot
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#ifdef _WITH_TRACE_
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printf("%s: message open Xbee communication\n", info.name);
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#endif
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rt_sem_v(&sem_openComRobot);
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}
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} else if (strcmp(msg.header, HEADER_MTS_DMB_ORDER) == 0) {
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if (msg.data[0] == DMB_START_WITHOUT_WD) { // Start robot
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#ifdef _WITH_TRACE_
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printf("%s: message start robot\n", info.name);
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#endif
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rt_sem_v(&sem_startRobot);
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} else if ((msg.data[0] == DMB_GO_BACK)
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|| (msg.data[0] == DMB_GO_FORWARD)
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|| (msg.data[0] == DMB_GO_LEFT)
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|| (msg.data[0] == DMB_GO_RIGHT)
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|| (msg.data[0] == DMB_STOP_MOVE)) {
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rt_mutex_acquire(&mutex_move, TM_INFINITE);
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move = msg.data[0];
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rt_mutex_release(&mutex_move);
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#ifdef _WITH_TRACE_
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printf("%s: message update movement with %c\n", info.name, move);
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#endif
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}
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}
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} while (err > 0);
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}
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void f_openComRobot(void * arg) {
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int err;
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/* INIT */
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RT_TASK_INFO info;
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rt_task_inquire(NULL, &info);
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printf("Init %s\n", info.name);
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rt_sem_p(&sem_barrier, TM_INFINITE);
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while (1) {
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#ifdef _WITH_TRACE_
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printf("%s : Wait sem_openComRobot\n", info.name);
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#endif
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rt_sem_p(&sem_openComRobot, TM_INFINITE);
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#ifdef _WITH_TRACE_
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printf("%s : sem_openComRobot arrived => open communication robot\n", info.name);
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#endif
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err = open_communication_robot();
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if (err == 0) {
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#ifdef _WITH_TRACE_
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printf("%s : the communication is opened\n", info.name);
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#endif
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MessageToMon msg;
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set_msgToMon_header(&msg, HEADER_STM_ACK);
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write_in_queue(&q_messageToMon, msg);
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} else {
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MessageToMon msg;
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set_msgToMon_header(&msg, HEADER_STM_NO_ACK);
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write_in_queue(&q_messageToMon, msg);
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}
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}
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}
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void f_startRobot(void * arg) {
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int err;
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/* INIT */
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RT_TASK_INFO info;
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rt_task_inquire(NULL, &info);
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printf("Init %s\n", info.name);
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rt_sem_p(&sem_barrier, TM_INFINITE);
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while (1) {
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#ifdef _WITH_TRACE_
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printf("%s : Wait sem_startRobot\n", info.name);
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#endif
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rt_sem_p(&sem_startRobot, TM_INFINITE);
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#ifdef _WITH_TRACE_
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printf("%s : sem_startRobot arrived => Start robot\n", info.name);
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#endif
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err = send_command_to_robot(DMB_START_WITHOUT_WD);
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if (err == 0) {
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#ifdef _WITH_TRACE_
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printf("%s : the robot is started\n", info.name);
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#endif
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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robotStarted = 1;
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rt_mutex_release(&mutex_robotStarted);
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MessageToMon msg;
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set_msgToMon_header(&msg, HEADER_STM_ACK);
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write_in_queue(&q_messageToMon, msg);
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} else {
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MessageToMon msg;
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set_msgToMon_header(&msg, HEADER_STM_NO_ACK);
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write_in_queue(&q_messageToMon, msg);
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}
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}
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}
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void f_move(void *arg) {
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/* INIT */
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RT_TASK_INFO info;
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rt_task_inquire(NULL, &info);
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printf("Init %s\n", info.name);
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/* PERIODIC START */
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#ifdef _WITH_TRACE_
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printf("%s: start period\n", info.name);
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#endif
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rt_task_set_periodic(NULL, TM_NOW, 100000000);
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while (1) {
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#ifdef _WITH_TRACE_
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printf("%s: Wait period \n", info.name);
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#endif
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rt_task_wait_period(NULL);
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#ifdef _WITH_TRACE_
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printf("%s: Periodic activation\n", info.name);
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printf("%s: move equals %c\n", info.name, move);
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#endif
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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if (robotStarted) {
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rt_mutex_acquire(&mutex_move, TM_INFINITE);
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send_command_to_robot(move);
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rt_mutex_release(&mutex_move);
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#ifdef _WITH_TRACE_
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printf("%s: the movement %c was sent\n", info.name, move);
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#endif
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}
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rt_mutex_release(&mutex_robotStarted);
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}
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}
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void write_in_queue(RT_QUEUE *queue, MessageToMon msg) {
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void *buff;
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buff = rt_queue_alloc(&q_messageToMon, sizeof (MessageToMon));
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memcpy(buff, &msg, sizeof (MessageToMon));
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rt_queue_send(&q_messageToMon, buff, sizeof (MessageToMon), Q_NORMAL);
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}
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