Last commit to branch master.
after that next commits will be in branch dev or stable
This commit is contained in:
Sébastien DI MERCURIO
parent
6bf2742136
commit
2451177ccd
41 changed files with 2211 additions and 841 deletions
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<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="195">
|
||||
<caret line="14" column="17" selection-start-line="14" selection-start-column="17" selection-end-line="14" selection-end-column="17" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur-pthread/src/Program.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="419">
|
||||
<caret line="107" selection-start-line="107" selection-end-line="107" />
|
||||
<folding>
|
||||
<element signature="e#90#108#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/examples/CMakeLists.txt">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="135">
|
||||
<caret line="9" column="22" selection-start-line="9" selection-start-column="22" selection-end-line="9" selection-end-column="22" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur-pthread/CMakeLists.txt">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="105">
|
||||
<caret line="7" column="60" selection-start-line="7" selection-start-column="60" selection-end-line="7" selection-end-column="60" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur-pthread/src/Tasks.h">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="405">
|
||||
<caret line="33" column="40" selection-start-line="33" selection-start-column="40" selection-end-line="33" selection-end-column="40" />
|
||||
<folding>
|
||||
<element signature="e#319#338#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur-pthread/src/Tasks.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="509">
|
||||
<caret line="245" column="27" selection-start-line="245" selection-start-column="27" selection-end-line="245" selection-end-column="27" />
|
||||
<folding>
|
||||
<element signature="e#0#18#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur-xenomai/src/Program.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="373">
|
||||
<caret line="148" column="7" selection-start-line="145" selection-start-column="6" selection-end-line="148" selection-end-column="7" />
|
||||
<folding>
|
||||
<element signature="e#88#106#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/lib/src/Robot.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="165">
|
||||
<caret line="29" column="19" selection-start-line="29" selection-start-column="19" selection-end-line="29" selection-end-column="19" />
|
||||
<folding>
|
||||
<element signature="e#891#909#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur-xenomai/src/Tasks.h">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="748">
|
||||
<caret line="84" column="60" selection-start-line="84" selection-start-column="60" selection-end-line="84" selection-end-column="60" />
|
||||
<folding>
|
||||
<element signature="e#316#341#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/lib/MsgManager.h">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="-151">
|
||||
<caret line="20" column="8" selection-start-line="20" selection-start-column="8" selection-end-line="20" selection-end-column="8" />
|
||||
<folding>
|
||||
<element signature="e#86#105#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur-xenomai/src/Tasks.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="410">
|
||||
<caret line="92" column="35" lean-forward="true" selection-start-line="92" selection-start-column="35" selection-end-line="92" selection-end-column="35" />
|
||||
<folding>
|
||||
<element signature="e#0#19#0" expanded="true" />
|
||||
<element signature="e#876#929#0" expanded="true" />
|
||||
<element signature="e#1024#1083#0" expanded="true" />
|
||||
<element signature="e#1218#1293#0" expanded="true" />
|
||||
<element signature="e#1799#1852#0" expanded="true" />
|
||||
<element signature="e#1939#2002#0" expanded="true" />
|
||||
<element signature="e#2104#2194#0" expanded="true" />
|
||||
<element signature="e#2383#2442#0" expanded="true" />
|
||||
<element signature="e#2683#2730#0" expanded="true" />
|
||||
<element signature="e#3232#3297#0" expanded="true" />
|
||||
<element signature="e#3735#3816#0" expanded="true" />
|
||||
<element signature="e#3922#3978#0" expanded="true" />
|
||||
<element signature="e#6217#6275#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/lib/src/Image.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="419">
|
||||
<caret line="51" column="6" selection-start-line="51" selection-start-column="6" selection-end-line="51" selection-end-column="26" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/lib/src/MsgManager.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="339">
|
||||
<caret line="136" column="23" selection-start-line="136" selection-start-column="23" selection-end-line="136" selection-end-column="23" />
|
||||
<folding>
|
||||
<element signature="e#44#64#0" expanded="true" />
|
||||
<element signature="e#751#793#0" expanded="true" />
|
||||
<element signature="e#832#878#0" expanded="true" />
|
||||
<element signature="e#938#967#0" expanded="true" />
|
||||
<element signature="e#1253#1282#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur-xenomai/CMakeLists.txt">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="60">
|
||||
<caret line="4" column="82" selection-start-line="4" selection-start-column="82" selection-end-line="4" selection-end-column="82" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/lib/image.h">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="209">
|
||||
<caret line="17" selection-start-line="17" selection-end-line="17" />
|
||||
<folding>
|
||||
<element signature="e#566#599#0" expanded="true" />
|
||||
<element signature="e#635#673#0" expanded="true" />
|
||||
<element signature="e#865#890#0" expanded="true" />
|
||||
<element signature="e#935#962#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/lib/src/message.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="405">
|
||||
<caret line="27" column="32" selection-start-line="27" selection-start-column="32" selection-end-line="27" selection-end-column="32" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/lib/monitor.h">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="389">
|
||||
<caret line="64" column="94" selection-start-line="64" selection-start-column="94" selection-end-line="64" selection-end-column="94" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/lib/src/monitor.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="338">
|
||||
<caret line="104" column="23" selection-start-line="104" selection-start-column="23" selection-end-line="104" selection-end-column="23" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur/src/functions.h">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="180">
|
||||
<caret line="51" column="21" selection-start-line="51" selection-start-column="12" selection-end-line="51" selection-end-column="21" />
|
||||
<folding>
|
||||
<element signature="e#319#337#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/CMakeLists.txt">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="330">
|
||||
<caret line="22" selection-start-line="22" selection-end-line="22" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/lib/CMakeLists.txt">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state>
|
||||
<caret column="81" selection-start-column="81" selection-end-column="81" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur/CMakeLists.txt">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="135">
|
||||
<caret line="9" selection-start-line="9" selection-end-line="9" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur/src/main.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="75">
|
||||
<caret line="89" column="13" selection-start-line="89" selection-start-column="13" selection-end-line="89" selection-end-column="13" />
|
||||
<folding>
|
||||
<element signature="e#88#106#0" expanded="true" />
|
||||
</folding>
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
<entry file="file://$PROJECT_DIR$/superviseur/src/functions.cpp">
|
||||
<provider selected="true" editor-type-id="text-editor">
|
||||
<state relative-caret-position="300">
|
||||
<caret line="20" column="19" selection-start-line="20" selection-start-column="19" selection-end-line="20" selection-end-column="19" />
|
||||
</state>
|
||||
</provider>
|
||||
</entry>
|
||||
</component>
|
||||
</project>
|
||||
|
|
@ -1,13 +1,23 @@
|
|||
cmake_minimum_required(VERSION 3.9)
|
||||
project(ProjDestjil CXX)
|
||||
cmake_minimum_required(VERSION 3.6)
|
||||
project(ProjDestijl CXX)
|
||||
|
||||
set (ProjDestjil_VERSION_MAJOR 1)
|
||||
set (ProjDestjil_VERSION_MINOR 0)
|
||||
set (CMAKE_CXX_STANDARD 11)
|
||||
|
||||
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
|
||||
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../lib)
|
||||
set(CMAKE_ARCHIVE_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
|
||||
set(CMAKE_LIBRARY_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/lib)
|
||||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/superviseur/bin)
|
||||
|
||||
option(BUILD_FOR_XENOMAI "Build for Raspberry" OFF)
|
||||
|
||||
set(CMAKE_BUILD_TYPE DEBUG)
|
||||
set(CMAKE_C_FLAGS "${CMAKE_C_FLAGS} -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy")
|
||||
set(CMAKE_CXX_FLAGS "${CMAKE_CXX_FLAGS} -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy")
|
||||
|
||||
set(CMAKE_EXE_LINKER_FLAGS "${CMAKE_EXE_LINKER_FLAGS} -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt")
|
||||
|
||||
add_subdirectory("lib")
|
||||
add_subdirectory("examples")
|
||||
#add_subdirectory("destjil_init")
|
||||
#add_subdirectory("examples")
|
||||
add_subdirectory("superviseur")
|
||||
|
||||
|
|
|
|||
142
software/raspberry/superviseur-robot/ProjDestijl.cbp
Normal file
142
software/raspberry/superviseur-robot/ProjDestijl.cbp
Normal file
|
|
@ -0,0 +1,142 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<CodeBlocks_project_file>
|
||||
<FileVersion major="1" minor="6"/>
|
||||
<Project>
|
||||
<Option title="ProjDestijl"/>
|
||||
<Option makefile_is_custom="1"/>
|
||||
<Option compiler="gcc"/>
|
||||
<Option virtualFolders="CMake Files\;CMake Files\lib\;CMake Files\superviseur\;"/>
|
||||
<Build>
|
||||
<Target title="all">
|
||||
<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot"/>
|
||||
<Option type="4"/>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 all"/>
|
||||
<CompileFile command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
<Target title="rebuild_cache">
|
||||
<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot"/>
|
||||
<Option type="4"/>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 rebuild_cache"/>
|
||||
<CompileFile command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
<Target title="edit_cache">
|
||||
<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot"/>
|
||||
<Option type="4"/>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 edit_cache"/>
|
||||
<CompileFile command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
<Target title="destijl">
|
||||
<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a" prefix_auto="0" extension_auto="0"/>
|
||||
<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib"/>
|
||||
<Option object_output="./"/>
|
||||
<Option type="2"/>
|
||||
<Option compiler="gcc"/>
|
||||
<Compiler>
|
||||
<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/."/>
|
||||
</Compiler>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile" VERBOSE=1 destijl"/>
|
||||
<CompileFile command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
<Target title="destijl/fast">
|
||||
<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/lib/libdestijl.a" prefix_auto="0" extension_auto="0"/>
|
||||
<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib"/>
|
||||
<Option object_output="./"/>
|
||||
<Option type="2"/>
|
||||
<Option compiler="gcc"/>
|
||||
<Compiler>
|
||||
<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/."/>
|
||||
</Compiler>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile" VERBOSE=1 destijl/fast"/>
|
||||
<CompileFile command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
<Target title="superviseur">
|
||||
<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur/bin/superviseur" prefix_auto="0" extension_auto="0"/>
|
||||
<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/../superviseur/bin"/>
|
||||
<Option object_output="./"/>
|
||||
<Option type="1"/>
|
||||
<Option compiler="gcc"/>
|
||||
<Compiler>
|
||||
<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src"/>
|
||||
<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib"/>
|
||||
<Add directory="/usr/xenomai/include"/>
|
||||
<Add directory="/usr/xenomai/include/mercury"/>
|
||||
</Compiler>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile" VERBOSE=1 superviseur"/>
|
||||
<CompileFile command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
<Target title="superviseur/fast">
|
||||
<Option output="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur/bin/superviseur" prefix_auto="0" extension_auto="0"/>
|
||||
<Option working_dir="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/../superviseur/bin"/>
|
||||
<Option object_output="./"/>
|
||||
<Option type="1"/>
|
||||
<Option compiler="gcc"/>
|
||||
<Compiler>
|
||||
<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src"/>
|
||||
<Add directory="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib"/>
|
||||
<Add directory="/usr/xenomai/include"/>
|
||||
<Add directory="/usr/xenomai/include/mercury"/>
|
||||
</Compiler>
|
||||
<MakeCommands>
|
||||
<Build command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile" VERBOSE=1 superviseur/fast"/>
|
||||
<CompileFile command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile" VERBOSE=1 "$file""/>
|
||||
<Clean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile" VERBOSE=1 clean"/>
|
||||
<DistClean command="/usr/bin/make -f "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile" VERBOSE=1 clean"/>
|
||||
</MakeCommands>
|
||||
</Target>
|
||||
</Build>
|
||||
<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp">
|
||||
<Option target="destijl"/>
|
||||
</Unit>
|
||||
<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp">
|
||||
<Option target="destijl"/>
|
||||
</Unit>
|
||||
<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp">
|
||||
<Option target="destijl"/>
|
||||
</Unit>
|
||||
<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp">
|
||||
<Option target="destijl"/>
|
||||
</Unit>
|
||||
<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp">
|
||||
<Option target="superviseur"/>
|
||||
</Unit>
|
||||
<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.h">
|
||||
<Option target="superviseur"/>
|
||||
</Unit>
|
||||
<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp">
|
||||
<Option target="superviseur"/>
|
||||
</Unit>
|
||||
<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/CMakeLists.txt">
|
||||
<Option virtualFolder="CMake Files\"/>
|
||||
</Unit>
|
||||
<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/CMakeLists.txt">
|
||||
<Option virtualFolder="CMake Files\lib\"/>
|
||||
</Unit>
|
||||
<Unit filename="/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt">
|
||||
<Option virtualFolder="CMake Files\superviseur\"/>
|
||||
</Unit>
|
||||
</Project>
|
||||
</CodeBlocks_project_file>
|
||||
32
software/raspberry/superviseur-robot/compile_commands.json
Normal file
32
software/raspberry/superviseur-robot/compile_commands.json
Normal file
|
|
@ -0,0 +1,32 @@
|
|||
[
|
||||
{
|
||||
"directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
|
||||
"command": "/usr/bin/g++ -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/. -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/destijl.dir/src/robot.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp",
|
||||
"file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp"
|
||||
},
|
||||
{
|
||||
"directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
|
||||
"command": "/usr/bin/g++ -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/. -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/destijl.dir/src/monitor.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp",
|
||||
"file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/monitor.cpp"
|
||||
},
|
||||
{
|
||||
"directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
|
||||
"command": "/usr/bin/g++ -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/. -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/destijl.dir/src/message.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp",
|
||||
"file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp"
|
||||
},
|
||||
{
|
||||
"directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib",
|
||||
"command": "/usr/bin/g++ -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/. -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/destijl.dir/src/image.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp",
|
||||
"file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/image.cpp"
|
||||
},
|
||||
{
|
||||
"directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur",
|
||||
"command": "/usr/bin/g++ -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/superviseur.dir/src/main.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp",
|
||||
"file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/main.cpp"
|
||||
},
|
||||
{
|
||||
"directory": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur",
|
||||
"command": "/usr/bin/g++ -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/./src -I/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/../lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -g3 -gdwarf-2 -std=gnu++11 -o CMakeFiles/superviseur.dir/src/functions.cpp.o -c /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp",
|
||||
"file": "/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp"
|
||||
}
|
||||
]
|
||||
|
|
@ -1,36 +0,0 @@
|
|||
|
||||
CC=g++
|
||||
CFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -c -g -D_WITH_TRACE_ -I/usr/xenomai/include/ -I/usr/xenomai/include/mercury -MMD -MP
|
||||
LDFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -L/usr/xenomai/lib -lalchemy -lcopperplate -lmercury -L/opt/vc/lib -I/usr/local/include -lopencv_highgui -lopencv_core -lopencv_imgproc -Wl,--no-as-needed -lalchemy -lcopperplate /usr/xenomai/lib/xenomai/bootstrap.o -Wl,--wrap=main -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -L/usr/xenomai/lib -lmercury -lpthread -lrt -Wl,-rpath /usr/xenomai/lib -lopencv_highgui -lopencv_core -lopencv_imgcodecs -lraspicam_cv -lopencv_imgproc -lpthread
|
||||
EXEC=superviseur
|
||||
SRC= $(wildcard *.cpp ./src/*.cpp ./../src/*.cpp)
|
||||
OBJ= $(SRC:.cpp=.o)
|
||||
|
||||
|
||||
all: $(EXEC)
|
||||
|
||||
|
||||
$(EXEC): $(OBJ)
|
||||
@$(CC) -o $@ $^ $(LDFLAGS)
|
||||
|
||||
|
||||
main.o: main.cpp
|
||||
|
||||
|
||||
%.o: %.cpp
|
||||
@$(CC) -o $@ -c $< $(CFLAGS)
|
||||
|
||||
|
||||
.PHONY: clean mrproper
|
||||
|
||||
|
||||
clean:
|
||||
@rm -rf *.o
|
||||
@rm -rf *.d
|
||||
@rm -rf ./src/*.o
|
||||
@rm -rf ./src/*.d
|
||||
@rm -rf ./../src/*o
|
||||
@rm -rf ./../src/*.d
|
||||
|
||||
mrproper: clean
|
||||
@rm -rf $(EXEC)
|
||||
|
|
@ -4,8 +4,8 @@ set(serialTest_FILES ./src/serialTest.cpp)
|
|||
set(serverTest_FILES ./src/serverTest.cpp)
|
||||
include_directories(./src ../lib)
|
||||
|
||||
add_executable(serialTest ${serialTest_FILES})
|
||||
target_link_libraries(serialTest destjil)
|
||||
add_executable(serialtest ${serialTest_FILES})
|
||||
target_link_libraries(serialtest destijl)
|
||||
|
||||
add_executable(serverTest ${serverTest_FILES})
|
||||
target_link_libraries(serverTest destjil)
|
||||
add_executable(servertest ${serverTest_FILES})
|
||||
target_link_libraries(servertest destijl)
|
||||
|
|
|
|||
|
|
@ -1 +1,6 @@
|
|||
CMakeFiles/
|
||||
|
||||
libdestjil.a
|
||||
Makefile
|
||||
*.cmake
|
||||
|
||||
|
|
|
|||
|
|
@ -1,5 +1,5 @@
|
|||
set(LIB_FILES ./src/Serial.cpp ./src/Robot.cpp ./src/TcpServer.cpp)
|
||||
set(LIB_FILES ./src/robot.cpp ./src/monitor.cpp ./src/message.cpp ./src/image.cpp)
|
||||
include_directories("./")
|
||||
|
||||
add_library(destjil STATIC ${LIB_FILES})
|
||||
add_library(destijl STATIC ${LIB_FILES})
|
||||
|
||||
|
|
|
|||
|
|
@ -1,84 +0,0 @@
|
|||
/*******************************************************************************
|
||||
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
|
||||
* All rights reserved. This program and the accompanying materials
|
||||
* are made available "AS IS", without any warranty of any kind.
|
||||
*
|
||||
* INSA assumes no responsibility for errors or omissions in the
|
||||
* software or documentation available.
|
||||
*
|
||||
* Contributors:
|
||||
* Lucien Senaneuch - Initial API and implementation
|
||||
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
|
||||
*******************************************************************************/
|
||||
/**
|
||||
* \file robot.h
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
* \brief Fonction permettant la communication avec le robot.
|
||||
*
|
||||
* \details Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
|
||||
*/
|
||||
|
||||
#ifndef __ROBOT_H__
|
||||
#define __ROBOT_H__
|
||||
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <Serial.h>
|
||||
|
||||
using namespace std;
|
||||
|
||||
#define REJECTED_COMMAND -3
|
||||
#define INVALID_COMMAND -4
|
||||
#define TIMEOUT_COMMAND -5
|
||||
#define INVALID_ANSWER -6
|
||||
|
||||
#define BATTERY_FULL 2
|
||||
#define BATTERY_LOW 1
|
||||
#define BATTERY_EMPTY 0
|
||||
|
||||
class Robot : public Serial {
|
||||
public:
|
||||
Robot();
|
||||
virtual ~Robot();
|
||||
|
||||
char Open();
|
||||
char Open(const char *path);
|
||||
char Close();
|
||||
|
||||
int GetLastCommandStatus();
|
||||
|
||||
void Ping();
|
||||
void Reset();
|
||||
|
||||
void StartWithoutWatchdog();
|
||||
void StartWithWatchdog();
|
||||
void ResetWatchdog();
|
||||
|
||||
void Move(int distance);
|
||||
void Turn(int angle);
|
||||
|
||||
void PowerOff();
|
||||
|
||||
char GetBatteryLevel();
|
||||
string GetVersion();
|
||||
bool IsBusy();
|
||||
|
||||
// Ces deux methodes virtuelles sont a redefinir (surcharger) dans une classe qui etends la classe Robot
|
||||
// Servez vous en pour faire une action avant (prologue) ou apres (epilogue) une commande au robot
|
||||
virtual void CommunicationProlog();
|
||||
virtual void CommunicationEpilog();
|
||||
|
||||
static const string InvalidAnswerException;
|
||||
private:
|
||||
|
||||
int lastCommandStatus;
|
||||
|
||||
char SendCommand(string cmd, string *ans);
|
||||
string AddChecksum(string cmd);
|
||||
bool ValidateChecksum(string *answerWithoutChecksum, string answer);
|
||||
void CheckAnswer(string ans);
|
||||
};
|
||||
|
||||
#endif //__ROBOT_H__
|
||||
|
|
@ -1,49 +0,0 @@
|
|||
/*
|
||||
* Serial.h
|
||||
*
|
||||
* Created on: 12 oct. 2018
|
||||
* Author: dimercur
|
||||
*/
|
||||
|
||||
#ifndef SERIAL_H_
|
||||
#define SERIAL_H_
|
||||
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
#include <vector>
|
||||
|
||||
using namespace std;
|
||||
|
||||
#define SUCCESS 0
|
||||
#define INVALID_COMMUNICATION_PORT -1
|
||||
#define COMMUNICATION_PORT_ALREADY_OPENED -2
|
||||
|
||||
#define DEFAULT_SERIAL_PORT "/dev/ttyS0"
|
||||
#define DEFAULT_BAUDRATE 9600
|
||||
|
||||
class Serial {
|
||||
public:
|
||||
static const string TimeoutException;
|
||||
static const string IOErrorException;
|
||||
static const string BufferOverflowException;
|
||||
|
||||
Serial();
|
||||
virtual ~Serial();
|
||||
|
||||
char Open(void);
|
||||
char Open(int baudrate);
|
||||
char Open(const char *path, int baudrate);
|
||||
char Close(void);
|
||||
|
||||
bool IsOpen();
|
||||
ssize_t Send(string mes);
|
||||
string Receive(int size);
|
||||
string Receive(vector<char> endingChars, int maxLength);
|
||||
|
||||
private:
|
||||
int serialPortDescriptor;
|
||||
int SetBaudrate(int baudrate);
|
||||
char GetChar(); // read 1 char
|
||||
};
|
||||
|
||||
#endif /* SERIAL_H_ */
|
||||
|
|
@ -1,35 +0,0 @@
|
|||
//
|
||||
// Created by senaneuc on 12/06/18.
|
||||
//
|
||||
|
||||
#ifndef TCP_SERVER_H_
|
||||
#define TCP_SERVER_H_
|
||||
|
||||
#define NB_CONNECTION_MAX 5
|
||||
|
||||
#include <iostream>
|
||||
#include <vector>
|
||||
|
||||
using namespace std;
|
||||
|
||||
class TcpServer {
|
||||
public:
|
||||
TcpServer();
|
||||
virtual ~TcpServer();
|
||||
|
||||
int Listen (int port);
|
||||
int AcceptClient();
|
||||
int Send(int clien_fd, string mes);
|
||||
int Broadcast(string mes);
|
||||
string Receive(int client_fd, int size);
|
||||
|
||||
const vector<int> &getSocketClients() const;
|
||||
|
||||
void SetSocketClients(const vector<int> &socketClients);
|
||||
|
||||
private:
|
||||
vector<int> socketClients;
|
||||
int socketFD;
|
||||
};
|
||||
|
||||
#endif /* TCP_SERVER_H_ */
|
||||
|
|
@ -14,6 +14,30 @@
|
|||
#ifndef DEFINITIONS_H
|
||||
#define DEFINITIONS_H
|
||||
|
||||
#define OPEN_COM_DMB 'o'
|
||||
#define CLOSE_COM_DMB 'C'
|
||||
|
||||
#define DMB_PING 'p'
|
||||
#define DMB_IDLE 'r'
|
||||
#define DMB_START_WITHOUT_WD 'u'
|
||||
#define DMB_START_WITH_WD 'W'
|
||||
#define DMB_RELOAD_WD 'w'
|
||||
#define DMB_GET_VBAT 'v'
|
||||
#define DMB_IS_BUSY 'b'
|
||||
#define DMB_MOVE 'M'
|
||||
#define DMB_TURN 'T'
|
||||
#define DMB_GO_FORWARD 'F'
|
||||
#define DMB_GO_BACK 'B'
|
||||
#define DMB_GO_LEFT 'L'
|
||||
#define DMB_GO_RIGHT 'R'
|
||||
#define DMB_STOP_MOVE 'S'
|
||||
|
||||
#define ROBOT_TIMED_OUT -3
|
||||
#define ROBOT_UKNOWN_CMD -2
|
||||
#define ROBOT_ERROR -1
|
||||
#define ROBOT_CHECKSUM -4
|
||||
#define ROBOT_OK 0
|
||||
|
||||
#define CAM_OPEN 'A'
|
||||
#define CAM_CLOSE 'I'
|
||||
#define CAM_ASK_ARENA 'y'
|
||||
|
|
|
|||
|
|
@ -14,6 +14,8 @@
|
|||
#ifndef IMAGERIE_H
|
||||
#define IMAGERIE_H
|
||||
|
||||
#define __STUB__
|
||||
|
||||
#ifndef __STUB__
|
||||
#include <raspicam/raspicam_cv.h>
|
||||
#else
|
||||
|
|
|
|||
|
|
@ -62,7 +62,7 @@ typedef struct {
|
|||
* \param file chemin du fichier de l'interface (défaut ./interface.js)
|
||||
* \return retourne 0 si le process a été lancé et -1 sinon.
|
||||
*/
|
||||
int run_nodejs(const char * path = DEFAULT_NODEJS_PATH, char * file = DEFAULT_INTERFACE_FILE);
|
||||
int run_nodejs(const char *path = (const char*)DEFAULT_NODEJS_PATH, char *file = (const char*)DEFAULT_INTERFACE_FILE);
|
||||
|
||||
/**
|
||||
* \brief Tue le process exécutant nodejs.
|
||||
|
|
|
|||
64
software/raspberry/superviseur-robot/lib/robot.h
Normal file
64
software/raspberry/superviseur-robot/lib/robot.h
Normal file
|
|
@ -0,0 +1,64 @@
|
|||
/**
|
||||
* \file robot.h
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
* \brief Fonction permettant la communication avec le robot.
|
||||
*
|
||||
* \details Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
|
||||
*/
|
||||
|
||||
|
||||
#ifndef DUMBERC_SERIAL_H_H
|
||||
#define DUMBERC_SERIAL_H_H
|
||||
|
||||
#include <stdio.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
#include <string.h>
|
||||
#include <stdlib.h>
|
||||
#include "definitions.h"
|
||||
|
||||
|
||||
#define serialPort "/dev/ttyS0"
|
||||
|
||||
typedef struct
|
||||
{
|
||||
char header[4];
|
||||
char data[20];
|
||||
} MessageToRobot;
|
||||
|
||||
/**
|
||||
* \brief Ouvre la communication avec le robot.
|
||||
* \details Ouvre le serial port passé en paramétre. Par defaut cette fonction ouvre le port ttySO connecté au module xbee.
|
||||
*
|
||||
* \param *path chaine de caractère indiquant le path du port serie à ouvrir.
|
||||
* \return Return -1 si l'ouverture c'est mal passé et 0 si le port est ouvert.
|
||||
*/
|
||||
int open_communication_robot(const char * path=serialPort);
|
||||
|
||||
/**
|
||||
* \brief Ferme la communication avec le robot.
|
||||
* \details Ferme le descripteur de fichier du port serie contrôlant le robot.
|
||||
*
|
||||
* \param void aucun
|
||||
* \return Retourne -1 en cas d'erreur ou 0 en cas de fermeture effectué
|
||||
*/
|
||||
int close_communication_robot(void);
|
||||
|
||||
/**
|
||||
* \brief Envoi une commande au robot et attends sa réponse.
|
||||
* \details Envoi une commande au robot en ajoutant le checksum et lis la réponse du robot en verifiant le checksum.
|
||||
Le premier paramétre \a cmd correspond au type de commande ex : PING, SETMOVE ...
|
||||
Le second paramétre \a *arg correspond aux arguments à la commande ex : SETMOVE, "100"
|
||||
La fonction retourne un code confirmation transmise par le robot (ROBOT_CHEKSUM, ROBOT_ERROR, ROBOT_TIMED_OUT, ROBOT_OK, ROBOT_UKNOW_CMD)
|
||||
*
|
||||
* \param cmd Entête de la commande
|
||||
* \param *arg Argument de la commande
|
||||
* \return retourne un code confirmation.
|
||||
*/
|
||||
int send_command_to_robot(char cmd, const char * arg=NULL);
|
||||
|
||||
|
||||
#endif //DUMBERC_SERIAL_H_H
|
||||
|
|
@ -1,349 +0,0 @@
|
|||
/*******************************************************************************
|
||||
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
|
||||
* All rights reserved. This program and the accompanying materials
|
||||
* are made available "AS IS", without any warranty of any kind.
|
||||
*
|
||||
* INSA assumes no responsibility for errors or omissions in the
|
||||
* software or documentation available.
|
||||
*
|
||||
* Contributors:
|
||||
* Lucien Senaneuch - Initial API and implementation
|
||||
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
|
||||
*******************************************************************************/
|
||||
|
||||
/**
|
||||
* \file robot.cpp
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
* \brief Fonction permettant la communication avec le robot.
|
||||
*
|
||||
* \details Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
|
||||
*/
|
||||
|
||||
#include "Robot.h"
|
||||
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
|
||||
#include <stdlib.h>
|
||||
#include "definitions.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
#define ROBOT_CMD_ENDING_CHAR '\r'
|
||||
|
||||
#define ROBOT_CMD_PING 'p'
|
||||
#define ROBOT_CMD_RESET 'r'
|
||||
#define ROBOT_CMD_START_WITHOUT_WD 'u'
|
||||
#define ROBOT_CMD_START_WITH_WD 'W'
|
||||
#define ROBOT_CMD_RELOAD_WD 'w'
|
||||
#define ROBOT_CMD_GET_VBAT 'v'
|
||||
#define ROBOT_CMD_IS_BUSY 'b'
|
||||
#define ROBOT_CMD_MOVE 'M'
|
||||
#define ROBOT_CMD_TURN 'T'
|
||||
#define ROBOT_CMD_GET_VERSION 'V'
|
||||
#define ROBOT_CMD_POWER_OFF 'z'
|
||||
|
||||
#define ROBOT_CMD_OK_ANS "O"
|
||||
#define ROBOT_CMD_ERR_ANS "E"
|
||||
#define ROBOT_CMD_UNKNOW_ANS "C"
|
||||
|
||||
const string Robot::InvalidAnswerException = "Invalid answer exception";
|
||||
|
||||
Robot::Robot() {
|
||||
|
||||
}
|
||||
|
||||
Robot::~Robot() {
|
||||
this->Close();
|
||||
}
|
||||
|
||||
char Robot::Open() {
|
||||
return Serial::Open(DEFAULT_SERIAL_PORT,9600);
|
||||
}
|
||||
|
||||
char Robot::Open(const char *path) {
|
||||
return Serial::Open(path,9600);
|
||||
}
|
||||
|
||||
char Robot::Close() {
|
||||
return Serial::Close();
|
||||
}
|
||||
|
||||
int Robot::GetLastCommandStatus() {
|
||||
return this->lastCommandStatus;
|
||||
}
|
||||
|
||||
void Robot::Ping() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_PING), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::Reset() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_RESET), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::StartWithoutWatchdog() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_START_WITHOUT_WD), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::StartWithWatchdog() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_START_WITH_WD), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::ResetWatchdog() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_RELOAD_WD), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::Move(int distance) {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_MOVE) + "="+to_string(distance), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::Turn(int angle) {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_TURN) + "="+to_string(angle), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::PowerOff() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
SendCommand(string(1,ROBOT_CMD_POWER_OFF), &ans);
|
||||
|
||||
CheckAnswer(ans);
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
char Robot::GetBatteryLevel() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
|
||||
SendCommand(string(1,ROBOT_CMD_GET_VBAT), &ans);
|
||||
lastCommandStatus=SUCCESS;
|
||||
|
||||
if (ans.length()==1) {
|
||||
if ((ans[0] != '2') && (ans[0] != '1') && (ans[0] != '0')) {
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid battery value (" + ans[0] +")\n");
|
||||
}
|
||||
} else {
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid answer length (" + to_string(ans.length())+")\n");
|
||||
}
|
||||
|
||||
return ans[0];
|
||||
#else
|
||||
return BATTERY_FULL;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
string Robot::GetVersion() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
|
||||
SendCommand(string(1,ROBOT_CMD_GET_VERSION), &ans);
|
||||
lastCommandStatus=SUCCESS;
|
||||
|
||||
if (ans.find("version")== string::npos) {
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
throw (InvalidAnswerException + " raised in Robot::GetVersion. Invalid version (" + ans +")\n");
|
||||
}
|
||||
|
||||
return ans;
|
||||
#else
|
||||
return "1.3";
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
bool Robot::IsBusy() {
|
||||
#ifndef __STUB__
|
||||
string ans;
|
||||
|
||||
SendCommand(string(1,ROBOT_CMD_IS_BUSY), &ans);
|
||||
lastCommandStatus=SUCCESS;
|
||||
|
||||
if (ans.length()!=1) {
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
throw (InvalidAnswerException + " raised in Robot::GetBatteryLevel. Invalid answer length (" + to_string(ans.length())+")\n");
|
||||
}
|
||||
|
||||
if (ans[0]=='1')
|
||||
return true;
|
||||
else if (ans[0]=='0')
|
||||
return false;
|
||||
else {
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
throw (InvalidAnswerException + " raised in Robot::IsBusy. Invalid value (" + ans[0] +")\n");
|
||||
}
|
||||
#else
|
||||
return false;
|
||||
#endif /* __STUB__ */
|
||||
}
|
||||
|
||||
void Robot::CommunicationProlog() {}
|
||||
void Robot::CommunicationEpilog() {}
|
||||
|
||||
/****************************/
|
||||
/* PRIVATE */
|
||||
/****************************/
|
||||
|
||||
char Robot::SendCommand(string cmd, string *ans) {
|
||||
string commandString;
|
||||
commandString = this->AddChecksum(cmd);
|
||||
|
||||
this->CommunicationProlog(); // action avant le debut de la commande
|
||||
|
||||
ssize_t status = Send(commandString);
|
||||
|
||||
if (status == (ssize_t)commandString.length()) {
|
||||
// Recuperation de la reponse
|
||||
string commandResponse;
|
||||
vector<char> endingChars;
|
||||
|
||||
endingChars.push_back('\r');
|
||||
try {
|
||||
commandResponse = Serial::Receive(endingChars,30);
|
||||
} catch (string e) {
|
||||
if (e.find("Timeout")!= string::npos)
|
||||
lastCommandStatus= TIMEOUT_COMMAND;
|
||||
else
|
||||
lastCommandStatus=INVALID_ANSWER;
|
||||
|
||||
if (lastCommandStatus == TIMEOUT_COMMAND)
|
||||
throw (Serial::TimeoutException + " raised in Robot::SendCommand. Timeout while receiving answer from robot.\n");
|
||||
else
|
||||
throw (e + " raised in Robot::SendCommand.\n");
|
||||
}
|
||||
|
||||
this->CommunicationEpilog(); // Action a faire apres la commande
|
||||
|
||||
if (ValidateChecksum(&commandResponse, commandResponse)) {
|
||||
ans->assign(commandResponse);
|
||||
} else {
|
||||
lastCommandStatus = INVALID_ANSWER;
|
||||
throw InvalidAnswerException;
|
||||
}
|
||||
|
||||
lastCommandStatus=SUCCESS;
|
||||
} else {
|
||||
lastCommandStatus=INVALID_COMMUNICATION_PORT;
|
||||
|
||||
throw IOErrorException;
|
||||
}
|
||||
|
||||
return lastCommandStatus;
|
||||
}
|
||||
|
||||
void Robot::CheckAnswer(string ans) {
|
||||
|
||||
if (ans.length()==1)
|
||||
{
|
||||
switch (ans.at(0)) {
|
||||
case 'o':
|
||||
case 'O':
|
||||
lastCommandStatus=SUCCESS;
|
||||
break;
|
||||
case 'e':
|
||||
case 'E':
|
||||
lastCommandStatus=REJECTED_COMMAND;
|
||||
break;
|
||||
case 'c':
|
||||
case 'C':
|
||||
lastCommandStatus=INVALID_COMMAND;
|
||||
break;
|
||||
default:
|
||||
lastCommandStatus = INVALID_ANSWER;
|
||||
throw InvalidAnswerException;
|
||||
}
|
||||
} else {
|
||||
lastCommandStatus = INVALID_ANSWER;
|
||||
throw InvalidAnswerException;
|
||||
}
|
||||
}
|
||||
|
||||
string Robot::AddChecksum(string cmd) {
|
||||
string commandWithChecksum(cmd);
|
||||
char checksum=0;
|
||||
|
||||
commandWithChecksum.resize(cmd.length()+2, ' ');
|
||||
|
||||
for (size_t i=0; i<commandWithChecksum.length()-2; i++) {
|
||||
checksum = checksum^commandWithChecksum.at(i);
|
||||
}
|
||||
|
||||
commandWithChecksum.at(commandWithChecksum.length()-2) = checksum;
|
||||
commandWithChecksum.at(commandWithChecksum.length()-1) = '\r';
|
||||
|
||||
return commandWithChecksum;
|
||||
}
|
||||
|
||||
bool Robot::ValidateChecksum(string *answerWithoutChecksum, string answer) {
|
||||
string localAnswer(answer, 0, answer.length()-1); // recopie de la chaine initiale, sans le dernier caractere (checksum)
|
||||
char checksum=0;
|
||||
bool status=false;
|
||||
|
||||
if (answer.length()<2) // trop court pour contenir un checksum
|
||||
throw InvalidAnswerException;
|
||||
else {
|
||||
for (size_t i=0; i< answer.length()-1; i++) {
|
||||
checksum = checksum^answer.at(i);
|
||||
}
|
||||
|
||||
if (answer.at(answer.length()-1) == checksum) {
|
||||
status=true;
|
||||
}
|
||||
}
|
||||
|
||||
answerWithoutChecksum->assign(localAnswer);
|
||||
return status;
|
||||
}
|
||||
|
|
@ -1,164 +0,0 @@
|
|||
/*******************************************************************************
|
||||
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
|
||||
* All rights reserved. This program and the accompanying materials
|
||||
* are made available "AS IS", without any warranty of any kind.
|
||||
*
|
||||
* INSA assumes no responsibility for errors or omissions in the
|
||||
* software or documentation available.
|
||||
*
|
||||
* Part of code Copyright ST Microelectronics.
|
||||
*
|
||||
* Contributors:
|
||||
* Lucien Senaneuch - Initial API and implementation
|
||||
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
|
||||
*******************************************************************************/
|
||||
|
||||
#include <Serial.h>
|
||||
#include <unistd.h>
|
||||
#include <fcntl.h>
|
||||
#include <termios.h>
|
||||
|
||||
#include <stdlib.h>
|
||||
|
||||
#include <algorithm>
|
||||
|
||||
const string Serial::TimeoutException = "Timeout exception";
|
||||
const string Serial::IOErrorException = "IO error exception";
|
||||
const string Serial::BufferOverflowException = "Buffer overflow exception";
|
||||
|
||||
Serial::Serial() {
|
||||
this->serialPortDescriptor=-1;
|
||||
}
|
||||
|
||||
Serial::~Serial() {
|
||||
this->Close();
|
||||
}
|
||||
|
||||
char Serial::Open(void) {
|
||||
return this->Open(DEFAULT_SERIAL_PORT, DEFAULT_BAUDRATE);
|
||||
}
|
||||
|
||||
char Serial::Open(int baudrate) {
|
||||
return this->Open(DEFAULT_SERIAL_PORT, baudrate);
|
||||
}
|
||||
|
||||
char Serial::Open(const char *path, int baudrate) {
|
||||
#ifndef __STUB__
|
||||
struct termios options;
|
||||
|
||||
if (this->IsOpen() == true) return COMMUNICATION_PORT_ALREADY_OPENED;
|
||||
|
||||
this->serialPortDescriptor = open(path, O_RDWR | O_NOCTTY | O_NDELAY);
|
||||
|
||||
if(this->serialPortDescriptor >= 0) {
|
||||
fcntl(this->serialPortDescriptor, F_SETFL, 0);
|
||||
tcgetattr(this->serialPortDescriptor, &options);
|
||||
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
|
||||
cfsetospeed (&options, this->SetBaudrate(baudrate));
|
||||
cfsetispeed (&options, this->SetBaudrate(baudrate));
|
||||
options.c_cc[VMIN]=0;
|
||||
options.c_cc[VTIME]=10;
|
||||
tcsetattr(this->serialPortDescriptor, TCSANOW, &options);
|
||||
|
||||
return SUCCESS;
|
||||
}
|
||||
else {
|
||||
std::cerr << "[Robot::Open] Can't open port " << path;
|
||||
return INVALID_COMMUNICATION_PORT;
|
||||
}
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif
|
||||
}
|
||||
|
||||
char Serial::Close(void) {
|
||||
#ifndef __STUB__
|
||||
if (this->serialPortDescriptor<0) {
|
||||
if (close(this->serialPortDescriptor) == 0)
|
||||
return SUCCESS;
|
||||
else return INVALID_COMMUNICATION_PORT;
|
||||
} else return SUCCESS;
|
||||
#else
|
||||
return SUCCESS;
|
||||
#endif
|
||||
}
|
||||
|
||||
bool Serial::IsOpen() {
|
||||
if(this->serialPortDescriptor >= 0)
|
||||
return true;
|
||||
else
|
||||
return false;
|
||||
}
|
||||
|
||||
ssize_t Serial::Send(string mes) {
|
||||
ssize_t n;
|
||||
|
||||
n=write(this->serialPortDescriptor, (void*)mes.c_str(), mes.length());
|
||||
|
||||
if (n< (ssize_t)mes.length())
|
||||
throw (IOErrorException + " raised in Serial::Send. Requested to send " + to_string(mes.length()) + " characters, sent only " + to_string(n) +"\n");
|
||||
else
|
||||
return n;
|
||||
}
|
||||
|
||||
string Serial::Receive(int size) {
|
||||
string mes;
|
||||
|
||||
while(mes.length() < (unsigned int)size){
|
||||
mes += this->GetChar();
|
||||
}
|
||||
|
||||
return mes;
|
||||
}
|
||||
|
||||
string Serial::Receive(vector<char> endingChars,int maxLength) {
|
||||
string mes;
|
||||
char c;
|
||||
|
||||
bool characterFound = false;
|
||||
|
||||
do {
|
||||
c= GetChar();
|
||||
|
||||
if (std::find(endingChars.begin(), endingChars.end(), c)!=endingChars.end()) //recherche du caractere dans la liste des caractere de fin
|
||||
characterFound=true;
|
||||
else {
|
||||
mes += c;
|
||||
}
|
||||
} while ((mes.length()<(unsigned int)maxLength) && (characterFound==false));
|
||||
|
||||
if (mes.length()>=(unsigned int)maxLength) {
|
||||
throw (BufferOverflowException + " raised in Serial::Receive. Received data exceed " + to_string(maxLength) + "chars\n");
|
||||
}
|
||||
|
||||
return mes;
|
||||
}
|
||||
|
||||
int Serial::SetBaudrate(int baudrate) {
|
||||
switch(baudrate){
|
||||
case 4800:
|
||||
return baudrate = B4800;
|
||||
case 9600:
|
||||
return baudrate = B9600;
|
||||
case 38400:
|
||||
return baudrate = B38400;
|
||||
case 57600:
|
||||
return baudrate = B57600;
|
||||
case 115200:
|
||||
return baudrate = B115200;
|
||||
default:
|
||||
std::cerr << "Baudrate not supported" << std::endl;
|
||||
return -1;
|
||||
}
|
||||
}
|
||||
|
||||
char Serial::GetChar() {
|
||||
char c;
|
||||
|
||||
if (read(this->serialPortDescriptor, &c, 1) > 0)
|
||||
return c;
|
||||
else
|
||||
throw (TimeoutException + " raised in Serial::GetChar\n");
|
||||
}
|
||||
|
||||
|
||||
|
|
@ -1,93 +0,0 @@
|
|||
/*******************************************************************************
|
||||
* Copyright (c) 2018 INSA - GEI, Toulouse, France.
|
||||
* All rights reserved. This program and the accompanying materials
|
||||
* are made available "AS IS", without any warranty of any kind.
|
||||
*
|
||||
* INSA assumes no responsibility for errors or omissions in the
|
||||
* software or documentation available.
|
||||
*
|
||||
* Part of code Copyright ST Microelectronics.
|
||||
*
|
||||
* Contributors:
|
||||
* Lucien Senaneuch - Initial API and implementation
|
||||
* Sebastien DI MERCURIO - Maintainer since Octobre 2018
|
||||
*******************************************************************************/
|
||||
|
||||
|
||||
#include "TcpServer.h"
|
||||
#include <netinet/in.h>
|
||||
#include <zconf.h>
|
||||
#include <vector>
|
||||
|
||||
TcpServer::TcpServer() {
|
||||
this->socketFD = -1;
|
||||
this->socketClients.clear();
|
||||
}
|
||||
|
||||
int TcpServer::Listen (int port) {
|
||||
struct sockaddr_in server;
|
||||
|
||||
this->socketFD = socket(AF_INET, SOCK_STREAM, 0);
|
||||
if(this->socketFD < 0){
|
||||
throw invalid_argument("Can not create socket");
|
||||
}
|
||||
|
||||
server.sin_addr.s_addr = INADDR_ANY;
|
||||
server.sin_family = AF_INET;
|
||||
server.sin_port = htons(port);
|
||||
|
||||
if(bind(this->socketFD, (struct sockaddr *) &server, sizeof(server)) < 0) {
|
||||
throw invalid_argument("Can not bind socket");
|
||||
}
|
||||
|
||||
listen(this->socketFD , NB_CONNECTION_MAX);
|
||||
|
||||
return this->socketFD;
|
||||
}
|
||||
|
||||
int TcpServer::AcceptClient() {
|
||||
struct sockaddr_in client;
|
||||
int c = sizeof(struct sockaddr_in);
|
||||
|
||||
int fd = accept(this->socketFD,(struct sockaddr *) &client, (socklen_t*)&c);
|
||||
|
||||
if (fd >=0 )
|
||||
this->socketClients.push_back(fd);
|
||||
else throw invalid_argument("Accept failed in TcpServer::AcceptClient");
|
||||
|
||||
return fd;
|
||||
}
|
||||
|
||||
int TcpServer::Send(int client, string mes) {
|
||||
return write(client, mes.c_str(), mes.size());
|
||||
}
|
||||
|
||||
string TcpServer::Receive(int client_fd, int size){
|
||||
char tab[size];
|
||||
|
||||
if(recv(client_fd,tab,size,0) >0) {
|
||||
tab[size] = 0;
|
||||
return string(tab);
|
||||
} else
|
||||
return string();
|
||||
}
|
||||
|
||||
int TcpServer::Broadcast(string mes) {
|
||||
for (int socket : this->socketClients) {
|
||||
int err = write(socket, mes.c_str(), mes.size());
|
||||
}
|
||||
|
||||
return 0;
|
||||
}
|
||||
|
||||
const vector<int> &TcpServer::getSocketClients() const {
|
||||
return socketClients;
|
||||
}
|
||||
|
||||
void TcpServer::SetSocketClients(const std::vector<int> &socketClients) {
|
||||
this->socketClients = socketClients;
|
||||
}
|
||||
|
||||
TcpServer::~TcpServer() {
|
||||
close(this->socketFD);
|
||||
}
|
||||
|
|
@ -25,5 +25,5 @@ void free_msgToMon_data(MessageToMon *msg) {
|
|||
|
||||
void print_msgToMon(MessageToMon *msg) {
|
||||
printf("header: %s\n", msg->header);
|
||||
printf("data: %s\n", msg->data);
|
||||
printf("data: %s\n", (char*)msg->data);
|
||||
}
|
||||
|
|
|
|||
|
|
@ -102,7 +102,7 @@ int send_message_to_monitor(const char* typeMessage, const void * data) {
|
|||
serverSend("TRAME", 5);
|
||||
return 0;
|
||||
} else if ((string) typeMessage == HEADER_STM_POS) {
|
||||
char buffer[20];
|
||||
char buffer[400];
|
||||
Position * maPosition = (Position*) data;
|
||||
sprintf(buffer, "POScenter: %3d;%3d | %.1fTRAME", maPosition->center.x, maPosition->center.y, maPosition->angle);
|
||||
serverSend(buffer, strlen(buffer));
|
||||
|
|
|
|||
236
software/raspberry/superviseur-robot/lib/src/robot.cpp
Normal file
236
software/raspberry/superviseur-robot/lib/src/robot.cpp
Normal file
|
|
@ -0,0 +1,236 @@
|
|||
/**
|
||||
* \file robot.cpp
|
||||
* \author L.Senaneuch
|
||||
* \version 1.0
|
||||
* \date 06/06/2017
|
||||
* \brief Fonction permettant la communication avec le robot.
|
||||
*
|
||||
* \details Ce fichier regroupe des fonctions facilitant la communication avec le robot en utilisant le port serie USART
|
||||
*/
|
||||
|
||||
#include "robot.h"
|
||||
|
||||
int fd;
|
||||
|
||||
int getChar(char * c);
|
||||
int readSerial(char * msg);
|
||||
char checkSumGO(char * msg);
|
||||
int receiveMsg(void);
|
||||
int sendCmd(char cmd, const char * arg);
|
||||
|
||||
int open_communication_robot(const char * path)
|
||||
{
|
||||
#ifndef __STUB__
|
||||
struct termios options;
|
||||
fd = open(path, O_RDWR | O_NOCTTY | O_NDELAY);
|
||||
if(fd !=-1)
|
||||
{
|
||||
fcntl(fd, F_SETFL, 0);
|
||||
tcgetattr(fd, &options);
|
||||
options.c_lflag &= ~(ICANON | ECHO | ECHOE | ISIG);
|
||||
cfsetospeed (&options, B9600);
|
||||
cfsetispeed (&options, B9600);
|
||||
options.c_cc[VMIN]=0;
|
||||
options.c_cc[VTIME]=0;
|
||||
tcsetattr(fd, TCSANOW, &options);
|
||||
return 0;
|
||||
}
|
||||
else
|
||||
{
|
||||
perror("can't openSerial");
|
||||
return -1;
|
||||
}
|
||||
#else
|
||||
return 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
int close_communication_robot(void)
|
||||
{
|
||||
#ifndef __STUB__
|
||||
return close(fd);
|
||||
#else
|
||||
return 0;
|
||||
#endif
|
||||
}
|
||||
|
||||
|
||||
int send_command_to_robot(char cmd, const char * arg)
|
||||
{
|
||||
#ifndef __STUB__
|
||||
sendCmd(cmd,arg);
|
||||
// TODO : check return from sendCmd
|
||||
return receiveMsg();
|
||||
#else
|
||||
int reponse;
|
||||
switch(cmd)
|
||||
{
|
||||
case DMB_PING:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_IDLE:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_START_WITH_WD:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_RELOAD_WD:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_GET_VBAT:
|
||||
reponse = 2;
|
||||
break;
|
||||
case DMB_IS_BUSY:
|
||||
reponse = 1;
|
||||
break;
|
||||
case DMB_START_WITHOUT_WD:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_MOVE:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_TURN:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_GO_FORWARD:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_GO_BACK:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_GO_LEFT:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_GO_RIGHT:
|
||||
reponse = 0;
|
||||
break;
|
||||
case DMB_STOP_MOVE:
|
||||
reponse = 0;
|
||||
break;
|
||||
default:
|
||||
reponse = 0;
|
||||
break;
|
||||
}
|
||||
return reponse;
|
||||
#endif
|
||||
}
|
||||
|
||||
/****************************/
|
||||
/* PRIVATE */
|
||||
/****************************/
|
||||
|
||||
int sendCmd(char cmd, const char * arg)
|
||||
{
|
||||
char cmdWithArg[20]={};
|
||||
cmdWithArg[0]=cmd;
|
||||
switch(cmd)
|
||||
{
|
||||
case DMB_GO_FORWARD: strcpy(cmdWithArg,"M=+64000");
|
||||
break;
|
||||
case DMB_GO_BACK: strcpy(cmdWithArg,"M=-64000");
|
||||
break;
|
||||
case DMB_GO_LEFT: strcpy(cmdWithArg,"T=+64000");
|
||||
break;
|
||||
case DMB_GO_RIGHT: strcpy(cmdWithArg,"T=-64000");
|
||||
break;
|
||||
case DMB_STOP_MOVE: strcpy(cmdWithArg,"M=0");
|
||||
break;
|
||||
case DMB_MOVE: strcat(cmdWithArg,"=");
|
||||
strcat(cmdWithArg,arg);
|
||||
break;
|
||||
case DMB_TURN: strcat(cmdWithArg,"=");
|
||||
strcat(cmdWithArg,arg);
|
||||
break;
|
||||
}
|
||||
int sizeCmd = strlen(cmdWithArg);
|
||||
cmdWithArg[sizeCmd] = checkSumGO(cmdWithArg);
|
||||
cmdWithArg[sizeCmd+1] = '\r';
|
||||
cmdWithArg[sizeCmd+2] = '\0';
|
||||
return write(fd,cmdWithArg,strlen(cmdWithArg));
|
||||
}
|
||||
|
||||
int receiveMsg(void)
|
||||
{
|
||||
char msg[20];
|
||||
int b;
|
||||
if((b = readSerial(msg))!=ROBOT_TIMED_OUT)
|
||||
{
|
||||
int taille = strlen(msg);
|
||||
char checksum = msg[taille-2];
|
||||
msg[taille-1] = 0;
|
||||
msg[taille-2] = 0;
|
||||
if(checksum!=checkSumGO(msg))
|
||||
{
|
||||
return ROBOT_CHECKSUM;
|
||||
}
|
||||
else
|
||||
{
|
||||
switch(msg[0])
|
||||
{
|
||||
case 'O' : return 0;
|
||||
case 'E' : return ROBOT_ERROR;
|
||||
case 'C' : return ROBOT_UKNOWN_CMD;
|
||||
default : return atoi(&msg[0]);
|
||||
}
|
||||
}
|
||||
}
|
||||
else
|
||||
{
|
||||
return ROBOT_TIMED_OUT;
|
||||
}
|
||||
}
|
||||
|
||||
int getChar(char * c)
|
||||
{
|
||||
int n =0;
|
||||
int delay =0;
|
||||
while((n=read(fd,c,1)) <=0)
|
||||
{
|
||||
usleep(5000);
|
||||
delay++;
|
||||
if(delay > 10)
|
||||
{
|
||||
return ROBOT_TIMED_OUT;
|
||||
}
|
||||
|
||||
}
|
||||
return n;
|
||||
}
|
||||
|
||||
int readSerial(char * msg)
|
||||
{
|
||||
char car=0;
|
||||
int i=0;
|
||||
for(int j = 0 ; j < 20 ; j++)
|
||||
msg[j]=0;
|
||||
|
||||
while(car !='\r' && car!='\n') {
|
||||
if(i>=20)
|
||||
return -5;
|
||||
|
||||
if(getChar(&car)==ROBOT_TIMED_OUT) {
|
||||
return ROBOT_TIMED_OUT;
|
||||
}
|
||||
|
||||
msg[i] = car;
|
||||
i++;
|
||||
}
|
||||
return i;
|
||||
}
|
||||
|
||||
char checkSumGO(char * msg)
|
||||
{
|
||||
char resultat = 0;
|
||||
int i = 0;
|
||||
int taille = strlen(msg);
|
||||
for(i=0;i<taille;i++)
|
||||
{
|
||||
resultat^=msg[i];
|
||||
}
|
||||
return resultat;
|
||||
|
||||
}
|
||||
|
||||
|
||||
|
||||
|
|
@ -0,0 +1,116 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<configurationDescriptor version="100">
|
||||
<logicalFolder name="root" displayName="root" projectFiles="true" kind="ROOT">
|
||||
<df root="." name="0">
|
||||
<df name="lib">
|
||||
<df name="src">
|
||||
<in>image.cpp</in>
|
||||
<in>message.cpp</in>
|
||||
<in>monitor.cpp</in>
|
||||
<in>robot.cpp</in>
|
||||
</df>
|
||||
</df>
|
||||
<df name="superviseur">
|
||||
<df name="src">
|
||||
<in>functions.cpp</in>
|
||||
<in>main.cpp</in>
|
||||
</df>
|
||||
<in>.gitignore</in>
|
||||
</df>
|
||||
</df>
|
||||
<logicalFolder name="ExternalFiles"
|
||||
displayName="Important Files"
|
||||
projectFiles="false"
|
||||
kind="IMPORTANT_FILES_FOLDER">
|
||||
<itemPath>CMakeLists.txt</itemPath>
|
||||
<itemPath>Makefile</itemPath>
|
||||
<itemPath>nbproject/private/launcher.properties</itemPath>
|
||||
</logicalFolder>
|
||||
</logicalFolder>
|
||||
<sourceFolderFilter>^(nbproject)$</sourceFolderFilter>
|
||||
<sourceRootList>
|
||||
<Elem>.</Elem>
|
||||
</sourceRootList>
|
||||
<projectmakefile>Makefile</projectmakefile>
|
||||
<confs>
|
||||
<conf name="Default" type="0">
|
||||
<toolsSet>
|
||||
<compilerSet>default</compilerSet>
|
||||
<dependencyChecking>false</dependencyChecking>
|
||||
<rebuildPropChanged>false</rebuildPropChanged>
|
||||
</toolsSet>
|
||||
<flagsDictionary>
|
||||
<element flagsID="0" commonFlags="-std=gnu++11"/>
|
||||
</flagsDictionary>
|
||||
<codeAssistance>
|
||||
</codeAssistance>
|
||||
<makefileType>
|
||||
<makeTool>
|
||||
<buildCommandWorkingDir>.</buildCommandWorkingDir>
|
||||
<buildCommand>${MAKE} -f Makefile</buildCommand>
|
||||
<cleanCommand>${MAKE} -f Makefile clean</cleanCommand>
|
||||
<executablePath></executablePath>
|
||||
<ccTool>
|
||||
<preprocessorList>
|
||||
<Elem>_GNU_SOURCE</Elem>
|
||||
<Elem>_REENTRANT</Elem>
|
||||
<Elem>__MERCURY__</Elem>
|
||||
</preprocessorList>
|
||||
</ccTool>
|
||||
</makeTool>
|
||||
<preBuild>
|
||||
<preBuildCommandWorkingDir>.</preBuildCommandWorkingDir>
|
||||
<preBuildCommand>${CMAKE} -G "Unix Makefiles" -DCMAKE_BUILD_TYPE=Debug -DCMAKE_C_COMPILER=${IDE_CC} -DCMAKE_CXX_COMPILER=${IDE_CXX} -DCMAKE_C_FLAGS_DEBUG="-g3 -gdwarf-2" -DCMAKE_CXX_FLAGS_DEBUG="-g3 -gdwarf-2" -DCMAKE_EXPORT_COMPILE_COMMANDS=ON .</preBuildCommand>
|
||||
</preBuild>
|
||||
</makefileType>
|
||||
<folder path="0/lib">
|
||||
<ccTool>
|
||||
<incDir>
|
||||
<pElem>lib</pElem>
|
||||
<pElem>/usr/xenomai/include/mercury</pElem>
|
||||
<pElem>/usr/xenomai/include</pElem>
|
||||
<pElem>/usr/xenomai/include/alchemy</pElem>
|
||||
</incDir>
|
||||
</ccTool>
|
||||
</folder>
|
||||
<folder path="0/superviseur">
|
||||
<ccTool>
|
||||
<incDir>
|
||||
<pElem>superviseur/src</pElem>
|
||||
<pElem>lib</pElem>
|
||||
<pElem>/usr/xenomai/include</pElem>
|
||||
<pElem>/usr/xenomai/include/mercury</pElem>
|
||||
<pElem>/usr/xenomai/include/alchemy</pElem>
|
||||
<pElem>superviseur</pElem>
|
||||
</incDir>
|
||||
</ccTool>
|
||||
</folder>
|
||||
<item path="lib/src/image.cpp" ex="false" tool="1" flavor2="8">
|
||||
<ccTool flags="0">
|
||||
</ccTool>
|
||||
</item>
|
||||
<item path="lib/src/message.cpp" ex="false" tool="1" flavor2="8">
|
||||
<ccTool flags="0">
|
||||
</ccTool>
|
||||
</item>
|
||||
<item path="lib/src/monitor.cpp" ex="false" tool="1" flavor2="8">
|
||||
<ccTool flags="0">
|
||||
</ccTool>
|
||||
</item>
|
||||
<item path="lib/src/robot.cpp" ex="false" tool="1" flavor2="8">
|
||||
<ccTool flags="0">
|
||||
</ccTool>
|
||||
</item>
|
||||
<item path="superviseur/.gitignore" ex="false" tool="3" flavor2="0">
|
||||
</item>
|
||||
<item path="superviseur/src/functions.cpp" ex="false" tool="1" flavor2="8">
|
||||
<ccTool flags="0">
|
||||
</ccTool>
|
||||
</item>
|
||||
<item path="superviseur/src/main.cpp" ex="false" tool="1" flavor2="8">
|
||||
<ccTool flags="0">
|
||||
</ccTool>
|
||||
</item>
|
||||
</conf>
|
||||
</confs>
|
||||
</configurationDescriptor>
|
||||
26
software/raspberry/superviseur-robot/nbproject/project.xml
Normal file
26
software/raspberry/superviseur-robot/nbproject/project.xml
Normal file
|
|
@ -0,0 +1,26 @@
|
|||
<?xml version="1.0" encoding="UTF-8"?>
|
||||
<project xmlns="http://www.netbeans.org/ns/project/1">
|
||||
<type>org.netbeans.modules.cnd.makeproject</type>
|
||||
<configuration>
|
||||
<data xmlns="http://www.netbeans.org/ns/make-project/1">
|
||||
<name>superviseur-robot</name>
|
||||
<c-extensions/>
|
||||
<cpp-extensions>cpp,cxx</cpp-extensions>
|
||||
<header-extensions>h</header-extensions>
|
||||
<sourceEncoding>UTF-8</sourceEncoding>
|
||||
<make-dep-projects/>
|
||||
<sourceRootList>
|
||||
<sourceRootElem>.</sourceRootElem>
|
||||
</sourceRootList>
|
||||
<confList>
|
||||
<confElem>
|
||||
<name>Default</name>
|
||||
<type>0</type>
|
||||
</confElem>
|
||||
</confList>
|
||||
<formatting>
|
||||
<project-formatting-style>false</project-formatting-style>
|
||||
</formatting>
|
||||
</data>
|
||||
</configuration>
|
||||
</project>
|
||||
|
|
@ -0,0 +1,9 @@
|
|||
set(CMAKE_RUNTIME_OUTPUT_DIRECTORY ${CMAKE_BINARY_DIR}/../superviseur-pthread/bin)
|
||||
|
||||
set(superviseur_pthread_FILES ./src/Program.cpp src/Tasks.cpp)
|
||||
|
||||
include_directories(./src ../lib)
|
||||
|
||||
add_executable(superviseur-pthread ${superviseur_pthread_FILES})
|
||||
target_link_libraries(superviseur-pthread destijl pthread rt)
|
||||
|
||||
BIN
software/raspberry/superviseur-robot/superviseur-pthread/bin/monitor
Executable file
BIN
software/raspberry/superviseur-robot/superviseur-pthread/bin/monitor
Executable file
Binary file not shown.
BIN
software/raspberry/superviseur-robot/superviseur-pthread/bin/superviseur-pthread
Executable file
BIN
software/raspberry/superviseur-robot/superviseur-pthread/bin/superviseur-pthread
Executable file
Binary file not shown.
|
|
@ -0,0 +1,273 @@
|
|||
/*
|
||||
* File: Program.c
|
||||
* Author: dimercur
|
||||
*
|
||||
* Created on 23 octobre 2018, 19:45
|
||||
*/
|
||||
|
||||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
|
||||
#include <sys/mman.h>
|
||||
|
||||
#include <pthread.h>
|
||||
#include <semaphore.h>
|
||||
#include <mqueue.h>
|
||||
#include <sched.h>
|
||||
|
||||
#include "Tasks.h"
|
||||
|
||||
using namespace std;
|
||||
|
||||
class Program {
|
||||
public:
|
||||
// Déclaration des handleurs de tache
|
||||
pthread_t th_server;
|
||||
pthread_t th_sendToMon;
|
||||
pthread_t th_receiveFromMon;
|
||||
pthread_t th_openComRobot;
|
||||
pthread_t th_startRobot;
|
||||
pthread_t th_move;
|
||||
|
||||
// Déclaration des priorités des taches
|
||||
int PRIORITY_TSERVER = 30;
|
||||
int PRIORITY_TOPENCOMROBOT = 20;
|
||||
int PRIORITY_TMOVE = 10;
|
||||
int PRIORITY_TSENDTOMON = 25;
|
||||
int PRIORITY_TRECEIVEFROMMON = 22;
|
||||
int PRIORITY_TSTARTROBOT = 20;
|
||||
|
||||
// Declaration de mutex
|
||||
pthread_mutex_t mutex_robotStarted;
|
||||
pthread_mutex_t mutex_move;
|
||||
|
||||
//declaration de semaphores
|
||||
sem_t sem_barrier;
|
||||
sem_t sem_openComRobot;
|
||||
sem_t sem_serverOk;
|
||||
sem_t sem_startRobot;
|
||||
|
||||
// Déclaration des files de message
|
||||
mqd_t q_messageToMon;
|
||||
struct mq_attr q_messageToMonAttr;
|
||||
|
||||
int MSG_QUEUE_SIZE = 10;
|
||||
|
||||
// Déclaration des ressources partagées
|
||||
int etatCommMoniteur = 1;
|
||||
int robotStarted = 0;
|
||||
|
||||
Program();
|
||||
virtual ~Program();
|
||||
|
||||
/**
|
||||
* \fn void initStruct(void)
|
||||
* \brief Initialisation des structures de l'application (tâches, mutex,
|
||||
* semaphore, etc.)
|
||||
*/
|
||||
void initStruct(void);
|
||||
|
||||
/**
|
||||
* \fn void startTasks(void)
|
||||
* \brief Démarrage des tâches
|
||||
*/
|
||||
void startTasks(void);
|
||||
|
||||
/**
|
||||
* \fn void deleteTasks(void)
|
||||
* \brief Arrêt des tâches
|
||||
*/
|
||||
void deleteTasks(void);
|
||||
|
||||
/**
|
||||
* \fn int run(void)
|
||||
* \brief execute program
|
||||
*/
|
||||
int run(void);
|
||||
};
|
||||
|
||||
int main(int argc, char **argv) {
|
||||
int err;
|
||||
Program myProg;
|
||||
TcpServer server;
|
||||
|
||||
Tasks::messages.SetServer(&server);
|
||||
|
||||
//Lock the memory to avoid memory swapping for this program
|
||||
mlockall(MCL_CURRENT | MCL_FUTURE);
|
||||
|
||||
printf("#################################\n");
|
||||
printf("# DE STIJL PROJECT #\n");
|
||||
printf("#################################\n");
|
||||
|
||||
return myProg.run();
|
||||
}
|
||||
|
||||
Program::Program() {}
|
||||
Program::~Program() {}
|
||||
|
||||
int Program::run(void) {
|
||||
|
||||
this->initStruct();
|
||||
this->startTasks();
|
||||
//sem_post(&sem_barrier);
|
||||
pause();
|
||||
this->deleteTasks();
|
||||
}
|
||||
|
||||
void Program::initStruct(void) {
|
||||
|
||||
int err;
|
||||
|
||||
/* Creation des mutex */
|
||||
mutex_robotStarted=PTHREAD_MUTEX_INITIALIZER;
|
||||
mutex_move=PTHREAD_MUTEX_INITIALIZER;
|
||||
|
||||
/* Creation du semaphore */
|
||||
if (sem_init(&sem_barrier, 0, 0) == -1) {
|
||||
printf("Error semaphore create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
if (sem_init(&sem_openComRobot, 0, 0) == -1) {
|
||||
printf("Error semaphore create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
if (sem_init(&sem_serverOk, 0, 0) == -1) {
|
||||
printf("Error semaphore create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
if (sem_init(&sem_startRobot, 0, 0) == -1) {
|
||||
printf("Error semaphore create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
/* Sous pthread, les taches sont executées dés leur creation
|
||||
* la creation des taches se fait donc dans startTask */
|
||||
|
||||
/* Creation des files de messages */
|
||||
q_messageToMonAttr.mq_flags = 0;
|
||||
q_messageToMonAttr.mq_maxmsg = 10;
|
||||
q_messageToMonAttr.mq_msgsize = 200;
|
||||
q_messageToMonAttr.mq_curmsgs = 0;
|
||||
|
||||
q_messageToMon = mq_open("MessageToMon", O_CREAT | O_RDWR, 0644, &q_messageToMonAttr);
|
||||
if((mqd_t)-1 != q_messageToMon){
|
||||
printf("Error msg queue create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
// if (err = rt_queue_create(&q_messageToMon, "toto", MSG_QUEUE_SIZE * sizeof (MessageToRobot), MSG_QUEUE_SIZE, Q_FIFO)) {
|
||||
// printf("Error msg queue create: %s\n", strerror(-err));
|
||||
// exit(EXIT_FAILURE);
|
||||
// }
|
||||
}
|
||||
|
||||
void Program::startTasks() {
|
||||
|
||||
int err;
|
||||
pthread_attr_t tattr;
|
||||
pthread_t tid;
|
||||
int ret;
|
||||
sched_param param;
|
||||
|
||||
/* initialized with default attributes */
|
||||
ret = pthread_attr_init (&tattr);
|
||||
|
||||
/* safe to get existing scheduling param */
|
||||
ret = pthread_attr_getschedparam (&tattr, ¶m);
|
||||
|
||||
/* set the priority; others are unchanged */
|
||||
param.sched_priority = PRIORITY_TSTARTROBOT;
|
||||
|
||||
/* setting the new scheduling param */
|
||||
ret = pthread_attr_setschedparam (&tattr, ¶m);
|
||||
|
||||
/* Creation des taches */
|
||||
|
||||
if ((err = pthread_create(&th_startRobot, &tattr, (void* (*)(void*))Tasks::f_startRobot, NULL))) {
|
||||
printf("Error task create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
/* safe to get existing scheduling param */
|
||||
ret = pthread_attr_getschedparam (&tattr, ¶m);
|
||||
|
||||
/* set the priority; others are unchanged */
|
||||
param.sched_priority = PRIORITY_TRECEIVEFROMMON;
|
||||
|
||||
/* setting the new scheduling param */
|
||||
ret = pthread_attr_setschedparam (&tattr, ¶m);
|
||||
|
||||
if ((err = pthread_create(&th_receiveFromMon, &tattr, (void* (*)(void*))Tasks::f_receiveFromMon, NULL))) {
|
||||
printf("Error task create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
/* safe to get existing scheduling param */
|
||||
ret = pthread_attr_getschedparam (&tattr, ¶m);
|
||||
|
||||
/* set the priority; others are unchanged */
|
||||
param.sched_priority = PRIORITY_TSENDTOMON;
|
||||
|
||||
/* setting the new scheduling param */
|
||||
ret = pthread_attr_setschedparam (&tattr, ¶m);
|
||||
|
||||
if ((err = pthread_create(&th_sendToMon, &tattr, (void* (*)(void*))Tasks::f_sendToMon, NULL))) {
|
||||
printf("Error task create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
/* safe to get existing scheduling param */
|
||||
ret = pthread_attr_getschedparam (&tattr, ¶m);
|
||||
|
||||
/* set the priority; others are unchanged */
|
||||
param.sched_priority = PRIORITY_TOPENCOMROBOT;
|
||||
|
||||
/* setting the new scheduling param */
|
||||
ret = pthread_attr_setschedparam (&tattr, ¶m);
|
||||
|
||||
if ((err = pthread_create(&th_openComRobot, &tattr, (void* (*)(void*))Tasks::f_openComRobot, NULL))) {
|
||||
printf("Error task create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
/* safe to get existing scheduling param */
|
||||
ret = pthread_attr_getschedparam (&tattr, ¶m);
|
||||
|
||||
/* set the priority; others are unchanged */
|
||||
param.sched_priority = PRIORITY_TMOVE;
|
||||
|
||||
/* setting the new scheduling param */
|
||||
ret = pthread_attr_setschedparam (&tattr, ¶m);
|
||||
|
||||
if ((err = pthread_create(&th_move, &tattr, (void* (*)(void*))Tasks::f_move, NULL))) {
|
||||
printf("Error task create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
/* safe to get existing scheduling param */
|
||||
ret = pthread_attr_getschedparam (&tattr, ¶m);
|
||||
|
||||
/* set the priority; others are unchanged */
|
||||
param.sched_priority = PRIORITY_TSERVER;
|
||||
|
||||
/* setting the new scheduling param */
|
||||
ret = pthread_attr_setschedparam (&tattr, ¶m);
|
||||
|
||||
if ((err = pthread_create(&th_server, &tattr, (void* (*)(void*))Tasks::f_server, NULL))) {
|
||||
printf("Error task create: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
}
|
||||
|
||||
void Program::deleteTasks() {
|
||||
pthread_cancel(th_server);
|
||||
pthread_cancel(th_openComRobot);
|
||||
pthread_cancel(th_move);
|
||||
}
|
||||
|
|
@ -0,0 +1,246 @@
|
|||
#include <stdio.h>
|
||||
#include <stdlib.h>
|
||||
#include <unistd.h>
|
||||
|
||||
#include <iostream>
|
||||
#include <string>
|
||||
|
||||
#include <pthread.h>
|
||||
#include <semaphore.h>
|
||||
#include <mqueue.h>
|
||||
#include <sched.h>
|
||||
|
||||
#include <Robot.h>
|
||||
#include <Camera.h>
|
||||
#include <Image.h>
|
||||
#include <TcpServer.h>
|
||||
#include <MsgManager.h>
|
||||
|
||||
//#include "../../lib/Robot.h"
|
||||
//#include "../../lib/Camera.h"
|
||||
//#include "../../lib/Image.h"
|
||||
//#include "../../lib/TcpServer.h"
|
||||
|
||||
#include "Tasks.h"
|
||||
|
||||
void Tasks::f_server(void *arg) {
|
||||
// int err;
|
||||
// /* INIT */
|
||||
// RT_TASK_INFO info;
|
||||
// rt_task_inquire(NULL, &info);
|
||||
// printf("Init %s\n", info.name);
|
||||
// rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
//
|
||||
// err = run_nodejs("/usr/local/bin/node", "/home/pi/Interface_Robot/server.js");
|
||||
//
|
||||
// if (err < 0) {
|
||||
// printf("Failed to start nodejs: %s\n", strerror(-err));
|
||||
// exit(EXIT_FAILURE);
|
||||
// } else {
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s: nodejs started\n", info.name);
|
||||
//#endif
|
||||
// open_server();
|
||||
// rt_sem_broadcast(&sem_serverOk);
|
||||
// }
|
||||
}
|
||||
|
||||
void Tasks::f_sendToMon(void * arg) {
|
||||
// int err;
|
||||
// MessageToMon msg;
|
||||
//
|
||||
// /* INIT */
|
||||
// RT_TASK_INFO info;
|
||||
// rt_task_inquire(NULL, &info);
|
||||
// printf("Init %s\n", info.name);
|
||||
// rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
//
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : waiting for sem_serverOk\n", info.name);
|
||||
//#endif
|
||||
// rt_sem_p(&sem_serverOk, TM_INFINITE);
|
||||
// while (1) {
|
||||
//
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : waiting for a message in queue\n", info.name);
|
||||
//#endif
|
||||
// if (rt_queue_read(&q_messageToMon, &msg, sizeof (MessageToRobot), TM_INFINITE) >= 0) {
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : message {%s,%s} in queue\n", info.name, msg.header, msg.data);
|
||||
//#endif
|
||||
//
|
||||
// send_message_to_monitor(msg.header, msg.data);
|
||||
// free_msgToMon_data(&msg);
|
||||
// rt_queue_free(&q_messageToMon, &msg);
|
||||
// } else {
|
||||
// printf("Error msg queue write: %s\n", strerror(-err));
|
||||
// }
|
||||
// }
|
||||
}
|
||||
|
||||
void Tasks::f_receiveFromMon(void *arg) {
|
||||
// MessageFromMon msg;
|
||||
// int err;
|
||||
//
|
||||
// /* INIT */
|
||||
// RT_TASK_INFO info;
|
||||
// rt_task_inquire(NULL, &info);
|
||||
// printf("Init %s\n", info.name);
|
||||
// rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
//
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : waiting for sem_serverOk\n", info.name);
|
||||
//#endif
|
||||
// rt_sem_p(&sem_serverOk, TM_INFINITE);
|
||||
// do {
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : waiting for a message from monitor\n", info.name);
|
||||
//#endif
|
||||
// err = receive_message_from_monitor(msg.header, msg.data);
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s: msg {header:%s,data=%s} received from UI\n", info.name, msg.header, msg.data);
|
||||
//#endif
|
||||
// if (strcmp(msg.header, HEADER_MTS_COM_DMB) == 0) {
|
||||
// if (msg.data[0] == OPEN_COM_DMB) { // Open communication supervisor-robot
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s: message open Xbee communication\n", info.name);
|
||||
//#endif
|
||||
// rt_sem_v(&sem_openComRobot);
|
||||
// }
|
||||
// } else if (strcmp(msg.header, HEADER_MTS_DMB_ORDER) == 0) {
|
||||
// if (msg.data[0] == DMB_START_WITHOUT_WD) { // Start robot
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s: message start robot\n", info.name);
|
||||
//#endif
|
||||
// rt_sem_v(&sem_startRobot);
|
||||
//
|
||||
// } else if ((msg.data[0] == DMB_GO_BACK)
|
||||
// || (msg.data[0] == DMB_GO_FORWARD)
|
||||
// || (msg.data[0] == DMB_GO_LEFT)
|
||||
// || (msg.data[0] == DMB_GO_RIGHT)
|
||||
// || (msg.data[0] == DMB_STOP_MOVE)) {
|
||||
//
|
||||
// rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
||||
// move = msg.data[0];
|
||||
// rt_mutex_release(&mutex_move);
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s: message update movement with %c\n", info.name, move);
|
||||
//#endif
|
||||
//
|
||||
// }
|
||||
// }
|
||||
// } while (err > 0);
|
||||
|
||||
}
|
||||
|
||||
void Tasks::f_openComRobot(void * arg) {
|
||||
// int err;
|
||||
//
|
||||
// /* INIT */
|
||||
// RT_TASK_INFO info;
|
||||
// rt_task_inquire(NULL, &info);
|
||||
// printf("Init %s\n", info.name);
|
||||
// rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
//
|
||||
// while (1) {
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : Wait sem_openComRobot\n", info.name);
|
||||
//#endif
|
||||
// rt_sem_p(&sem_openComRobot, TM_INFINITE);
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : sem_openComRobot arrived => open communication robot\n", info.name);
|
||||
//#endif
|
||||
// err = open_communication_robot();
|
||||
// if (err == 0) {
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : the communication is opened\n", info.name);
|
||||
//#endif
|
||||
// MessageToMon msg;
|
||||
// set_msgToMon_header(&msg, HEADER_STM_ACK);
|
||||
// write_in_queue(&q_messageToMon, msg);
|
||||
// } else {
|
||||
// MessageToMon msg;
|
||||
// set_msgToMon_header(&msg, HEADER_STM_NO_ACK);
|
||||
// write_in_queue(&q_messageToMon, msg);
|
||||
// }
|
||||
// }
|
||||
}
|
||||
|
||||
void Tasks::f_startRobot(void * arg) {
|
||||
// int err;
|
||||
//
|
||||
// /* INIT */
|
||||
// RT_TASK_INFO info;
|
||||
// rt_task_inquire(NULL, &info);
|
||||
// printf("Init %s\n", info.name);
|
||||
// rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
//
|
||||
// while (1) {
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : Wait sem_startRobot\n", info.name);
|
||||
//#endif
|
||||
// rt_sem_p(&sem_startRobot, TM_INFINITE);
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : sem_startRobot arrived => Start robot\n", info.name);
|
||||
//#endif
|
||||
// err = send_command_to_robot(DMB_START_WITHOUT_WD);
|
||||
// if (err == 0) {
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s : the robot is started\n", info.name);
|
||||
//#endif
|
||||
// rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||
// robotStarted = 1;
|
||||
// rt_mutex_release(&mutex_robotStarted);
|
||||
// MessageToMon msg;
|
||||
// set_msgToMon_header(&msg, HEADER_STM_ACK);
|
||||
// write_in_queue(&q_messageToMon, msg);
|
||||
// } else {
|
||||
// MessageToMon msg;
|
||||
// set_msgToMon_header(&msg, HEADER_STM_NO_ACK);
|
||||
// write_in_queue(&q_messageToMon, msg);
|
||||
// }
|
||||
// }
|
||||
}
|
||||
|
||||
void Tasks::f_move(void *arg) {
|
||||
// /* INIT */
|
||||
// RT_TASK_INFO info;
|
||||
// rt_task_inquire(NULL, &info);
|
||||
// printf("Init %s\n", info.name);
|
||||
// rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||
//
|
||||
// /* PERIODIC START */
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s: start period\n", info.name);
|
||||
//#endif
|
||||
// rt_task_set_periodic(NULL, TM_NOW, 100000000);
|
||||
// while (1) {
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s: Wait period \n", info.name);
|
||||
//#endif
|
||||
// rt_task_wait_period(NULL);
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s: Periodic activation\n", info.name);
|
||||
// printf("%s: move equals %c\n", info.name, move);
|
||||
//#endif
|
||||
// rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||
// if (robotStarted) {
|
||||
// rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
||||
// send_command_to_robot(move);
|
||||
// rt_mutex_release(&mutex_move);
|
||||
//#ifdef _WITH_TRACE_
|
||||
// printf("%s: the movement %c was sent\n", info.name, move);
|
||||
//#endif
|
||||
// }
|
||||
// rt_mutex_release(&mutex_robotStarted);
|
||||
// }
|
||||
}
|
||||
|
||||
void Tasks::write_in_queue(mqd_t *queue, MsgManager msg) {
|
||||
// void *buff;
|
||||
// buff = rt_queue_alloc(&q_messageToMon, sizeof (MessageToMon));
|
||||
// memcpy(buff, &msg, sizeof (MessageToMon));
|
||||
// rt_queue_send(&q_messageToMon, buff, sizeof (MessageToMon), Q_NORMAL);
|
||||
}
|
||||
|
||||
MsgManager Tasks::messages;
|
||||
|
|
@ -0,0 +1,44 @@
|
|||
/*
|
||||
* To change this license header, choose License Headers in Project Properties.
|
||||
* To change this template file, choose Tools | Templates
|
||||
* and open the template in the editor.
|
||||
*/
|
||||
|
||||
/*
|
||||
* File: functions.h
|
||||
* Author: pehladik
|
||||
*
|
||||
* Created on 15 janvier 2018, 12:50
|
||||
*/
|
||||
|
||||
#ifndef TASKS_H
|
||||
#define TASKS_H
|
||||
|
||||
#include <mqueue.h>
|
||||
#include <MsgManager.h>
|
||||
|
||||
class Tasks {
|
||||
public:
|
||||
static MsgManager messages;
|
||||
|
||||
static void f_server(void *arg);
|
||||
|
||||
static void f_sendToMon(void *arg);
|
||||
|
||||
static void f_receiveFromMon(void *arg);
|
||||
|
||||
static void f_openComRobot(void *arg);
|
||||
|
||||
static void f_move(void *arg);
|
||||
|
||||
static void f_startRobot(void *arg);
|
||||
|
||||
private:
|
||||
char mode_start;
|
||||
|
||||
static void write_in_queue(mqd_t *queue, MsgManager msg);
|
||||
Tasks() {}
|
||||
};
|
||||
|
||||
#endif /* TASKS_H */
|
||||
|
||||
9
software/raspberry/superviseur-robot/superviseur/.gitignore
vendored
Normal file
9
software/raspberry/superviseur-robot/superviseur/.gitignore
vendored
Normal file
|
|
@ -0,0 +1,9 @@
|
|||
bin/
|
||||
build/
|
||||
CMakeFiles/
|
||||
|
||||
.dep.inc
|
||||
Makefile
|
||||
*.cmake
|
||||
*.o
|
||||
|
||||
|
|
@ -0,0 +1,15 @@
|
|||
set(superviseur_FILES ./src/main.cpp src/functions.cpp)
|
||||
|
||||
include_directories(./src ../lib /usr/xenomai/include /usr/xenomai/include/mercury)
|
||||
link_directories(/usr/xenomai/lib)
|
||||
|
||||
add_executable(superviseur ${superviseur_FILES})
|
||||
target_link_libraries(superviseur destijl)
|
||||
|
||||
#add_custom_command(TARGET superviseur POST_BUILD
|
||||
# COMMAND sudo chown root ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/superviseur
|
||||
# COMMAND sudo chgrp root ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/superviseur
|
||||
# COMMAND sudo chmod +s ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}/superviseur
|
||||
# WORKING_DIRECTORY ${CMAKE_RUNTIME_OUTPUT_DIRECTORY}
|
||||
# COMMENT "Add sticky bit"
|
||||
#)
|
||||
|
|
@ -1,4 +1,4 @@
|
|||
#include "../header/functions.h"
|
||||
#include "functions.h"
|
||||
|
||||
char mode_start;
|
||||
|
||||
|
|
@ -102,7 +102,7 @@ void f_receiveFromMon(void *arg) {
|
|||
|| (msg.data[0] == DMB_STOP_MOVE)) {
|
||||
|
||||
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
||||
move = msg.data[0];
|
||||
robotMove = msg.data[0];
|
||||
rt_mutex_release(&mutex_move);
|
||||
#ifdef _WITH_TRACE_
|
||||
printf("%s: message update movement with %c\n", info.name, move);
|
||||
|
|
@ -207,7 +207,7 @@ void f_move(void *arg) {
|
|||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||
if (robotStarted) {
|
||||
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
||||
send_command_to_robot(move);
|
||||
send_command_to_robot(robotMove);
|
||||
rt_mutex_release(&mutex_move);
|
||||
#ifdef _WITH_TRACE_
|
||||
printf("%s: the movement %c was sent\n", info.name, move);
|
||||
|
|
@ -25,10 +25,10 @@
|
|||
#include <alchemy/sem.h>
|
||||
#include <alchemy/queue.h>
|
||||
|
||||
#include "../../src/monitor.h"
|
||||
#include "../../src/robot.h"
|
||||
#include "../../src/image.h"
|
||||
#include "../../src/message.h"
|
||||
#include "monitor.h"
|
||||
#include "robot.h"
|
||||
#include "image.h"
|
||||
#include "message.h"
|
||||
|
||||
extern RT_TASK th_server;
|
||||
extern RT_TASK th_sendToMon;
|
||||
|
|
@ -49,7 +49,7 @@ extern RT_QUEUE q_messageToMon;
|
|||
|
||||
extern int etatCommMoniteur;
|
||||
extern int robotStarted;
|
||||
extern char move;
|
||||
extern char robotMove;
|
||||
|
||||
extern int MSG_QUEUE_SIZE;
|
||||
|
||||
|
|
@ -16,7 +16,7 @@
|
|||
#include <alchemy/sem.h>
|
||||
#include <alchemy/queue.h>
|
||||
|
||||
#include "./header/functions.h"
|
||||
#include "functions.h"
|
||||
|
||||
// Déclaration des taches
|
||||
RT_TASK th_server;
|
||||
|
|
@ -51,7 +51,7 @@ int MSG_QUEUE_SIZE = 10;
|
|||
// Déclaration des ressources partagées
|
||||
int etatCommMoniteur = 1;
|
||||
int robotStarted = 0;
|
||||
char move = DMB_STOP_MOVE;
|
||||
char robotMove = DMB_STOP_MOVE;
|
||||
|
||||
/**
|
||||
* \fn void initStruct(void)
|
||||
|
|
@ -91,10 +91,11 @@ int main(int argc, char **argv) {
|
|||
}
|
||||
|
||||
void initStruct(void) {
|
||||
|
||||
int err;
|
||||
/* Creation des mutex */
|
||||
if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
|
||||
printf("Error mutex create: %s\n", strerror(-err));
|
||||
printf("Error mutex create: %d %s\n", err, strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
if (err = rt_mutex_create(&mutex_move, NULL)) {
|
||||
|
|
@ -103,20 +104,20 @@ void initStruct(void) {
|
|||
}
|
||||
|
||||
/* Creation du semaphore */
|
||||
if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
|
||||
printf("Error semaphore create: %s\n", strerror(-err));
|
||||
if (err = rt_sem_create(&sem_barrier, "truc", 0, S_FIFO)) {
|
||||
printf("Error semaphore create 1: %d %s\n", err, strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) {
|
||||
printf("Error semaphore create: %s\n", strerror(-err));
|
||||
printf("Error semaphore create 2: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
|
||||
printf("Error semaphore create: %s\n", strerror(-err));
|
||||
printf("Error semaphore create 3: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
if (err = rt_sem_create(&sem_startRobot, NULL, 0, S_FIFO)) {
|
||||
printf("Error semaphore create: %s\n", strerror(-err));
|
||||
printf("Error semaphore create 4: %s\n", strerror(-err));
|
||||
exit(EXIT_FAILURE);
|
||||
}
|
||||
|
||||
Loading…
Reference in a new issue