INSA/dumber
1
0
Fork 0
mirror of https://github.com/yoboujon/dumber.git synced 2025-06-08 13:50:49 +02:00
Code Issues Projects Releases Packages Wiki Activity Actions

Fixed issue with cam opening/closing. Changing how Camera behaves and Arena

Browse source
This commit is contained in:
Yohan Boujon 2024-05-11 14:35:51 +02:00
parent e018b5d0f4
commit 61b7855f3c
2 changed files with 93 additions and 79 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

134
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -90,7 +90,7 @@ void Tasks::Init() {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_arenaList, NULL)) {
if (err = rt_mutex_create(&mutex_arena, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
@ -153,7 +153,7 @@ void Tasks::Init() {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_cameraOpen, "th_cameraOpen", 0, PRIORITY_TSETCAMERA, 0)) {
if (err = rt_task_create(&th_cameraManage, "th_cameraManage", 0, PRIORITY_TSETCAMERA, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
@ -161,10 +161,6 @@ void Tasks::Init() {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_cameraClose, "th_cameraClose", 0, PRIORITY_TSETCAMERA, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_arenaChoice, "th_arenaChoice", 0, PRIOTITY_TARENA, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
@ -218,7 +214,7 @@ void Tasks::Run() {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_cameraOpen, (void(*)(void*)) & Tasks::OpenCamera, this)) {
if (err = rt_task_start(&th_cameraManage, (void(*)(void*)) & Tasks::ManageCamera, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
@ -226,10 +222,6 @@ void Tasks::Run() {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_cameraClose, (void(*)(void*)) & Tasks::CloseCamera, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_arenaChoice, (void(*)(void*)) & Tasks::ArenaChoice, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
@ -370,14 +362,14 @@ void Tasks::ReceiveFromMonTask(void *arg) {
else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
std::cout << "\n\n\nArena Confirm asked !!!\n\n\n" << std::endl;
rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
if(cameraStatus == ArenaStatusEnum::SEARCHING)
if(cameraStatus == ArenaStatusEnum::SEARCHED)
cameraStatus = ArenaStatusEnum::CONFIRM;
rt_mutex_release(&mutex_arenaStatus);
}
else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
std::cout << "\n\n\nArena Infirm asked !!!\n\n\n" << std::endl;
rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
if(cameraStatus == ArenaStatusEnum::SEARCHING)
if(cameraStatus == ArenaStatusEnum::SEARCHED)
cameraStatus = ArenaStatusEnum::INFIRM;
rt_mutex_release(&mutex_arenaStatus);
}
@ -561,7 +553,7 @@ void Tasks::BatteryStatusTask(void * arg) {
}
}
void Tasks::OpenCamera(void * arg)
void Tasks::ManageCamera(void * arg)
{
// Variables
int rs(0);
@ -583,26 +575,23 @@ void Tasks::OpenCamera(void * arg)
rs = robotStarted;
rt_mutex_release(&mutex_robotStarted);
if(rs != 0)
{
// Check the status of the camera
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
cs = cameraStatus;
rt_mutex_release(&mutex_cameraStatus);
if((rs != 0) && (cs == CameraStatusEnum::OPENING))
if(cs == CameraStatusEnum::OPENING)
{
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
cam = new Camera(sm, 10);
bool is_opened = cam->Open();
rt_mutex_release(&mutex_camera);
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
if(is_opened)
const MessageID tempMessage = this->OpenCamera();
WriteInQueue(&q_messageToMon, new Message(tempMessage));
}
if(cs == CameraStatusEnum::CLOSING)
{
cameraStatus = CameraStatusEnum::OPENED;
this->CloseCamera();
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
}
else {
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
}
rt_mutex_release(&mutex_cameraStatus);
}
}
}
@ -621,62 +610,73 @@ void Tasks::ImageCamera(void * arg)
while(1)
{
rt_task_wait_period(NULL);
// Check the status of the camera
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
cs = cameraStatus;
rt_mutex_release(&mutex_cameraStatus);
// Checking if camera is opened first
if(cs == CameraStatusEnum::OPENED)
{
// Gathering image from camera
Img * img = new Img(cam->Grab());
// Sending Image
MessageImg *msgImg = new MessageImg(MESSAGE_CAM_IMAGE, img);
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Write(msgImg);
rt_mutex_release(&mutex_monitor);
// ? delete img;
}
}
}
void Tasks::CloseCamera(void * arg)
MessageID Tasks::OpenCamera()
{
// Variables
CameraStatusEnum cs(CameraStatusEnum::CLOSED);
cout << "Called " << __PRETTY_FUNCTION__ << endl << flush;
// Opening camera
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
cam = new Camera(sm, 10);
const bool isOpened = cam->Open();
rt_mutex_release(&mutex_camera);
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while(1)
// Changing status
if(isOpened)
{
rt_task_wait_period(NULL);
// Check the status of the camera
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
cs = cameraStatus;
cameraStatus = CameraStatusEnum::OPENED;
rt_mutex_release(&mutex_cameraStatus);
if(cs == CameraStatusEnum::CLOSING)
{
}
return (is_opened ? MESSAGE_ANSWER_ACK : MESSAGE_ANSWER_NACK);
}
void Tasks::CloseCamera()
{
cout << "Called " << __PRETTY_FUNCTION__ << endl << flush;
// Closing Camera
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
cam->Close();
delete cam;
rt_mutex_release(&mutex_camera);
// Changing Status
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
cameraStatus = CameraStatusEnum::CLOSED;
rt_mutex_release(&mutex_cameraStatus);
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
}
}
}
void Tasks::ArenaChoice(void * arg)
{
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
// Variables
Img * img = nullptr;
Arena a;
ArenaStatusEnum as = ArenaStatusEnum::NONE;
ArenaStatusEnum as(ArenaStatusEnum::NONE);
while(1)
{
@ -688,14 +688,16 @@ void Tasks::ArenaChoice(void * arg)
// ASK_ARENA
if(as == ArenaStatusEnum::SEARCHING)
{
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
const CameraStatusEnum cs = cameraStatus;
rt_mutex_release(&mutex_cameraStatus);
// Gathering last image + closing camera when prompted
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
if(cam->IsOpen())
if(CameraStatusEnum::OPENED == cs)
{
img = new Img(cam->Grab());
cam->Close();
new Img(cam->Grab());
this->CloseCamera();
}
rt_mutex_release(&mutex_camera);
// Putting the arena overlay if found
a = img->SearchArena();
@ -708,24 +710,34 @@ void Tasks::ArenaChoice(void * arg)
monitor.Write(msgImg);
rt_mutex_release(&mutex_monitor);
}
// ? delete img;
}
// ARENA_CONFIRM / INFIRM
else if(as != ArenaStatusEnum::NONE)
else if(as == ArenaStatusEnum::CONFIRM || as == ArenaStatusEnum::INFIRM)
{
// Store arena to internal buffer + change status
if(as == ArenaStatusEnum::CONFIRM)
{
rt_mutex_acquire(&mutex_arenaList, TM_INFINITE);
arenaList.emplace_back(a);
rt_mutex_release(&mutex_arenaList);
rt_mutex_acquire(&mutex_arena, TM_INFINITE);
arena = a;
rt_mutex_release(&mutex_arena);
rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
arenaStatus = ArenaStatusEnum::CONFIRMED;
rt_mutex_release(&mutex_arenaStatus);
}
// Re-open the camera
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
cam->Open();
rt_mutex_release(&mutex_camera);
// empty the arena and write ACK to the monitor
// Arena Status set to NONE to enable new search
else {
rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
arenaStatus = ArenaStatusEnum::NONE;
rt_mutex_release(&mutex_arenaStatus);
}
// empty the temporary arena
a = Arena();
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
// Re-open the camera
const MessageID tempMessage = this->OpenCamera();
WriteInQueue(&q_messageToMon, new Message(tempMessage));
}
}
}

16
software/raspberry/superviseur-robot/tasks.h
View file

@ -47,7 +47,9 @@ enum class CameraStatusEnum {
enum class ArenaStatusEnum {
NONE,
SEARCHING,
SEARCHED,
CONFIRM,
CONFIRMED,
INFIRM
};
@ -84,7 +86,7 @@ private:
bool robotBatteryGet = false;
CameraStatusEnum cameraStatus = CameraStatusEnum::CLOSED;
ArenaStatusEnum arenaStatus = ArenaStatusEnum::NONE;
std::vector<Arena> arenaList;
Arena arena;
Camera* cam = nullptr;
/**********************************************************************/
@ -97,9 +99,8 @@ private:
RT_TASK th_startRobot;
RT_TASK th_move;
RT_TASK th_battery;
RT_TASK th_cameraOpen;
RT_TASK th_cameraManage;
RT_TASK th_cameraImage;
RT_TASK th_cameraClose;
RT_TASK th_arenaChoice;
/**********************************************************************/
@ -112,7 +113,7 @@ private:
RT_MUTEX mutex_batteryGet;
RT_MUTEX mutex_cameraStatus;
RT_MUTEX mutex_camera;
RT_MUTEX mutex_arenaList;
RT_MUTEX mutex_arena;
RT_MUTEX mutex_arenaStatus;
/**********************************************************************/
@ -165,13 +166,14 @@ private:
/* OUR CODE */
// Threads
void BatteryStatusTask(void * arg);
void OpenCamera(void * arg);
void ManageCamera(void * arg);
void ImageCamera(void * arg);
void CloseCamera(void * arg);
void ArenaChoice(void * arg);
// Utility functions
MessageID OpenCamera();
void CloseCamera();
/**********************************************************************/