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Battery is now fully working.

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This commit is contained in:
Marin-Muller Robin 2024-03-26 16:52:41 +01:00
parent 9a88a66cc1
commit 7d8d4456aa
3 changed files with 48 additions and 36 deletions
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6
software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.144-xenomai-22
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@ -1,4 +1,4 @@
#Tue Mar 26 15:23:55 CET 2024
#Tue Mar 26 16:47:57 CET 2024
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/main.cpp=c1711457904172
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1711457904197
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1711458297850
@ -8,13 +8,13 @@
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1711458297867
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1711457904114
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1711457904187
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.h=c1711461453052
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.h=c1711467801732
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/README.md=c1711457904021
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1711458720366
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1711457904182
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1711457904238
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1711457904124
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1711463022931
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1711468071294
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1711457904151
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.h=c1711457904162
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.dep.inc=c1711458948692

37
software/raspberry/superviseur-robot/tasks.cpp
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@ -74,6 +74,10 @@ void Tasks::Init() {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_batteryGet, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Mutexes created successfully" << endl << flush;
/**************************************************************************************/
@ -274,7 +278,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
rt_sem_v(&sem_openComRobot);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
printf("Battery handler\n\r");
rt_mutex_acquire(&mutex_batteryGet, TM_INFINITE);
robotBatteryGet = true;
rt_mutex_release(&mutex_batteryGet);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
rt_sem_v(&sem_startRobot);
} else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
@ -375,7 +381,7 @@ void Tasks::MoveTask(void *arg) {
while (1) {
rt_task_wait_period(NULL);
cout << "Periodic movement update";
//cout << "Periodic movement update";
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted;
rt_mutex_release(&mutex_robotStarted);
@ -387,10 +393,10 @@ void Tasks::MoveTask(void *arg) {
cout << " move: " << cpMove;
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(new Message((MessageID)cpMove));
robot.Write(new Message((MessageID) cpMove));
rt_mutex_release(&mutex_robot);
}
cout << endl << flush;
//cout << endl << flush;
}
}
@ -426,13 +432,12 @@ Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
return msg;
}
/* OUR CODE */
void Tasks::BatteryStatusTask(void * arg) {
// Variables
int rs(0);
bool getbatterytask(false);
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
@ -440,22 +445,28 @@ void Tasks::BatteryStatusTask(void * arg) {
/* The task starts here */
rt_task_set_periodic(NULL, TM_NOW, 50000000);
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while (1) {
rt_task_wait_period(NULL);
std::cout << "Periodic battery level update\n\r" << std::flush;
// Verify that the robot has started
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted;
rt_mutex_release(&mutex_robotStarted);
if (rs =! 1)
continue;
rt_mutex_acquire(&mutex_batteryGet, TM_INFINITE);
getbatterytask = robotBatteryGet;
if ((rs != 0) && getbatterytask) {
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
Message* msg = robot.Write(new Message(MESSAGE_ROBOT_BATTERY_GET));
std::cout << "Message Received: " << msg->ToString() << std::endl;
rt_mutex_release(&mutex_robot);
cout << endl << flush;
std::cout << "Message Received: " << msg->ToString() << std::endl;
robotBatteryGet = false;
getbatterytask = false;
}
rt_mutex_release(&mutex_batteryGet);
}
}

3
software/raspberry/superviseur-robot/tasks.h
View file

@ -66,7 +66,7 @@ private:
ComRobot robot;
int robotStarted = 0;
int move = MESSAGE_ROBOT_STOP;
int robotBattery = 0;
bool robotBatteryGet = false;
/**********************************************************************/
/* Tasks */
@ -86,6 +86,7 @@ private:
RT_MUTEX mutex_robot;
RT_MUTEX mutex_robotStarted;
RT_MUTEX mutex_move;
RT_MUTEX mutex_batteryGet;
/**********************************************************************/
/* Semaphores */