diff --git a/software/install-opencv.sh b/software/install-opencv.sh index 9899e03..1ca04eb 100755 --- a/software/install-opencv.sh +++ b/software/install-opencv.sh @@ -20,7 +20,8 @@ OPENCV_VERSION='3.4.2' - +mkdir opencv +cd opencv # 1. KEEP UBUNTU OR DEBIAN UP TO DATE sudo apt-get -y update @@ -82,6 +83,22 @@ make -j5 sudo make install sudo ldconfig +# 4. Compile raspicam +cd ~ +cd opencv + +wget https://sourceforge.net/projects/raspicam/files/latest/raspicam.zip +unzip raspicam.zip +cd raspicam-0.1.6 + +mkdir build +cd build +cmake .. + +make -j5 +sudo make install +sudo ldconfig + # 4. EXECUTE SOME OPENCV EXAMPLES AND COMPILE A DEMONSTRATION diff --git a/software/raspberry/superviseur-robot/main.cpp b/software/raspberry/superviseur-robot/main.cpp index fd44ad2..57b2196 100644 --- a/software/raspberry/superviseur-robot/main.cpp +++ b/software/raspberry/superviseur-robot/main.cpp @@ -29,6 +29,7 @@ int main(int argc, char **argv) { Tasks tasks; + //Lock the memory to avoid memory swapping for this program mlockall(MCL_CURRENT | MCL_FUTURE); diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk index 8fedc40..ae1ed99 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk @@ -42,7 +42,7 @@ OBJECTFILES= \ ${OBJECTDIR}/lib/img.o \ ${OBJECTDIR}/lib/messages.o \ ${OBJECTDIR}/main.o \ - ${OBJECTDIR}/tasks.o + ${OBJECTDIR}/tasks_pthread.o # C Compiler Flags @@ -104,10 +104,10 @@ ${OBJECTDIR}/main.o: main.cpp ${RM} "$@.d" $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp -${OBJECTDIR}/tasks.o: tasks.cpp +${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp # Subprojects .build-subprojects: diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk new file mode 100644 index 0000000..c71a3a3 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk @@ -0,0 +1,125 @@ +# +# Generated Makefile - do not edit! +# +# Edit the Makefile in the project folder instead (../Makefile). Each target +# has a -pre and a -post target defined where you can add customized code. +# +# This makefile implements configuration specific macros and targets. + + +# Environment +MKDIR=mkdir +CP=cp +GREP=grep +NM=nm +CCADMIN=CCadmin +RANLIB=ranlib +CC=gcc +CCC=g++ +CXX=g++ +FC=gfortran +AS=as + +# Macros +CND_PLATFORM=GNU-Linux +CND_DLIB_EXT=so +CND_CONF=JPO2019_RPI_ +CND_DISTDIR=dist +CND_BUILDDIR=build + +# Include project Makefile +include ./Makefile + +# Object Directory +OBJECTDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM} + +# Object Files +OBJECTFILES= \ + ${OBJECTDIR}/lib/base64/base64.o \ + ${OBJECTDIR}/lib/camera.o \ + ${OBJECTDIR}/lib/commonitor.o \ + ${OBJECTDIR}/lib/comrobot.o \ + ${OBJECTDIR}/lib/img.o \ + ${OBJECTDIR}/lib/messages.o \ + ${OBJECTDIR}/main.o \ + ${OBJECTDIR}/tasks_pthread.o + + +# C Compiler Flags +CFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy + +# CC Compiler Flags +CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 +CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 + +# Fortran Compiler Flags +FFLAGS= + +# Assembler Flags +ASFLAGS= + +# Link Libraries and Options +LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam + +# Build Targets +.build-conf: ${BUILD_SUBPROJECTS} + "${MAKE}" -f nbproject/Makefile-${CND_CONF}.mk ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot + +${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES} + ${MKDIR} -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM} + ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -lpthread -lrt + +${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp + ${MKDIR} -p ${OBJECTDIR}/lib/base64 + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp + +${OBJECTDIR}/lib/camera.o: lib/camera.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp + +${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp + +${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp + +${OBJECTDIR}/lib/img.o: lib/img.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp + +${OBJECTDIR}/lib/messages.o: lib/messages.cpp + ${MKDIR} -p ${OBJECTDIR}/lib + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp + +${OBJECTDIR}/main.o: main.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + +${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp + ${MKDIR} -p ${OBJECTDIR} + ${RM} "$@.d" + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp + +# Subprojects +.build-subprojects: + +# Clean Targets +.clean-conf: ${CLEAN_SUBPROJECTS} + ${RM} -r ${CND_BUILDDIR}/${CND_CONF} + +# Subprojects +.clean-subprojects: + +# Enable dependency checking +.dep.inc: .depcheck-impl + +include .dep.inc diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk index fde6660..880b346 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk @@ -31,7 +31,7 @@ DEFAULTCONF=Debug__PC_ CONF=${DEFAULTCONF} # All Configurations -ALLCONFS=Debug__PC_ Debug__RPI_ +ALLCONFS=Debug__PC_ Debug__RPI_ JPO2019_RPI_ # build diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk index 0b82502..a6081fb 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk @@ -22,6 +22,14 @@ CND_ARTIFACT_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/superviseur-robot CND_PACKAGE_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package CND_PACKAGE_NAME_Debug__RPI_=superviseur-robot.tar CND_PACKAGE_PATH_Debug__RPI_=dist/Debug__RPI_/GNU-Linux/package/superviseur-robot.tar +# JPO2019_RPI_ configuration +CND_PLATFORM_JPO2019_RPI_=GNU-Linux +CND_ARTIFACT_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux +CND_ARTIFACT_NAME_JPO2019_RPI_=superviseur-robot +CND_ARTIFACT_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/superviseur-robot +CND_PACKAGE_DIR_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package +CND_PACKAGE_NAME_JPO2019_RPI_=superviseur-robot.tar +CND_PACKAGE_PATH_JPO2019_RPI_=dist/JPO2019_RPI_/GNU-Linux/package/superviseur-robot.tar # # include compiler specific variables # diff --git a/software/raspberry/superviseur-robot/nbproject/Package-JPO2019_RPI_.bash b/software/raspberry/superviseur-robot/nbproject/Package-JPO2019_RPI_.bash new file mode 100644 index 0000000..b3b7eb1 --- /dev/null +++ b/software/raspberry/superviseur-robot/nbproject/Package-JPO2019_RPI_.bash @@ -0,0 +1,76 @@ +#!/bin/bash -x + +# +# Generated - do not edit! +# + +# Macros +TOP=`pwd` +CND_PLATFORM=GNU-Linux +CND_CONF=JPO2019_RPI_ +CND_DISTDIR=dist +CND_BUILDDIR=build +CND_DLIB_EXT=so +NBTMPDIR=${CND_BUILDDIR}/${CND_CONF}/${CND_PLATFORM}/tmp-packaging +TMPDIRNAME=tmp-packaging +OUTPUT_PATH=${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot +OUTPUT_BASENAME=superviseur-robot +PACKAGE_TOP_DIR=superviseur-robot/ + +# Functions +function checkReturnCode +{ + rc=$? + if [ $rc != 0 ] + then + exit $rc + fi +} +function makeDirectory +# $1 directory path +# $2 permission (optional) +{ + mkdir -p "$1" + checkReturnCode + if [ "$2" != "" ] + then + chmod $2 "$1" + checkReturnCode + fi +} +function copyFileToTmpDir +# $1 from-file path +# $2 to-file path +# $3 permission +{ + cp "$1" "$2" + checkReturnCode + if [ "$3" != "" ] + then + chmod $3 "$2" + checkReturnCode + fi +} + +# Setup +cd "${TOP}" +mkdir -p ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package +rm -rf ${NBTMPDIR} +mkdir -p ${NBTMPDIR} + +# Copy files and create directories and links +cd "${TOP}" +makeDirectory "${NBTMPDIR}/superviseur-robot/bin" +copyFileToTmpDir "${OUTPUT_PATH}" "${NBTMPDIR}/${PACKAGE_TOP_DIR}bin/${OUTPUT_BASENAME}" 0755 + + +# Generate tar file +cd "${TOP}" +rm -f ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar +cd ${NBTMPDIR} +tar -vcf ../../../../${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/package/superviseur-robot.tar * +checkReturnCode + +# Cleanup +cd "${TOP}" +rm -rf ${NBTMPDIR} diff --git a/software/raspberry/superviseur-robot/nbproject/configurations.xml b/software/raspberry/superviseur-robot/nbproject/configurations.xml index 4c9bccd..3691514 100644 --- a/software/raspberry/superviseur-robot/nbproject/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml @@ -11,6 +11,7 @@ ./lib/img.h ./lib/messages.h ./tasks.h + ./tasks_pthread.h ./main.cpp ./lib/messages.cpp ./tasks.cpp + ./tasks_pthread.cpp + + @@ -180,10 +184,87 @@ - + + + + + + + + + + GNU|GNU + true + false + + + + + ./ + ./lib + /usr/xenomai/include + /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 + + + 8 + + ./ + ./lib + + -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 + + _WITH_TRACE_ + __WITH_ARUCO__ + __WITH_PTHREAD__ + + + + + `pkg-config --libs opencv` + raspicam_cv + raspicam + + -Wl,--no-as-needed -Wl,--dynamic-list=/usr/xenomai/lib/dynlist.ld -lpthread -lrt + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + diff --git a/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk b/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk index 9a44248..f98098b 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk +++ b/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk @@ -5,3 +5,4 @@ # # Debug__PC_ configuration # Debug__RPI_ configuration +# JPO2019_RPI_ configuration diff --git a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml index 5cb1c88..39f6306 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml @@ -41,7 +41,40 @@ - pi@10.105.1.13:22 + pi@10.105.1.11:22 + 2 + + + + + + + + + + + + + + + gdb + + + + "${OUTPUT_PATH}" + + "${OUTPUT_PATH}" + + true + 0 + 0 + + + + + + + pi@10.105.1.11:22 2 diff --git a/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.11-pi-22 b/software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.11-pi-22 new file mode 100644 index 0000000..e69de29 diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml index 0b8f05c..803c32c 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/private.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml @@ -2,18 +2,19 @@ 1 - 0 + 2 file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp + 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+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/hierarchy.js=c1547565563000 +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000 diff --git a/software/raspberry/superviseur-robot/nbproject/project.xml b/software/raspberry/superviseur-robot/nbproject/project.xml index 06f5083..7eea900 100644 --- a/software/raspberry/superviseur-robot/nbproject/project.xml +++ b/software/raspberry/superviseur-robot/nbproject/project.xml @@ -21,6 +21,10 @@ Debug__RPI_ 1 + + JPO2019_RPI_ + 1 + false diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp index 0e543ec..f062fe3 100644 --- a/software/raspberry/superviseur-robot/tasks.cpp +++ b/software/raspberry/superviseur-robot/tasks.cpp @@ -212,7 +212,7 @@ void Tasks::ReceiveFromMonTask(void *arg) { msgSend = new Message(MESSAGE_ANSWER_ACK); isActive = true; - delete(msgRcv); // mus be deleted manually, no consumer + delete(msgRcv); // must be deleted manually, no consumer } if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) { diff --git a/software/raspberry/superviseur-robot/tasks_pthread.cpp b/software/raspberry/superviseur-robot/tasks_pthread.cpp new file mode 100644 index 0000000..c145c3e --- /dev/null +++ b/software/raspberry/superviseur-robot/tasks_pthread.cpp @@ -0,0 +1,305 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#include "tasks_pthread.h" +#include + +#ifdef __WITH_PTHREAD__ + +// Déclaration des priorités des taches +#define PRIORITY_TSERVER 30 +#define PRIORITY_TOPENCOMROBOT 20 +#define PRIORITY_TMOVE 10 +#define PRIORITY_TSENDTOMON 25 +#define PRIORITY_TRECEIVEFROMMON 22 +#define PRIORITY_TSTARTROBOT 20 + +/* + * Some remarks: + * 1- This program is mostly a template. It shows you how to create tasks, semaphore + * message queues, mutex ... and how to use them + * + * 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore + * + * 3- Data flow is probably not optimal + * + * 4- Take into account that ComRobot::Write will block your task when serial buffer is full, + * time for internal buffer to flush + * + * 5- Same behavior existe for ComMonitor::Write ! + * + * 6- When you want to write something in terminal, use cout and terminate with endl and flush + * + * 7- Good luck ! + */ + +void Tasks::Init() { + int status; + + /* Open com port with STM32 */ + cout << "Open serial com ("; + status = robot.Open(); + cout << status; + cout << ")" << endl; + + if (status >= 0) { + // Open server + + status = monitor.Open(SERVER_PORT); + cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl; + + if (status < 0) throw std::runtime_error { + "Unable to start server on port " + std::to_string(SERVER_PORT) + }; + } else + throw std::runtime_error { + "Unable to open serial port /dev/ttyS0 " + }; +} + +void Tasks::Run() { + threadTimer = new thread((void (*)(void*)) & Tasks::TimerTask, this); + threadServer = new thread((void (*)(void*)) & Tasks::ServerTask, this); + + cout << "Tasks launched" << endl << flush; +} + +void Tasks::Stop() { + monitor.Close(); + robot.Close(); +} + +void Tasks::ServerTask(void *arg) { + Message *msgRcv; + Message *msgSend; + bool isActive = true; + + cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; + + while (isActive) { + msgRcv = NULL; + msgSend = NULL; + + msgRcv = monitor.Read(); + cout << "Rcv <= " << msgRcv->ToString() << endl << flush; + + if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) { + msgSend = new Message(MESSAGE_ANSWER_ACK); + isActive = true; + + delete(msgRcv); // must be deleted manually, no consumer + } + + if (msgRcv->CompareID(MESSAGE_ROBOT_COM_CLOSE)) { + msgSend = new Message(MESSAGE_ANSWER_ACK); + cout << "isActive = false!" << msgRcv->ToString() << endl << flush; + isActive = false; + + delete(msgRcv); // mus be deleted manually, no consumer + } + + if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) { + msgSend = robot.Write(msgRcv); + cout << "Start with wd answer: " << msgSend->ToString() << endl << flush; + } + + if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) { + msgSend = robot.Write(msgRcv); + cout << "Start without wd answer: " << msgSend->ToString() << endl << flush; + } + + if (msgRcv->CompareID(MESSAGE_ROBOT_RESET)) { + msgSend = robot.Write(msgRcv); + cout << "Reset answer: " << msgSend->ToString() << endl << flush; + } + + if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) || + msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) || + msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) || + msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) || + msgRcv->CompareID(MESSAGE_ROBOT_STOP)) { + msgSend = robot.Write(msgRcv); + + cout << "Movement answer: " << msgSend->ToString() << endl << flush; + + if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) { + delete (msgSend); + msgSend = NULL; + } + } + + if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) { + sendImage = true; + msgSend = new Message(MESSAGE_ANSWER_ACK); + + delete(msgRcv); // must be deleted manually, no consumer + } + + if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) { + sendImage = false; + msgSend = new Message(MESSAGE_ANSWER_ACK); + + delete(msgRcv); // must be deleted manually, no consumer + } + + if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) { + sendPosition = true; + msgSend = new Message(MESSAGE_ANSWER_ACK); + + delete(msgRcv); // must be deleted manually, no consumer + } + + if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) { + sendPosition = false; + msgSend = new Message(MESSAGE_ANSWER_ACK); + + delete(msgRcv); // must be deleted manually, no consumer + } + + if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) { + msgSend = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL); + + delete(msgRcv); // must be deleted manually, no consumer + } + + if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) { + showArena = true; + + delete(msgRcv); // must be deleted manually, no consumer + } + + if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) { + showArena = false; + + delete(msgRcv); // must be deleted manually, no consumer + } + + if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) { + showArena = false; + + delete(msgRcv); // must be deleted manually, no consumer + } + + if (msgSend != NULL) monitor.Write(msgSend); + } +} + +void Tasks::TimerTask(void* arg) { + struct timespec tim, tim2; + Message *msgSend; + int counter; + int cntFrame = 0; + Position pos; + Arena arena; + int counter_img; + + tim.tv_sec = 0; + tim.tv_nsec = 50000000; // 50ms (20fps) + + cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; + + Camera camera = Camera(sm, 15); + cout << "Try opening camera" << endl << flush; + if (camera.Open()) cout << "Camera opened successfully" << endl << flush; + else { + cout << "Failed to open camera" << endl << flush; + + exit(0); + } + + pos.angle = 0.0; + pos.robotId = -1; + pos.center = cv::Point2f(0, 0); + pos.direction = cv::Point2f(0, 0); + + counter_img = 0; + + while (1) { + Img image = camera.Grab(); // 15fps + cntFrame++; + cout << "cnt: " << to_string(cntFrame) << endl << flush; + + if (sendPosition == true) { + counter++; + + if (counter >= 5) { // div =15 + counter = 0; + + //if (!arena.IsEmpty()) { + image.dictionary = cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3)); + + std::list poses = image.SearchRobot(arena); + cout << "Nbr of pos detected: " << to_string(poses.size()) << endl << flush; + + if (poses.size() > 0) { + Position firstPos = poses.front(); + + pos.angle = firstPos.angle; + pos.robotId = firstPos.robotId; + pos.center = firstPos.center; + pos.direction = firstPos.direction; + } else { + // Nothing found + pos.angle = 0.0; + pos.robotId = -1; + pos.center = cv::Point2f(0, 0); + pos.direction = cv::Point2f(0, 0); + } + + MessagePosition *msgp = new MessagePosition(MESSAGE_CAM_POSITION, pos); + monitor.Write(msgp); + cout << "Position sent" << endl << flush; + } + } + + if (sendImage == true) { + counter_img++; + + if (counter_img >= 1) { + counter_img = 0; + + if (showArena) { + arena = image.SearchArena(); + + if (!arena.IsEmpty()) image.DrawArena(arena); + else cout << "Arena not found" << endl << flush; + } + + if (sendPosition == true) { + image.DrawRobot(pos); + } + + if (!arena.IsEmpty()) image.DrawArena(arena); + + MessageImg *msg = new MessageImg(MESSAGE_CAM_IMAGE, &image); + + monitor.Write(msg); + cout << "Image sent" << endl << flush; + } + } + } +} + +void Tasks::SendToMonTask(void* arg) { + cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; + + while (1) { + + } +} + +#endif //__WITH_PTHREAD__ \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/tasks_pthread.h b/software/raspberry/superviseur-robot/tasks_pthread.h new file mode 100644 index 0000000..dda6150 --- /dev/null +++ b/software/raspberry/superviseur-robot/tasks_pthread.h @@ -0,0 +1,104 @@ +/* + * Copyright (C) 2018 dimercur + * + * This program is free software: you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation, either version 3 of the License, or + * (at your option) any later version. + * + * This program is distributed in the hope that it will be useful, + * but WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the + * GNU General Public License for more details. + * + * You should have received a copy of the GNU General Public License + * along with this program. If not, see . + */ + +#ifndef __TASKS_H__ +#define __TASKS_H__ + +#ifdef __WITH_PTHREAD__ +#include +#include +#include + +#include "camera.h" +#include "img.h" + +#include "messages.h" +#include "commonitor.h" +#include "comrobot.h" + +#include +#include +#include + +class Tasks { +public: +/** + * @brief Initialisation des structures de l'application (tâches, mutex, + * semaphore, etc.) + */ + void Init(); + + /** + * @brief Démarrage des tâches + */ + void Run(); + + /** + * @brief Arrêt des tâches + */ + void Stop(); + + /** + */ + void Join() { + threadServer->join(); + threadTimer->join(); + threadSendToMon->join(); + } + + /** + */ + bool AcceptClient() { + return monitor.AcceptClient(); + } + + /** + * @brief Thread handling server communication. + */ + void ServerTask(void *arg); + + /** + * @brief Thread handling server communication. + */ + void TimerTask(void *arg); + + /** + * @brief Thread handling communication to monitor. + */ + void SendToMonTask(void *arg); +private: + ComMonitor monitor; + ComRobot robot; + + bool sendImage=false; + bool sendPosition=false; + + int counter; + bool flag; + + bool showArena=false; + + thread *threadServer; + thread *threadSendToMon; + thread *threadTimer; + + mutex mutexTimer; +}; + +#endif // __WITH_PTHREAD__ +#endif /* __TASKS_H__ */ +