Added battery monitoring task

.vscode/c_cpp_properties.json

@@ -0,0 +1,18 @@
+{
+  "configurations": [
+    {
+      "name": "linux-gcc-x64",
+      "includePath": [
+        "${workspaceFolder}/**"
+      ],
+      "compilerPath": "/usr/bin/gcc",
+      "cStandard": "${default}",
+      "cppStandard": "${default}",
+      "intelliSenseMode": "linux-gcc-x64",
+      "compilerArgs": [
+        ""
+      ]
+    }
+  ],
+  "version": 4
+}

.vscode/settings.json

@@ -0,0 +1,59 @@
+{
+  "C_Cpp_Runner.cCompilerPath": "gcc",
+  "C_Cpp_Runner.cppCompilerPath": "g++",
+  "C_Cpp_Runner.debuggerPath": "gdb",
+  "C_Cpp_Runner.cStandard": "",
+  "C_Cpp_Runner.cppStandard": "",
+  "C_Cpp_Runner.msvcBatchPath": "",
+  "C_Cpp_Runner.useMsvc": false,
+  "C_Cpp_Runner.warnings": [
+    "-Wall",
+    "-Wextra",
+    "-Wpedantic",
+    "-Wshadow",
+    "-Wformat=2",
+    "-Wcast-align",
+    "-Wconversion",
+    "-Wsign-conversion",
+    "-Wnull-dereference"
+  ],
+  "C_Cpp_Runner.msvcWarnings": [
+    "/W4",
+    "/permissive-",
+    "/w14242",
+    "/w14287",
+    "/w14296",
+    "/w14311",
+    "/w14826",
+    "/w44062",
+    "/w44242",
+    "/w14905",
+    "/w14906",
+    "/w14263",
+    "/w44265",
+    "/w14928"
+  ],
+  "C_Cpp_Runner.enableWarnings": true,
+  "C_Cpp_Runner.warningsAsError": false,
+  "C_Cpp_Runner.compilerArgs": [],
+  "C_Cpp_Runner.linkerArgs": [],
+  "C_Cpp_Runner.includePaths": [],
+  "C_Cpp_Runner.includeSearch": [
+    "*",
+    "**/*"
+  ],
+  "C_Cpp_Runner.excludeSearch": [
+    "**/build",
+    "**/build/**",
+    "**/.*",
+    "**/.*/**",
+    "**/.vscode",
+    "**/.vscode/**"
+  ],
+  "C_Cpp_Runner.useAddressSanitizer": false,
+  "C_Cpp_Runner.useUndefinedSanitizer": false,
+  "C_Cpp_Runner.useLeakSanitizer": false,
+  "C_Cpp_Runner.showCompilationTime": false,
+  "C_Cpp_Runner.useLinkTimeOptimization": false,
+  "C_Cpp_Runner.msvcSecureNoWarnings": false
+}

README.md

@@ -8,3 +8,6 @@ Depot du projet de temps reel 4eme année au departement GEI de l'INSA Toulouse.
 - doc: contient les sujets de TD et TP
 - aruco_markers: Script de generation des tags (aruco) utilisés sur les robots
 
+
+/home/xenomai/.netbeans/remote/10.105.0.144/insa-10577-Linux-x86_64/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/dist/Debug__RPI_/GNU-Linux
+

software/raspberry/superviseur-robot/nbproject/configurations.xml

@@ -41,9 +41,21 @@
                    kind="IMPORTANT_FILES_FOLDER">
       <itemPath>./Makefile</itemPath>
     </logicalFolder>
+    <logicalFolder name="TestFiles"
+                   displayName="Test Files"
+                   projectFiles="false"
+                   kind="TEST_LOGICAL_FOLDER">
+    </logicalFolder>
+    <logicalFolder name="ExternalFiles"
+                   displayName="Important Files"
+                   projectFiles="false"
+                   kind="IMPORTANT_FILES_FOLDER">
+      <itemPath>./Makefile</itemPath>
+    </logicalFolder>
   </logicalFolder>
   <sourceRootList>
     <Elem>lib</Elem>
+    <Elem>lib</Elem>
   </sourceRootList>
   <projectmakefile>./Makefile</projectmakefile>
   <confs>

software/raspberry/superviseur-robot/nbproject/private/configurations.xml

@@ -41,7 +41,7 @@
     </conf>
     <conf name="Debug__RPI_" type="1">
       <toolsSet>
-        <developmentServer>xenomai@10.105.1.7:22</developmentServer>
+        <developmentServer>xenomai@10.105.0.144:22</developmentServer>
         <platform>2</platform>
       </toolsSet>
       <dbx_gdbdebugger version="1">

software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.138-xenomai-22

@@ -0,0 +1,39 @@
+#Tue Mar 26 14:16:07 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
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/Makefile=c1711457904018
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1711457904155
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1711457904169
+/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=c1711457904245
+/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=c1711457904242
+/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/.dep.inc=c1711458948692
+/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/lib/camera.h=c1711457904141
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1711457904135
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1711457904159
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1711457904130
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1711457904132
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1711457904148
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/wrapper.c=c1711457904248
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1711457904138
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1711457904165
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1711457904109
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1711457904127
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1711457904121
+VERSION=1.3
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1711457904144
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1711457904185
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1711457904190
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.gitignore=c1711457904015
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1711457904230
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1711457904118

software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.144-xenomai-22

@@ -0,0 +1,39 @@
+#Tue Mar 26 15:23:55 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
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/Makefile=c1711457904018
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1711457904155
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1711457904169
+/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/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/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
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1711457904141
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1711457904135
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1711457904159
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1711457904130
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1711457904132
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1711457904148
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/wrapper.c=c1711457904248
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1711457904138
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1711457904165
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1711457904109
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1711457904127
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1711457904121
+VERSION=1.3
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1711457904144
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1711457904185
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1711457904190
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.gitignore=c1711457904015
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1711457904230
+/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1711457904118

software/raspberry/superviseur-robot/nbproject/project.xml

@@ -11,6 +11,7 @@
             <make-dep-projects/>
             <sourceRootList>
                 <sourceRootElem>lib</sourceRootElem>
+                <sourceRootElem>lib</sourceRootElem>
             </sourceRootList>
             <confList>
                 <confElem>

software/raspberry/superviseur-robot/tasks.cpp

@@ -26,6 +26,7 @@
 #define PRIORITY_TRECEIVEFROMMON 25
 #define PRIORITY_TSTARTROBOT 20
 #define PRIORITY_TCAMERA 21
+#define PRIORITY_TBATTERY 19
 
 /*
  * Some remarks:
@@ -123,6 +124,10 @@ void Tasks::Init() {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
+    if (err = rt_task_create(&th_battery, "th_battery", 0, PRIORITY_TBATTERY, 0)) {
+        cerr << "Error task create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
     cout << "Tasks created successfully" << endl << flush;
 
     /**************************************************************************************/
@@ -167,6 +172,10 @@ void Tasks::Run() {
         cerr << "Error task start: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
+    if (err = rt_task_start(&th_battery, (void(*)(void*)) & Tasks::BatteryStatusTask, this)) {
+        cerr << "Error task start: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
 
     cout << "Tasks launched" << endl << flush;
 }
@@ -264,6 +273,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
             exit(-1);
         } 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");
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
             rt_sem_v(&sem_startRobot);
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
@@ -415,3 +426,36 @@ Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
     return msg;
 }
 
+
+
+/* OUR CODE */
+
+void Tasks::BatteryStatusTask(void * arg) {
+    // Variables
+    int rs(0);
+    
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+    
+    
+    /* The task starts here */
+    rt_task_set_periodic(NULL, TM_NOW, 50000000);
+    
+    while (1) {        
+        rt_task_wait_period(NULL);
+        std::cout << "Periodic battery level update\n\r" << std::flush;
+        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+        rs = robotStarted;
+        rt_mutex_release(&mutex_robotStarted);
+        if (rs =! 1)
+            continue;
+
+        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;
+    }
+}

software/raspberry/superviseur-robot/tasks.h

@@ -52,12 +52,12 @@ public:
      * @brief Stops tasks
      */
     void Stop();
-    
+
     /**
      * @brief Suspends main thread
      */
     void Join();
-    
+
 private:
     /**********************************************************************/
     /* Shared data                                                        */
@@ -66,7 +66,8 @@ private:
     ComRobot robot;
     int robotStarted = 0;
     int move = MESSAGE_ROBOT_STOP;
-    
+    int robotBattery = 0;
+
     /**********************************************************************/
     /* Tasks                                                              */
     /**********************************************************************/
@@ -76,7 +77,8 @@ private:
     RT_TASK th_openComRobot;
     RT_TASK th_startRobot;
     RT_TASK th_move;
-    
+    RT_TASK th_battery;
+
     /**********************************************************************/
     /* Mutex                                                              */
     /**********************************************************************/
@@ -98,7 +100,7 @@ private:
     /**********************************************************************/
     int MSG_QUEUE_SIZE;
     RT_QUEUE q_messageToMon;
-    
+
     /**********************************************************************/
     /* Tasks' functions                                                   */
     /**********************************************************************/
@@ -106,17 +108,17 @@ private:
      * @brief Thread handling server communication with the monitor.
      */
     void ServerTask(void *arg);
-     
+
     /**
      * @brief Thread sending data to monitor.
      */
     void SendToMonTask(void *arg);
-        
+
     /**
      * @brief Thread receiving data from monitor.
      */
     void ReceiveFromMonTask(void *arg);
-    
+
     /**
      * @brief Thread opening communication with the robot.
      */
@@ -126,12 +128,18 @@ private:
      * @brief Thread starting the communication with the robot.
      */
     void StartRobotTask(void *arg);
-    
+
     /**
      * @brief Thread handling control of the robot.
      */
     void MoveTask(void *arg);
-    
+
+
+    /* OUR CODE */
+
+    void BatteryStatusTask(void * arg);
+
+
     /**********************************************************************/
     /* Queue services                                                     */
     /**********************************************************************/
@@ -141,7 +149,7 @@ private:
      * @param msg Message to be stored
      */
     void WriteInQueue(RT_QUEUE *queue, Message *msg);
-    
+
     /**
      * Read a message from a given queue, block if empty
      * @param queue Queue identifier
@@ -149,7 +157,10 @@ private:
      */
     Message *ReadInQueue(RT_QUEUE *queue);
 
+
+
 };
 
+
 #endif // __TASKS_H__