diff --git a/README.md b/README.md index 8e88f84..a445186 100644 --- a/README.md +++ b/README.md @@ -1,15 +1,9 @@ # Dumber -## 2017-2018 : -Problème : -- Watchdog du robot ne fonctionne pas -- Interface graphique qui a des etats mal gérée (je voulais le reprendre en utilisant les 'stores' de vuex pour éviter ça). -- Il faudrait une execution de l'interface (srv nodejs) par défaut au démarage de la RPI. - L'exectution devrait se faire dans l'user space de linux dans le cas d'utilisation d'un noyau xenomai (co-kernel). - => Potentiellement passer d'un noyau preempt_rt (actuel) à un noyau xenomai +Depot du projet de temps reel 4eme année au departement GEI de l'INSA Toulouse. ## Repertoires -- hardware : contient les plans pour la partie mecanique du robot et de son chargeur +- hardware : contient les plans pour la partie mecanique du robot et de son chargeur, ainsi que les plans de conception des PCB du robot, du chargeur, de l'adaptateur Xbee pour la raspberry et les plans des CAP du robot - software: rassemble les parties logicielles du robot, du chargeur, les bibliotheques et superviseur coté raspberry et l'interface Web -- pcb: contient les plans de conception des PCB du robot, du chargeur, de l'adaptateur Xbee pour la raspberry et les plans des CAP du robot -- incubateur: projet en incubation. Actuellement, contient des essais sur les aruco (pour la detection des robots) ou le portage du firmware du robot sous freertos. +- doc: contient les sujets de TD et TP +- aruco_markers: Script de generation des tags (aruco) utilisés sur les robots diff --git a/hardware/0605-LED_Verde.STEP b/hardware/meca/0605-LED_Verde.STEP similarity index 100% rename from hardware/0605-LED_Verde.STEP rename to hardware/meca/0605-LED_Verde.STEP diff --git a/hardware/Batterie.ipt b/hardware/meca/Batterie.ipt similarity index 100% rename from hardware/Batterie.ipt rename to hardware/meca/Batterie.ipt diff --git a/hardware/Bloc roue.iam b/hardware/meca/Bloc roue.iam similarity index 100% rename from hardware/Bloc roue.iam rename to hardware/meca/Bloc roue.iam diff --git a/hardware/Chargeur/1593K PCB.dwg b/hardware/meca/Chargeur/1593K PCB.dwg similarity index 100% rename from hardware/Chargeur/1593K PCB.dwg rename to hardware/meca/Chargeur/1593K PCB.dwg diff --git a/hardware/Chargeur/1593K PCB.igs b/hardware/meca/Chargeur/1593K PCB.igs similarity index 100% rename from hardware/Chargeur/1593K PCB.igs rename to hardware/meca/Chargeur/1593K PCB.igs diff --git a/hardware/Chargeur/1593K PCB.ipt b/hardware/meca/Chargeur/1593K PCB.ipt similarity index 100% rename from hardware/Chargeur/1593K PCB.ipt rename to hardware/meca/Chargeur/1593K PCB.ipt diff --git a/hardware/Chargeur/1593K PCB.stl b/hardware/meca/Chargeur/1593K PCB.stl similarity index 100% rename from hardware/Chargeur/1593K PCB.stl rename to hardware/meca/Chargeur/1593K PCB.stl diff --git a/hardware/Chargeur/1593K PCB.stp b/hardware/meca/Chargeur/1593K PCB.stp similarity index 100% rename from hardware/Chargeur/1593K PCB.stp rename to hardware/meca/Chargeur/1593K PCB.stp diff --git a/hardware/Chargeur/Chargeur.iam b/hardware/meca/Chargeur/Chargeur.iam similarity index 100% rename from hardware/Chargeur/Chargeur.iam rename to hardware/meca/Chargeur/Chargeur.iam diff --git a/hardware/Chargeur/Chargeur_Dumber.ipj b/hardware/meca/Chargeur/Chargeur_Dumber.ipj similarity index 100% rename from hardware/Chargeur/Chargeur_Dumber.ipj rename to hardware/meca/Chargeur/Chargeur_Dumber.ipj diff --git a/hardware/Chargeur/Hammond/1593K.igs b/hardware/meca/Chargeur/Hammond/1593K.igs similarity index 100% rename from hardware/Chargeur/Hammond/1593K.igs rename to hardware/meca/Chargeur/Hammond/1593K.igs diff --git a/hardware/Chargeur/Hammond/1593K.stp b/hardware/meca/Chargeur/Hammond/1593K.stp similarity index 100% rename from hardware/Chargeur/Hammond/1593K.stp rename to hardware/meca/Chargeur/Hammond/1593K.stp diff --git a/hardware/Dumber 2015-2.ipj b/hardware/meca/Dumber 2015-2.ipj similarity index 100% rename from hardware/Dumber 2015-2.ipj rename to hardware/meca/Dumber 2015-2.ipj diff --git a/hardware/Dumber 2015.ipj b/hardware/meca/Dumber 2015.ipj similarity index 100% rename from hardware/Dumber 2015.ipj rename to hardware/meca/Dumber 2015.ipj diff --git a/hardware/Export/capot.stl b/hardware/meca/Export/capot.stl similarity index 100% rename from hardware/Export/capot.stl rename to hardware/meca/Export/capot.stl diff --git a/hardware/Export/capot.stp b/hardware/meca/Export/capot.stp similarity index 100% rename from hardware/Export/capot.stp rename to hardware/meca/Export/capot.stp diff --git a/hardware/Export/pied.stl b/hardware/meca/Export/pied.stl similarity index 100% rename from hardware/Export/pied.stl rename to hardware/meca/Export/pied.stl diff --git a/hardware/Export/pied.stp b/hardware/meca/Export/pied.stp similarity index 100% rename from hardware/Export/pied.stp rename to hardware/meca/Export/pied.stp diff --git a/hardware/Platine encodeur.ipt b/hardware/meca/Platine encodeur.ipt similarity index 100% rename from hardware/Platine encodeur.ipt rename to hardware/meca/Platine encodeur.ipt diff --git a/hardware/Pneu.ipt b/hardware/meca/Pneu.ipt similarity index 100% rename from hardware/Pneu.ipt rename to hardware/meca/Pneu.ipt diff --git a/hardware/Push Button Switch.STEP b/hardware/meca/Push Button Switch.STEP similarity index 100% rename from hardware/Push Button Switch.STEP rename to hardware/meca/Push Button Switch.STEP diff --git a/hardware/Robot.iam b/hardware/meca/Robot.iam similarity index 100% rename from hardware/Robot.iam rename to hardware/meca/Robot.iam diff --git a/hardware/Robot.pdf b/hardware/meca/Robot.pdf similarity index 100% rename from hardware/Robot.pdf rename to hardware/meca/Robot.pdf diff --git a/hardware/Roue.ipt b/hardware/meca/Roue.ipt similarity index 100% rename from hardware/Roue.ipt rename to hardware/meca/Roue.ipt diff --git a/hardware/USB_Mini_B_SMD_buchse.STEP b/hardware/meca/USB_Mini_B_SMD_buchse.STEP similarity index 100% rename from hardware/USB_Mini_B_SMD_buchse.STEP rename to hardware/meca/USB_Mini_B_SMD_buchse.STEP diff --git a/hardware/XBee Chip.STEP b/hardware/meca/XBee Chip.STEP similarity index 100% rename from hardware/XBee Chip.STEP rename to hardware/meca/XBee Chip.STEP diff --git a/hardware/axe.ipt b/hardware/meca/axe.ipt similarity index 100% rename from hardware/axe.ipt rename to hardware/meca/axe.ipt diff --git a/hardware/capot.ipt b/hardware/meca/capot.ipt similarity index 100% rename from hardware/capot.ipt rename to hardware/meca/capot.ipt diff --git a/hardware/connecteur 10.ipt b/hardware/meca/connecteur 10.ipt similarity index 100% rename from hardware/connecteur 10.ipt rename to hardware/meca/connecteur 10.ipt diff --git a/hardware/connecteur 6.ipt b/hardware/meca/connecteur 6.ipt similarity index 100% rename from hardware/connecteur 6.ipt rename to hardware/meca/connecteur 6.ipt diff --git a/hardware/fixation moteur.ipt b/hardware/meca/fixation moteur.ipt similarity index 100% rename from hardware/fixation moteur.ipt rename to hardware/meca/fixation moteur.ipt diff --git a/hardware/headers/2.54_base.SLDPRT b/hardware/meca/headers/2.54_base.SLDPRT similarity index 100% rename from hardware/headers/2.54_base.SLDPRT rename to hardware/meca/headers/2.54_base.SLDPRT diff --git a/hardware/headers/2.54_straight-header.SLDASM b/hardware/meca/headers/2.54_straight-header.SLDASM similarity index 100% rename from hardware/headers/2.54_straight-header.SLDASM rename to hardware/meca/headers/2.54_straight-header.SLDASM diff --git a/hardware/headers/2.54_straight-pin.SLDPRT b/hardware/meca/headers/2.54_straight-pin.SLDPRT similarity index 100% rename from hardware/headers/2.54_straight-pin.SLDPRT rename to hardware/meca/headers/2.54_straight-pin.SLDPRT diff --git a/hardware/headers/original.stl b/hardware/meca/headers/original.stl similarity index 100% rename from hardware/headers/original.stl rename to hardware/meca/headers/original.stl diff --git a/hardware/helice encodeur.ipt b/hardware/meca/helice encodeur.ipt similarity index 100% rename from hardware/helice encodeur.ipt rename to hardware/meca/helice encodeur.ipt diff --git a/hardware/mini usbl.ipt b/hardware/meca/mini usbl.ipt similarity index 100% rename from hardware/mini usbl.ipt rename to hardware/meca/mini usbl.ipt diff --git a/hardware/moteur.iam b/hardware/meca/moteur.iam similarity index 100% rename from hardware/moteur.iam rename to hardware/meca/moteur.iam diff --git a/hardware/moteur.ipt b/hardware/meca/moteur.ipt similarity index 100% rename from hardware/moteur.ipt rename to hardware/meca/moteur.ipt diff --git a/hardware/original.stl b/hardware/meca/original.stl similarity index 100% rename from hardware/original.stl rename to hardware/meca/original.stl diff --git a/hardware/pcb.ipt b/hardware/meca/pcb.ipt similarity index 100% rename from hardware/pcb.ipt rename to hardware/meca/pcb.ipt diff --git a/hardware/pied.ipt b/hardware/meca/pied.ipt similarity index 100% rename from hardware/pied.ipt rename to hardware/meca/pied.ipt diff --git a/hardware/plaque moteur.ipt b/hardware/meca/plaque moteur.ipt similarity index 100% rename from hardware/plaque moteur.ipt rename to hardware/meca/plaque moteur.ipt diff --git a/hardware/queue.ipt b/hardware/meca/queue.ipt similarity index 100% rename from hardware/queue.ipt rename to hardware/meca/queue.ipt diff --git a/hardware/reducteur.ipt b/hardware/meca/reducteur.ipt similarity index 100% rename from hardware/reducteur.ipt rename to hardware/meca/reducteur.ipt diff --git a/hardware/roue.iam b/hardware/meca/roue.iam similarity index 100% rename from hardware/roue.iam rename to hardware/meca/roue.iam diff --git a/hardware/tactileswitch-short.STEP b/hardware/meca/tactileswitch-short.STEP similarity index 100% rename from hardware/tactileswitch-short.STEP rename to hardware/meca/tactileswitch-short.STEP diff --git a/hardware/xbee.ipt b/hardware/meca/xbee.ipt similarity index 100% rename from hardware/xbee.ipt rename to hardware/meca/xbee.ipt diff --git a/pcb/.gitignore b/hardware/pcb/.gitignore similarity index 100% rename from pcb/.gitignore rename to hardware/pcb/.gitignore diff --git a/pcb/Chargeur/Chargeur.OutJob b/hardware/pcb/Chargeur/Chargeur.OutJob similarity index 100% rename from pcb/Chargeur/Chargeur.OutJob rename to hardware/pcb/Chargeur/Chargeur.OutJob diff --git a/pcb/Chargeur/Chargeur.PDF b/hardware/pcb/Chargeur/Chargeur.PDF similarity index 100% rename from pcb/Chargeur/Chargeur.PDF rename to hardware/pcb/Chargeur/Chargeur.PDF diff --git a/pcb/Chargeur/Chargeur.PcbDoc b/hardware/pcb/Chargeur/Chargeur.PcbDoc similarity index 100% rename from pcb/Chargeur/Chargeur.PcbDoc rename to hardware/pcb/Chargeur/Chargeur.PcbDoc diff --git a/pcb/Chargeur/Chargeur.PrjPcb b/hardware/pcb/Chargeur/Chargeur.PrjPcb similarity index 100% rename from pcb/Chargeur/Chargeur.PrjPcb rename to hardware/pcb/Chargeur/Chargeur.PrjPcb diff --git a/pcb/Chargeur/Chargeur.PrjPcbStructure b/hardware/pcb/Chargeur/Chargeur.PrjPcbStructure similarity index 100% rename from pcb/Chargeur/Chargeur.PrjPcbStructure rename to hardware/pcb/Chargeur/Chargeur.PrjPcbStructure diff --git a/pcb/Chargeur/Chargeur.SchDoc b/hardware/pcb/Chargeur/Chargeur.SchDoc similarity index 100% rename from pcb/Chargeur/Chargeur.SchDoc rename to hardware/pcb/Chargeur/Chargeur.SchDoc diff --git a/pcb/Chargeur/Chargeur_nucleo.PcbDoc b/hardware/pcb/Chargeur/Chargeur_nucleo.PcbDoc similarity index 100% rename from pcb/Chargeur/Chargeur_nucleo.PcbDoc rename to hardware/pcb/Chargeur/Chargeur_nucleo.PcbDoc diff --git a/pcb/Dumber-Cap/Cap.PcbDoc b/hardware/pcb/Dumber-Cap/Cap.PcbDoc similarity index 100% rename from pcb/Dumber-Cap/Cap.PcbDoc rename to hardware/pcb/Dumber-Cap/Cap.PcbDoc diff --git a/pcb/Dumber-Cap/Cap.SchDoc b/hardware/pcb/Dumber-Cap/Cap.SchDoc similarity index 100% rename from pcb/Dumber-Cap/Cap.SchDoc rename to hardware/pcb/Dumber-Cap/Cap.SchDoc diff --git a/pcb/Dumber-Cap/Dumber_Cap.PrjPcb b/hardware/pcb/Dumber-Cap/Dumber_Cap.PrjPcb similarity index 100% rename from pcb/Dumber-Cap/Dumber_Cap.PrjPcb rename to hardware/pcb/Dumber-Cap/Dumber_Cap.PrjPcb diff --git a/pcb/Dumber-Cap/Dumber_Cap.PrjPcbStructure b/hardware/pcb/Dumber-Cap/Dumber_Cap.PrjPcbStructure similarity index 100% rename from pcb/Dumber-Cap/Dumber_Cap.PrjPcbStructure rename to hardware/pcb/Dumber-Cap/Dumber_Cap.PrjPcbStructure diff --git a/pcb/Dumber/Dumber.CmpLib b/hardware/pcb/Dumber/Dumber.CmpLib similarity index 100% rename from pcb/Dumber/Dumber.CmpLib rename to hardware/pcb/Dumber/Dumber.CmpLib diff --git a/pcb/Dumber/Dumber.OutJob b/hardware/pcb/Dumber/Dumber.OutJob similarity index 100% rename from pcb/Dumber/Dumber.OutJob rename to hardware/pcb/Dumber/Dumber.OutJob diff --git a/pcb/Dumber/Dumber.PCB3DLib b/hardware/pcb/Dumber/Dumber.PCB3DLib similarity index 100% rename from pcb/Dumber/Dumber.PCB3DLib rename to hardware/pcb/Dumber/Dumber.PCB3DLib diff --git a/pcb/Dumber/Dumber.PDF b/hardware/pcb/Dumber/Dumber.PDF similarity index 100% rename from pcb/Dumber/Dumber.PDF rename to hardware/pcb/Dumber/Dumber.PDF diff --git a/pcb/Dumber/Dumber.PcbDoc b/hardware/pcb/Dumber/Dumber.PcbDoc similarity index 100% rename from pcb/Dumber/Dumber.PcbDoc rename to hardware/pcb/Dumber/Dumber.PcbDoc diff --git a/pcb/Dumber/Dumber.PcbLib b/hardware/pcb/Dumber/Dumber.PcbLib similarity index 100% rename from pcb/Dumber/Dumber.PcbLib rename to hardware/pcb/Dumber/Dumber.PcbLib diff --git a/pcb/Dumber/Dumber.PrjPCB b/hardware/pcb/Dumber/Dumber.PrjPCB similarity index 100% rename from pcb/Dumber/Dumber.PrjPCB rename to hardware/pcb/Dumber/Dumber.PrjPCB diff --git a/pcb/Dumber/Dumber.PrjPCBStructure b/hardware/pcb/Dumber/Dumber.PrjPCBStructure similarity index 100% rename from pcb/Dumber/Dumber.PrjPCBStructure rename to hardware/pcb/Dumber/Dumber.PrjPCBStructure diff --git a/pcb/Dumber/Dumber.RUL b/hardware/pcb/Dumber/Dumber.RUL similarity index 100% rename from pcb/Dumber/Dumber.RUL rename to hardware/pcb/Dumber/Dumber.RUL diff --git a/pcb/Dumber/Dumber.SchDoc b/hardware/pcb/Dumber/Dumber.SchDoc similarity index 100% rename from pcb/Dumber/Dumber.SchDoc rename to hardware/pcb/Dumber/Dumber.SchDoc diff --git a/pcb/Dumber/Dumber.SchLib b/hardware/pcb/Dumber/Dumber.SchLib similarity index 100% rename from pcb/Dumber/Dumber.SchLib rename to hardware/pcb/Dumber/Dumber.SchLib diff --git a/pcb/Dumber/Mecanique.SchDoc b/hardware/pcb/Dumber/Mecanique.SchDoc similarity index 100% rename from pcb/Dumber/Mecanique.SchDoc rename to hardware/pcb/Dumber/Mecanique.SchDoc diff --git a/pcb/Dumber/Power.SchDoc b/hardware/pcb/Dumber/Power.SchDoc similarity index 100% rename from pcb/Dumber/Power.SchDoc rename to hardware/pcb/Dumber/Power.SchDoc diff --git a/pcb/Dumber/cpu.SchDoc b/hardware/pcb/Dumber/cpu.SchDoc similarity index 100% rename from pcb/Dumber/cpu.SchDoc rename to hardware/pcb/Dumber/cpu.SchDoc diff --git a/pcb/Models/Batterie.stp b/hardware/pcb/Models/Batterie.stp similarity index 100% rename from pcb/Models/Batterie.stp rename to hardware/pcb/Models/Batterie.stp diff --git a/pcb/Models/Bloc roue.stp b/hardware/pcb/Models/Bloc roue.stp similarity index 100% rename from pcb/Models/Bloc roue.stp rename to hardware/pcb/Models/Bloc roue.stp diff --git a/pcb/Models/pcb.stl b/hardware/pcb/Models/pcb.stl similarity index 100% rename from pcb/Models/pcb.stl rename to hardware/pcb/Models/pcb.stl diff --git a/pcb/Models/pcb.stp b/hardware/pcb/Models/pcb.stp similarity index 100% rename from pcb/Models/pcb.stp rename to hardware/pcb/Models/pcb.stp diff --git a/pcb/README.md b/hardware/pcb/README.md similarity index 100% rename from pcb/README.md rename to hardware/pcb/README.md diff --git a/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PcbDoc b/hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PcbDoc similarity index 100% rename from pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PcbDoc rename to hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PcbDoc diff --git a/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PrjPcb b/hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PrjPcb similarity index 100% rename from pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PrjPcb rename to hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PrjPcb diff --git a/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PrjPcbStructure b/hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PrjPcbStructure similarity index 100% rename from pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PrjPcbStructure rename to hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.PrjPcbStructure diff --git a/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.SchDoc b/hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.SchDoc similarity index 100% rename from pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.SchDoc rename to hardware/pcb/Shield-Pi-Xbee/Shield_Pi_Xbee.SchDoc diff --git a/software/README.md b/software/README.md index a51a291..840ca5d 100644 --- a/software/README.md +++ b/software/README.md @@ -1,8 +1,8 @@ # Software -Dans ce repertoire se trouvent les logiciels pour les differentes parties du projet dumber -- robot: Contient le code source du firmware executé par le robot (STM32 / Keil) -- chargeur: Contient le code executé dans le boitier du chargeur de batterie du robot (STM32 / Keil) +Dans ce repertoire se trouvent les logiciels pour les differentes parties du projet de TP Temps reel (dumber) +- robot: Contient le code source du firmware executé par le robot (STM32 / TrueStudio) +- chargeur: Contient le code executé dans le boitier du chargeur de batterie du robot (STM32 / TrueStudio) - raspberry: Contient le code du superviseur temps reel s'executant sur la raspberry et en charge du controle de la camera, et du pilotage du robot (via la liaison serie) -- UserinterfaceWeb: interface Web pour la surveillance du systeme: connexion au superviseur RT, control et affichage de l'etat du robot, retour d'image. -- android: Application android pour le pilotage du robot via un module bluetooth à la place du module XBEE de base sur le robot. +- monitor: client C# pour la communication avec le superviseur +- install-opencv.sh: Script pour installer et deployer opencv avec support des aruco et bibliotheque raspicam diff --git a/software/monitor/monitor/Client.cs b/software/monitor/monitor/Client.cs index 688a223..a2b7ecc 100644 --- a/software/monitor/monitor/Client.cs +++ b/software/monitor/monitor/Client.cs @@ -258,7 +258,14 @@ namespace monitor { byte[] writeBuffer = Encoding.UTF8.GetBytes(mes); - stream.Write(writeBuffer, 0, mes.Length); + try + { + stream.Write(writeBuffer, 0, mes.Length); + } + catch (System.IO.IOException) { + Console.WriteLine("Server closed"); + client.Close(); + } } } } diff --git a/software/monitor/monitor/gtk-gui/gui.stetic b/software/monitor/monitor/gtk-gui/gui.stetic index e29a0d4..25d7433 100644 --- a/software/monitor/monitor/gtk-gui/gui.stetic +++ b/software/monitor/monitor/gtk-gui/gui.stetic @@ -812,7 +812,6 @@ True Get battery level - True True True True diff --git a/software/monitor/monitor/monitor b/software/monitor/monitor/monitor index 5cae4f9..918885c 100755 Binary files a/software/monitor/monitor/monitor and b/software/monitor/monitor/monitor differ diff --git a/software/raspberry/conception_robot_2018.pdf b/software/raspberry/conception_robot_2018.pdf deleted file mode 100644 index 65a39b3..0000000 Binary files a/software/raspberry/conception_robot_2018.pdf and /dev/null differ diff --git a/software/raspberry/sujet_robot_2018.pdf b/software/raspberry/sujet_robot_2018.pdf deleted file mode 100644 index e1467c6..0000000 Binary files a/software/raspberry/sujet_robot_2018.pdf and /dev/null differ diff --git a/software/raspberry/superviseur-robot/.gitignore b/software/raspberry/superviseur-robot/.gitignore index 1a533ec..9ae7fc1 100644 --- a/software/raspberry/superviseur-robot/.gitignore +++ b/software/raspberry/superviseur-robot/.gitignore @@ -2,7 +2,6 @@ build/ src.sav/ cmake-build-debug/ futur/ -build/ CMakeFiles/ Makefile @@ -12,3 +11,8 @@ CMakeCache.txt docs/ doc/ +workspace/ +dist/ +not_for_students/ + + diff --git a/software/raspberry/superviseur-robot/dist/Debug/GNU-Linux/superviseur-robot b/software/raspberry/superviseur-robot/dist/Debug/GNU-Linux/superviseur-robot index 8010f7f..2148ef5 100755 Binary files a/software/raspberry/superviseur-robot/dist/Debug/GNU-Linux/superviseur-robot and b/software/raspberry/superviseur-robot/dist/Debug/GNU-Linux/superviseur-robot differ diff --git a/software/raspberry/superviseur-robot/lib/camera.cpp b/software/raspberry/superviseur-robot/lib/camera.cpp index c818673..2742ec3 100644 --- a/software/raspberry/superviseur-robot/lib/camera.cpp +++ b/software/raspberry/superviseur-robot/lib/camera.cpp @@ -114,7 +114,10 @@ Img Camera::Grab() { #else cap.grab(); cap.retrieve(frame); + +#ifdef __INVERSE_COLOR__ cvtColor(frame, frame, CV_BGR2RGB); +#endif // __INVERSE_COLOR__ Img capture = Img(frame); #endif /* __FOR_PC__ */ diff --git a/software/raspberry/superviseur-robot/lib/comrobot.cpp b/software/raspberry/superviseur-robot/lib/comrobot.cpp index ebe019a..28d0200 100644 --- a/software/raspberry/superviseur-robot/lib/comrobot.cpp +++ b/software/raspberry/superviseur-robot/lib/comrobot.cpp @@ -70,22 +70,20 @@ int ComRobot::Open() { */ int ComRobot::Open(string usart) { struct termios options; - + fd = open(usart.c_str(), O_RDWR | O_NOCTTY /*| O_NDELAY*/); //Open in blocking read/write mode if (fd == -1) { - cerr<<"["<<__PRETTY_FUNCTION__<<"] Unable to open UART ("<Copy(); cout << "S => " << msgSend->ToString() << endl << flush; @@ -200,13 +199,13 @@ Message *ComRobot::SendCommand(Message* msg, MessageID answerID, int maxRetries) if (msgTmp->CompareID(answerID)) counter = 0; else counter--; - if (counter == 0) msgRcv=msgTmp->Copy(); - + if (counter == 0) msgRcv = msgTmp->Copy(); + delete(msgTmp); } while (counter); - + delete (msg); - + return msgRcv; } @@ -220,26 +219,26 @@ Message* ComRobot::StringToMessage(string s) { switch (s[0]) { case LABEL_ROBOT_OK: - msg=new Message(MESSAGE_ANSWER_ACK); + msg = new Message(MESSAGE_ANSWER_ACK); break; case LABEL_ROBOT_ERROR: - msg=new Message(MESSAGE_ANSWER_ROBOT_ERROR); + msg = new Message(MESSAGE_ANSWER_ROBOT_ERROR); break; case LABEL_ROBOT_UNKNOWN_COMMAND: - msg=new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND); + msg = new Message(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND); break; case '0': - msg=new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY); + msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_EMPTY); break; - case '1': - msg=new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW); + case '1': + msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_LOW); break; - case '2': - msg=new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL); + case '2': + msg = new MessageBattery(MESSAGE_ROBOT_BATTERY_LEVEL, BATTERY_FULL); break; default: - msg=new Message(MESSAGE_ANSWER_ROBOT_ERROR); - cerr<<"["<<__PRETTY_FUNCTION__<<"] Unknown message received from robot (" << s <<")"<GetID()) { case MESSAGE_ROBOT_PING: - s+=LABEL_ROBOT_PING; + s += LABEL_ROBOT_PING; break; case MESSAGE_ROBOT_RESET: - s+=LABEL_ROBOT_RESET; + s += LABEL_ROBOT_RESET; break; case MESSAGE_ROBOT_POWEROFF: - s+=LABEL_ROBOT_POWEROFF; + s += LABEL_ROBOT_POWEROFF; break; case MESSAGE_ROBOT_START_WITHOUT_WD: - s+=LABEL_ROBOT_START_WITHOUT_WD; + s += LABEL_ROBOT_START_WITHOUT_WD; break; case MESSAGE_ROBOT_START_WITH_WD: - s+=LABEL_ROBOT_START_WITH_WD; + s += LABEL_ROBOT_START_WITH_WD; break; case MESSAGE_ROBOT_RELOAD_WD: - s+=LABEL_ROBOT_RELOAD_WD; + s += LABEL_ROBOT_RELOAD_WD; break; case MESSAGE_ROBOT_BATTERY_GET: - s+=LABEL_ROBOT_GET_BATTERY; + s += LABEL_ROBOT_GET_BATTERY; break; case MESSAGE_ROBOT_STATE_GET: - s+=LABEL_ROBOT_GET_STATE; + s += LABEL_ROBOT_GET_STATE; break; case MESSAGE_ROBOT_GO_FORWARD: - s+=LABEL_ROBOT_MOVE; - s+=LABEL_ROBOT_SEPARATOR_CHAR; + s += LABEL_ROBOT_MOVE; + s += LABEL_ROBOT_SEPARATOR_CHAR; s.append(to_string(500000)); break; case MESSAGE_ROBOT_GO_BACKWARD: - s+=LABEL_ROBOT_MOVE; - s+=LABEL_ROBOT_SEPARATOR_CHAR; + s += LABEL_ROBOT_MOVE; + s += LABEL_ROBOT_SEPARATOR_CHAR; s.append(to_string(-500000)); break; case MESSAGE_ROBOT_GO_LEFT: - s+=LABEL_ROBOT_TURN; - s+=LABEL_ROBOT_SEPARATOR_CHAR; - s.append(to_string(90)); + s += LABEL_ROBOT_TURN; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(-500000)); break; case MESSAGE_ROBOT_GO_RIGHT: - s+=LABEL_ROBOT_TURN; - s+=LABEL_ROBOT_SEPARATOR_CHAR; - s.append(to_string(-90)); + s += LABEL_ROBOT_TURN; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(500000)); + break; + case MESSAGE_ROBOT_STOP: + s += LABEL_ROBOT_MOVE; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(0)); break; case MESSAGE_ROBOT_MOVE: - s+=LABEL_ROBOT_MOVE; - s+=LABEL_ROBOT_SEPARATOR_CHAR; - s.append(to_string(((MessageInt*)msg)->GetValue())); + s += LABEL_ROBOT_MOVE; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(((MessageInt*) msg)->GetValue())); break; case MESSAGE_ROBOT_TURN: - s+=LABEL_ROBOT_TURN; - s+=LABEL_ROBOT_SEPARATOR_CHAR; - s.append(to_string(((MessageInt*)msg)->GetValue())); + s += LABEL_ROBOT_TURN; + s += LABEL_ROBOT_SEPARATOR_CHAR; + s.append(to_string(((MessageInt*) msg)->GetValue())); break; default: - cerr<<"["<<__PRETTY_FUNCTION__<<"] Invalid message for robot ("<ToString()<<")"<ToString() << ")" << endl << flush; + throw std::runtime_error{"Invalid message"}; } return s; @@ -325,14 +329,14 @@ string ComRobot::MessageToString(Message *msg) { * @param[in,out] s String containing command for robot, without ending char (carriage return) */ void ComRobot::AddChecksum(string &s) { - unsigned char checksum=0; - - for (string::iterator it=s.begin(); it!=s.end(); ++it) { - checksum ^= (unsigned char)*it; + unsigned char checksum = 0; + + for (string::iterator it = s.begin(); it != s.end(); ++it) { + checksum ^= (unsigned char) *it; } - - s+=(char)checksum; // Add calculated checksum - s+=(char)LABEL_ROBOT_ENDING_CHAR; + + s += (char) checksum; // Add calculated checksum + s += (char) LABEL_ROBOT_ENDING_CHAR; } /** @@ -342,15 +346,14 @@ void ComRobot::AddChecksum(string &s) { * @return true is checksum is valid, false otherwise. */ bool ComRobot::VerifyChecksum(string &s) { - unsigned char checksum=0; - - for (string::iterator it=s.begin(); it!=s.end(); ++it) { - checksum ^= (unsigned char)*it; + unsigned char checksum = 0; + + for (string::iterator it = s.begin(); it != s.end(); ++it) { + checksum ^= (unsigned char) *it; } - - if (checksum==0) { // checksum is ok, remove last char of string (checksum) + + if (checksum == 0) { // checksum is ok, remove last char of string (checksum) s.pop_back(); // remove last char return true; - } - else return false; + } else return false; } diff --git a/software/raspberry/superviseur-robot/lib/img.cpp b/software/raspberry/superviseur-robot/lib/img.cpp index e7bfea3..a718bd9 100644 --- a/software/raspberry/superviseur-robot/lib/img.cpp +++ b/software/raspberry/superviseur-robot/lib/img.cpp @@ -33,6 +33,10 @@ bool Arena::IsEmpty() { */ Img::Img(ImageMat imgMatrice) { this->img = imgMatrice.clone(); + +#ifdef __WITH_ARUCO__ + this->dictionary=cv::aruco::getPredefinedDictionary(cv::aruco::PREDEFINED_DICTIONARY_NAME(3)); +#endif // __WITH_ARUCO__ } /** diff --git a/software/raspberry/superviseur-robot/lib/img.h b/software/raspberry/superviseur-robot/lib/img.h index d1b873b..210fe49 100644 --- a/software/raspberry/superviseur-robot/lib/img.h +++ b/software/raspberry/superviseur-robot/lib/img.h @@ -47,16 +47,35 @@ typedef cv::Mat ImageMat; typedef vector Jpg; /** - * Position type used for store robot coordinates + * Class position, used for store robot coordinates * - * @brief Position type used for store robot coordinates + * @brief Class position, used for store robot coordinates */ -typedef struct { +class Position { +public: + int robotId; + float angle; cv::Point2f center; cv::Point2f direction; - float angle; - int robotId; -} Position; + + /** + * Constructor of Position object + */ + Position() { + robotId = -1; + angle = 0.0; + center=cv::Point2f(0.0,0.0); + direction=cv::Point2f(0.0,0.0); + } + + /** + * Build a string representation of the object + * @return String containing object information + */ + string ToString() { + return "Id=" + to_string(this->robotId) + ", Angle=" + to_string(this->angle) + ", center=(" + to_string(this->center.x) + ";" + to_string(this->center.y) + ")"; + } +}; /** * Class arena, used for holding outline of arena on image and cropping image to only usefull area @@ -65,21 +84,31 @@ typedef struct { */ class Arena { public: - /** - * Constructor of Arena object - */ - Arena() {} - /** * Coordinate of arena, empty if no arena found */ cv::Rect arena; + /** + * Constructor of Arena object + */ + Arena() {} + /** * Tell if arena is empty (not found) or not * @return true if no arena found, false otherwise */ bool IsEmpty(); + + /** + * Build a string representation of the object + * @return String containing object information + */ + string ToString() { + if (IsEmpty()) return "Arena empty"; + else + return "Arena: (x;y)=(" + to_string(this->arena.x) + ";" + to_string(this->arena.x) + " (w;h)=(" + to_string(this->arena.width) + ";" + to_string(this->arena.height) + ")"; + } }; /** diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk similarity index 58% rename from software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk rename to software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk index a1fda15..44ef3ed 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk @@ -23,7 +23,7 @@ AS=as # Macros CND_PLATFORM=GNU-Linux CND_DLIB_EXT=so -CND_CONF=Debug +CND_CONF=Debug__PC_ CND_DISTDIR=dist CND_BUILDDIR=build @@ -42,16 +42,15 @@ OBJECTFILES= \ ${OBJECTDIR}/lib/img.o \ ${OBJECTDIR}/lib/messages.o \ ${OBJECTDIR}/main.o \ - ${OBJECTDIR}/tasks.o \ - ${OBJECTDIR}/tasks_pthread.o + ${OBJECTDIR}/tasks.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=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy +CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions +CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions # Fortran Compiler Flags FFLAGS= @@ -73,47 +72,42 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES} ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp ${MKDIR} -p ${OBJECTDIR}/lib/base64 ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp ${OBJECTDIR}/lib/camera.o: lib/camera.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp ${OBJECTDIR}/lib/img.o: lib/img.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp ${OBJECTDIR}/lib/messages.o: lib/messages.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp ${OBJECTDIR}/main.o: main.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp ${OBJECTDIR}/tasks.o: tasks.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp - -${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp - ${MKDIR} -p ${OBJECTDIR} - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp # Subprojects .build-subprojects: diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk deleted file mode 100644 index b6dd25a..0000000 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk +++ /dev/null @@ -1,125 +0,0 @@ -# -# Generated Makefile - do not edit! -# -# Edit the Makefile in the project folder instead (../Makefile). Each target -# has a -pre and a -post target defined where you can add customized code. -# -# This makefile implements configuration specific macros and targets. - - -# Environment -MKDIR=mkdir -CP=cp -GREP=grep -NM=nm -CCADMIN=CCadmin -RANLIB=ranlib -CC=gcc -CCC=g++ -CXX=g++ -FC=gfortran -AS=as - -# Macros -CND_PLATFORM=GNU-Linux -CND_DLIB_EXT=so -CND_CONF=Debug__Pthread_ -CND_DISTDIR=dist -CND_BUILDDIR=build - -# Include project Makefile -include ./Makefile - -# Object Directory -OBJECTDIR=${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 -CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions - -# Fortran Compiler Flags -FFLAGS= - -# Assembler Flags -ASFLAGS= - -# Link Libraries and Options -LDLIBSOPTIONS=`pkg-config --libs opencv` - -# 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} ${LDLIBSOPTIONS} -lpthread -lrt - -${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp - ${MKDIR} -p ${OBJECTDIR}/lib/base64 - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp - -${OBJECTDIR}/lib/camera.o: lib/camera.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp - -${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp - -${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp - -${OBJECTDIR}/lib/img.o: lib/img.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp - -${OBJECTDIR}/lib/messages.o: lib/messages.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp - -${OBJECTDIR}/main.o: main.cpp - ${MKDIR} -p ${OBJECTDIR} - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp - -${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp - ${MKDIR} -p ${OBJECTDIR} - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__FOR_PC__ -D__WITH_PTHREAD__ -D__WITH_ARUCO__ -I./ -I./lib `pkg-config --cflags opencv` -MMD -MP -MF "$@.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-Debug__Pthread__RPI.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread__RPI.mk deleted file mode 100644 index fbe985f..0000000 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread__RPI.mk +++ /dev/null @@ -1,131 +0,0 @@ -# -# 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=Debug__Pthread__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` /usr/local/lib/libraspicam_cv.so /usr/local/lib/libraspicam.so - -# 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: /usr/local/lib/libraspicam_cv.so - -${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: /usr/local/lib/libraspicam.so - -${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} ${LDLIBSOPTIONS} -lpthread -lrt - -${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp - ${MKDIR} -p ${OBJECTDIR}/lib/base64 - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp - -${OBJECTDIR}/lib/camera.o: lib/camera.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp - -${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp - -${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp - -${OBJECTDIR}/lib/img.o: lib/img.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -std=c++11 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp - -${OBJECTDIR}/lib/messages.o: lib/messages.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp - -${OBJECTDIR}/main.o: main.cpp - ${MKDIR} -p ${OBJECTDIR} - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp - -${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp - ${MKDIR} -p ${OBJECTDIR} - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -D__WITH_PTHREAD__ -I./ -I./lib -I./lib/base64 `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp - -# Subprojects -.build-subprojects: - -# Clean Targets -.clean-conf: ${CLEAN_SUBPROJECTS} - ${RM} -r ${CND_BUILDDIR}/${CND_CONF} - ${RM} -r ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/libraspicam_cv.so ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/libraspicam.so - ${RM} ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot - -# Subprojects -.clean-subprojects: - -# Enable dependency checking -.dep.inc: .depcheck-impl - -include .dep.inc diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk index 8e91918..8fedc40 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk @@ -42,16 +42,15 @@ OBJECTFILES= \ ${OBJECTDIR}/lib/img.o \ ${OBJECTDIR}/lib/messages.o \ ${OBJECTDIR}/main.o \ - ${OBJECTDIR}/tasks.o \ - ${OBJECTDIR}/tasks_pthread.o + ${OBJECTDIR}/tasks.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=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy +CCFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11 +CXXFLAGS=-I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11 # Fortran Compiler Flags FFLAGS= @@ -73,47 +72,42 @@ ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot: ${OBJECTFILES} ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp ${MKDIR} -p ${OBJECTDIR}/lib/base64 ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.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}/lib/base64/base64.o lib/base64/base64.cpp ${OBJECTDIR}/lib/camera.o: lib/camera.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.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}/lib/camera.o lib/camera.cpp ${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.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}/lib/commonitor.o lib/commonitor.cpp ${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.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}/lib/comrobot.o lib/comrobot.cpp ${OBJECTDIR}/lib/img.o: lib/img.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.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}/lib/img.o lib/img.cpp ${OBJECTDIR}/lib/messages.o: lib/messages.cpp ${MKDIR} -p ${OBJECTDIR}/lib ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.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}/lib/messages.o lib/messages.cpp ${OBJECTDIR}/main.o: main.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp ${OBJECTDIR}/tasks.o: tasks.cpp ${MKDIR} -p ${OBJECTDIR} ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp - -${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp - ${MKDIR} -p ${OBJECTDIR} - ${RM} "$@.d" - $(COMPILE.cc) -g -D_WITH_TRACE_ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks_pthread.o tasks_pthread.cpp + $(COMPILE.cc) -g -D_WITH_TRACE_ -D__WITH_ARUCO__ -I./ -I./lib -I/usr/xenomai/include -I/usr/xenomai/include/mercury `pkg-config --cflags opencv` -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp # Subprojects .build-subprojects: diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk deleted file mode 100644 index 8303731..0000000 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-Release.mk +++ /dev/null @@ -1,131 +0,0 @@ -# -# Generated Makefile - do not edit! -# -# Edit the Makefile in the project folder instead (../Makefile). Each target -# has a -pre and a -post target defined where you can add customized code. -# -# This makefile implements configuration specific macros and targets. - - -# Environment -MKDIR=mkdir -CP=cp -GREP=grep -NM=nm -CCADMIN=CCadmin -RANLIB=ranlib -CC=gcc -CCC=g++ -CXX=g++ -FC=gfortran -AS=as - -# Macros -CND_PLATFORM=GNU-Linux -CND_DLIB_EXT=so -CND_CONF=Release -CND_DISTDIR=dist -CND_BUILDDIR=build - -# Include project Makefile -include ./Makefile - -# Object Directory -OBJECTDIR=${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.o \ - ${OBJECTDIR}/tasks_pthread.o - - -# C Compiler Flags -CFLAGS= - -# CC Compiler Flags -CCFLAGS= -CXXFLAGS= - -# Fortran Compiler Flags -FFLAGS= - -# Assembler Flags -ASFLAGS= - -# Link Libraries and Options -LDLIBSOPTIONS= - -# 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} ${LDLIBSOPTIONS} - -${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp - ${MKDIR} -p ${OBJECTDIR}/lib/base64 - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/base64/base64.o lib/base64/base64.cpp - -${OBJECTDIR}/lib/camera.o: lib/camera.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/camera.o lib/camera.cpp - -${OBJECTDIR}/lib/commonitor.o: lib/commonitor.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/commonitor.o lib/commonitor.cpp - -${OBJECTDIR}/lib/comrobot.o: lib/comrobot.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/comrobot.o lib/comrobot.cpp - -${OBJECTDIR}/lib/img.o: lib/img.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/img.o lib/img.cpp - -${OBJECTDIR}/lib/messages.o: lib/messages.cpp - ${MKDIR} -p ${OBJECTDIR}/lib - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/lib/messages.o lib/messages.cpp - -${OBJECTDIR}/main.o: main.cpp - ${MKDIR} -p ${OBJECTDIR} - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/main.o main.cpp - -${OBJECTDIR}/tasks.o: tasks.cpp - ${MKDIR} -p ${OBJECTDIR} - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.d" -o ${OBJECTDIR}/tasks.o tasks.cpp - -${OBJECTDIR}/tasks_pthread.o: tasks_pthread.cpp - ${MKDIR} -p ${OBJECTDIR} - ${RM} "$@.d" - $(COMPILE.cc) -O2 -MMD -MP -MF "$@.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 36ea1f6..fde6660 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk @@ -27,11 +27,11 @@ CLEAN_SUBPROJECTS=${CLEAN_SUBPROJECTS_${SUBPROJECTS}} PROJECTNAME=superviseur-robot # Active Configuration -DEFAULTCONF=Debug +DEFAULTCONF=Debug__PC_ CONF=${DEFAULTCONF} # All Configurations -ALLCONFS=Debug Release Debug__RPI_ Debug__Pthread_ Debug__Pthread__RPI +ALLCONFS=Debug__PC_ Debug__RPI_ # build diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk index 21b3105..0b82502 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk @@ -6,22 +6,14 @@ CND_BASEDIR=`pwd` CND_BUILDDIR=build CND_DISTDIR=dist -# Debug configuration -CND_PLATFORM_Debug=GNU-Linux -CND_ARTIFACT_DIR_Debug=dist/Debug/GNU-Linux -CND_ARTIFACT_NAME_Debug=superviseur-robot -CND_ARTIFACT_PATH_Debug=dist/Debug/GNU-Linux/superviseur-robot -CND_PACKAGE_DIR_Debug=dist/Debug/GNU-Linux/package -CND_PACKAGE_NAME_Debug=superviseur-robot.tar -CND_PACKAGE_PATH_Debug=dist/Debug/GNU-Linux/package/superviseur-robot.tar -# Release configuration -CND_PLATFORM_Release=GNU-Linux -CND_ARTIFACT_DIR_Release=dist/Release/GNU-Linux -CND_ARTIFACT_NAME_Release=superviseur-robot -CND_ARTIFACT_PATH_Release=dist/Release/GNU-Linux/superviseur-robot -CND_PACKAGE_DIR_Release=dist/Release/GNU-Linux/package -CND_PACKAGE_NAME_Release=superviseur-robot.tar -CND_PACKAGE_PATH_Release=dist/Release/GNU-Linux/package/superviseur-robot.tar +# Debug__PC_ configuration +CND_PLATFORM_Debug__PC_=GNU-Linux +CND_ARTIFACT_DIR_Debug__PC_=dist/Debug__PC_/GNU-Linux +CND_ARTIFACT_NAME_Debug__PC_=superviseur-robot +CND_ARTIFACT_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/superviseur-robot +CND_PACKAGE_DIR_Debug__PC_=dist/Debug__PC_/GNU-Linux/package +CND_PACKAGE_NAME_Debug__PC_=superviseur-robot.tar +CND_PACKAGE_PATH_Debug__PC_=dist/Debug__PC_/GNU-Linux/package/superviseur-robot.tar # Debug__RPI_ configuration CND_PLATFORM_Debug__RPI_=GNU-Linux CND_ARTIFACT_DIR_Debug__RPI_=dist/Debug__RPI_/GNU-Linux @@ -30,22 +22,6 @@ 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 -# Debug__Pthread_ configuration -CND_PLATFORM_Debug__Pthread_=GNU-Linux -CND_ARTIFACT_DIR_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux -CND_ARTIFACT_NAME_Debug__Pthread_=superviseur-robot -CND_ARTIFACT_PATH_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux/superviseur-robot -CND_PACKAGE_DIR_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux/package -CND_PACKAGE_NAME_Debug__Pthread_=superviseur-robot.tar -CND_PACKAGE_PATH_Debug__Pthread_=dist/Debug__Pthread_/GNU-Linux/package/superviseur-robot.tar -# Debug__Pthread__RPI configuration -CND_PLATFORM_Debug__Pthread__RPI=GNU-Linux -CND_ARTIFACT_DIR_Debug__Pthread__RPI=dist/Debug__Pthread__RPI/GNU-Linux -CND_ARTIFACT_NAME_Debug__Pthread__RPI=superviseur-robot -CND_ARTIFACT_PATH_Debug__Pthread__RPI=dist/Debug__Pthread__RPI/GNU-Linux/superviseur-robot -CND_PACKAGE_DIR_Debug__Pthread__RPI=dist/Debug__Pthread__RPI/GNU-Linux/package -CND_PACKAGE_NAME_Debug__Pthread__RPI=superviseur-robot.tar -CND_PACKAGE_PATH_Debug__Pthread__RPI=dist/Debug__Pthread__RPI/GNU-Linux/package/superviseur-robot.tar # # include compiler specific variables # diff --git a/software/raspberry/superviseur-robot/nbproject/Package-Debug.bash b/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash similarity index 98% rename from software/raspberry/superviseur-robot/nbproject/Package-Debug.bash rename to software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash index 10fd194..4618c92 100644 --- a/software/raspberry/superviseur-robot/nbproject/Package-Debug.bash +++ b/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash @@ -7,7 +7,7 @@ # Macros TOP=`pwd` CND_PLATFORM=GNU-Linux -CND_CONF=Debug +CND_CONF=Debug__PC_ CND_DISTDIR=dist CND_BUILDDIR=build CND_DLIB_EXT=so diff --git a/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread_.bash b/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread_.bash deleted file mode 100644 index bbc2489..0000000 --- a/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread_.bash +++ /dev/null @@ -1,76 +0,0 @@ -#!/bin/bash -x - -# -# Generated - do not edit! -# - -# Macros -TOP=`pwd` -CND_PLATFORM=GNU-Linux -CND_CONF=Debug__Pthread_ -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 ${NBTMPDIR} diff --git a/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread__RPI.bash b/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread__RPI.bash deleted file mode 100644 index 1c53e54..0000000 --- a/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread__RPI.bash +++ /dev/null @@ -1,76 +0,0 @@ -#!/bin/bash -x - -# -# Generated - do not edit! -# - -# Macros -TOP=`pwd` -CND_PLATFORM=GNU-Linux -CND_CONF=Debug__Pthread__RPI -CND_DISTDIR=dist -CND_BUILDDIR=build -CND_DLIB_EXT=so -NBTMPDIR=${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 ${NBTMPDIR} diff --git a/software/raspberry/superviseur-robot/nbproject/Package-Release.bash b/software/raspberry/superviseur-robot/nbproject/Package-Release.bash deleted file mode 100644 index 13f4fa7..0000000 --- a/software/raspberry/superviseur-robot/nbproject/Package-Release.bash +++ /dev/null @@ -1,76 +0,0 @@ -#!/bin/bash -x - -# -# Generated - do not edit! -# - -# Macros -TOP=`pwd` -CND_PLATFORM=GNU-Linux -CND_CONF=Release -CND_DISTDIR=dist -CND_BUILDDIR=build -CND_DLIB_EXT=so -NBTMPDIR=${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 8af5799..4c9bccd 100644 --- a/software/raspberry/superviseur-robot/nbproject/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml @@ -11,7 +11,6 @@ ./lib/img.h ./lib/messages.h ./tasks.h - tasks_pthread.h ./main.cpp ./lib/messages.cpp ./tasks.cpp - tasks_pthread.cpp ./Makefile - + default true @@ -69,10 +67,11 @@ /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 + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions _WITH_TRACE_ __FOR_PC__ + __WITH_ARUCO__ @@ -114,67 +113,6 @@ - - - - - - - - default - true - false - - - - 5 - - - 5 - - - 5 - - - 5 - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - @@ -199,9 +137,10 @@ /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 + -I/usr/xenomai/include/mercury -I/usr/xenomai/include -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -D__MERCURY__ -I/usr/xenomai/include/alchemy -Wno-pmf-conversions -std=gnu++11 _WITH_TRACE_ + __WITH_ARUCO__ @@ -245,152 +184,6 @@ - - - - - - - - default - true - false - - - - - ./ - ./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 - - - - ./ - ./lib - - -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions - - _WITH_TRACE_ - __FOR_PC__ - __WITH_ARUCO__ - __WITH_PTHREAD__ - - - - - `pkg-config --libs opencv` - - -lpthread -lrt - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - - GNU|GNU - true - false - - - - - ./ - ./lib - ./lib/base64 - - -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 - ./lib/base64 - - -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 - - _WITH_TRACE_ - __WITH_ARUCO__ - __WITH_PTHREAD__ - - - - - `pkg-config --libs opencv` - /usr/local/lib/libraspicam_cv.so - /usr/local/lib/libraspicam.so - - -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 260c8d6..9a44248 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk +++ b/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk @@ -3,8 +3,5 @@ # # NOCDDL # -# Debug configuration -# Release configuration +# Debug__PC_ configuration # Debug__RPI_ configuration -# Debug__Pthread_ configuration -# Debug__Pthread__RPI configuration diff --git a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml index 4623cf1..5cb1c88 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/configurations.xml @@ -2,7 +2,7 @@ ./Makefile - + localhost 2 @@ -39,39 +39,6 @@ - - - localhost - 2 - - - - - - - - - - - - - - - gdb - - - - "${OUTPUT_PATH}" - - "${OUTPUT_PATH}" - - true - 0 - 0 - - - - pi@10.105.1.13:22 @@ -105,79 +72,5 @@ - - - localhost - 2 - - - - - - - - - - - - - - - gdb - - - - sudo "${OUTPUT_PATH}" - sudo -E "${OUTPUT_PATH}" - pkexec "${OUTPUT_PATH}" - "${OUTPUT_PATH}" - - "${OUTPUT_PATH}" - - true - 1 - 0 - 0 - - - - - - - pi@10.105.1.13:22 - 2 - - - - - - - - - - - - - - - gdb - - - - sudo "${OUTPUT_PATH}" - sudo -E "${OUTPUT_PATH}" - pkexec "${OUTPUT_PATH}" - "${OUTPUT_PATH}" - - "${OUTPUT_PATH}" - - true - 1 - 0 - 0 - - - - diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml index 8db3809..0b8f05c 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/private.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml @@ -2,24 +2,19 @@ 1 - 3 + 0 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/lib/comrobot.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.h file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks_pthread.h - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/main.cpp - file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp + file:/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/tasks.h diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22 index afbbf65..a4a139d 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22 +++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.13-pi-22 @@ -1,93 +1,504 @@ -#Fri Jan 11 09:44:19 CET 2019 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/README.md=c1541685829000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1518398687000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/uiExample.cpp=c1542120848000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1546526768000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1546527039000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-Release.mk=c1542104029000 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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1546855871000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serialTest.cpp=c1542120848000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/src/functions.cpp=c1542105130000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/CMakeLists.txt=c1542120848000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1518398687000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-impl.mk=c1542029322000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.cpp=c1544778298000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1546940179000 -VERSION=1.3 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/CMakeLists.txt=c1541685829000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread__RPI.mk=c1547195548000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/nbproject/Makefile-variables.mk=c1542029322000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/robot.cpp=c1542105020000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serverTest.cpp=c1542120848000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__Pthread_.bash=c1545062469000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/server.h=c1544778298000 +#Thu Jan 17 13:32:55 CET 2019 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-/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1546526752000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__Pthread_.mk=c1547107459000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/rtvideoExample.cpp=c1542120848000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/examples/src/serialExample.cpp=c1542120848000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/src/message.cpp=c1542105181000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/message.h=c1544778298000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/compile_commands.json=c1542120848000 -/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/monitor.cpp=c1544778298000 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+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/workspace/.metadata/.plugins/org.eclipse.core.runtime/.settings/org.eclipse.core.resources.prefs=c1547722800000 +/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/img_8h.html=c1547565563000 +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000 +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/robot.h=c1544778298000 +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/superviseur/Makefile=c1542100687000 diff --git a/software/raspberry/superviseur-robot/nbproject/project.xml b/software/raspberry/superviseur-robot/nbproject/project.xml index e8ca0a1..06f5083 100644 --- a/software/raspberry/superviseur-robot/nbproject/project.xml +++ b/software/raspberry/superviseur-robot/nbproject/project.xml @@ -14,25 +14,13 @@ - Debug - 1 - - - Release + Debug__PC_ 1 Debug__RPI_ 1 - - Debug__Pthread_ - 1 - - - Debug__Pthread__RPI - 1 - false diff --git a/software/raspberry/superviseur-robot/examples/.gitignore b/software/raspberry/superviseur-robot/not_for_students/examples/.gitignore similarity index 100% rename from software/raspberry/superviseur-robot/examples/.gitignore rename to software/raspberry/superviseur-robot/not_for_students/examples/.gitignore diff --git a/software/raspberry/superviseur-robot/examples/CMakeLists.txt b/software/raspberry/superviseur-robot/not_for_students/examples/CMakeLists.txt similarity index 100% rename from software/raspberry/superviseur-robot/examples/CMakeLists.txt rename to software/raspberry/superviseur-robot/not_for_students/examples/CMakeLists.txt diff --git a/software/raspberry/superviseur-robot/examples/src/rtvideoExample.cpp b/software/raspberry/superviseur-robot/not_for_students/examples/src/rtvideoExample.cpp similarity index 100% rename from software/raspberry/superviseur-robot/examples/src/rtvideoExample.cpp rename to software/raspberry/superviseur-robot/not_for_students/examples/src/rtvideoExample.cpp diff --git a/software/raspberry/superviseur-robot/examples/src/serialExample.cpp b/software/raspberry/superviseur-robot/not_for_students/examples/src/serialExample.cpp similarity index 100% rename from software/raspberry/superviseur-robot/examples/src/serialExample.cpp rename to software/raspberry/superviseur-robot/not_for_students/examples/src/serialExample.cpp diff --git a/software/raspberry/superviseur-robot/examples/src/serialTest.cpp b/software/raspberry/superviseur-robot/not_for_students/examples/src/serialTest.cpp similarity index 100% rename from software/raspberry/superviseur-robot/examples/src/serialTest.cpp rename to software/raspberry/superviseur-robot/not_for_students/examples/src/serialTest.cpp diff --git a/software/raspberry/superviseur-robot/examples/src/serverTest.cpp b/software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp similarity index 100% rename from software/raspberry/superviseur-robot/examples/src/serverTest.cpp rename to software/raspberry/superviseur-robot/not_for_students/examples/src/serverTest.cpp diff --git a/software/raspberry/superviseur-robot/examples/src/uiExample.cpp b/software/raspberry/superviseur-robot/not_for_students/examples/src/uiExample.cpp similarity index 100% rename from software/raspberry/superviseur-robot/examples/src/uiExample.cpp rename to software/raspberry/superviseur-robot/not_for_students/examples/src/uiExample.cpp diff --git a/software/raspberry/superviseur-robot/examples/src/videoExample.cpp b/software/raspberry/superviseur-robot/not_for_students/examples/src/videoExample.cpp similarity index 100% rename from software/raspberry/superviseur-robot/examples/src/videoExample.cpp rename to software/raspberry/superviseur-robot/not_for_students/examples/src/videoExample.cpp diff --git a/software/raspberry/superviseur-robot/tasks_pthread.cpp b/software/raspberry/superviseur-robot/not_for_students/pthread_version/tasks_pthread.cpp similarity index 100% rename from software/raspberry/superviseur-robot/tasks_pthread.cpp rename to software/raspberry/superviseur-robot/not_for_students/pthread_version/tasks_pthread.cpp diff --git a/software/raspberry/superviseur-robot/tasks_pthread.h b/software/raspberry/superviseur-robot/not_for_students/pthread_version/tasks_pthread.h similarity index 100% rename from software/raspberry/superviseur-robot/tasks_pthread.h rename to software/raspberry/superviseur-robot/not_for_students/pthread_version/tasks_pthread.h diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp index 43f9fea..0e543ec 100644 --- a/software/raspberry/superviseur-robot/tasks.cpp +++ b/software/raspberry/superviseur-robot/tasks.cpp @@ -16,250 +16,368 @@ */ #include "tasks.h" - -#ifndef __WITH_PTHREAD__ +#include // 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_TSENDTOMON 22 +#define PRIORITY_TRECEIVEFROMMON 25 #define PRIORITY_TSTARTROBOT 20 +#define PRIORITY_TCAMERA 21 -char mode_start; +/* + * 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 write_in_queue(RT_QUEUE *, MessageToMon); - -void f_server(void *arg) { +/** + * @brief Initialisation des structures de l'application (tâches, mutex, + * semaphore, etc.) + */ +void Tasks::Init() { + int status; 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=openServer(DEFAULT_SERVER_PORT); - - if (err < 0) { - printf("Failed to start server: %s\n", strerror(-err)); + /**************************************************************************************/ + /* Mutex creation */ + /**************************************************************************************/ + if (err = rt_mutex_create(&mutex_robotStarted, NULL)) { + cerr << "Error mutex create: " << strerror(-err) << endl << flush; exit(EXIT_FAILURE); - } else { -#ifdef _WITH_TRACE_ - printf("%s: server started\n", info.name); -#endif - //Waiting for a client to connect - err=acceptClient(); + } + if (err = rt_mutex_create(&mutex_move, NULL)) { + cerr << "Error mutex create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + cout << "Mutexes created successfully" << endl << flush; + + /**************************************************************************************/ + /* Semaphors creation */ + /**************************************************************************************/ + if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) { + cerr << "Error semaphore create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) { + cerr << "Error semaphore create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) { + cerr << "Error semaphore create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + if (err = rt_sem_create(&sem_startRobot, NULL, 0, S_FIFO)) { + cerr << "Error semaphore create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + cout << "Semaphores created successfully" << endl << flush; + + /**************************************************************************************/ + /* Tasks creation */ + /**************************************************************************************/ + if (err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)) { + cerr << "Error task create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) { + cerr << "Error task create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) { + cerr << "Error task create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + if (err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0)) { + cerr << "Error task create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + if (err = rt_task_create(&th_startRobot, "th_startRobot", 0, PRIORITY_TSTARTROBOT, 0)) { + cerr << "Error task create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) { + cerr << "Error task create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) { + cerr << "Error task create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + cout << "Tasks created successfully" << endl << flush; + + /**************************************************************************************/ + /* Message queues creation */ + /**************************************************************************************/ + if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) { + cerr << "Error msg queue create: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + cout << "Queues created successfully" << endl << flush; + + /* 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 " + }; +} + +/** + * @brief Démarrage des tâches + */ +void Tasks::Run() { + int err; + + if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) { + cerr << "Error task start: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + + if (err = rt_task_start(&th_camera, (void(*)(void*)) & Tasks::CameraTask, this)) { + cerr << "Error task start: " << strerror(-err) << endl << flush; + exit(EXIT_FAILURE); + } + + // if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) { + // cerr << "Error task start: " << strerror(-err) << endl << flush; + // exit(EXIT_FAILURE); + // } + + cout << "Tasks launched" << endl << flush; +} + +/** + * @brief Arrêt des tâches + */ +void Tasks::Stop() { + monitor.Close(); + robot.Close(); +} + +/** + */ +void Tasks::Join() { + rt_sem_broadcast(&sem_barrier); + pause(); +} + +/** + * @brief Thread handling server communication. + */ + +void Tasks::ReceiveFromMonTask(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); // mus 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); + } +} + +/** + * @brief Thread handling periodic image capture. + */ +void Tasks::CameraTask(void* arg) { + struct timespec tim, tim2; + Message *msgSend; + int counter; + int cntFrame = 0; + Position pos; + Arena arena; + + tim.tv_sec = 0; + tim.tv_nsec = 50000000; // 50ms (20fps) + + cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; + + Camera camera = Camera(sm, 20); + 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); + } + + while (1) { - if (err<0) { - printf("Client accept failed: %s\n", strerror(-err)); - exit(EXIT_FAILURE); - } - -#ifdef _WITH_TRACE_ - printf ("client connected: %d\n", err); - printf ("Rock'n'roll baby !\n"); -#endif - rt_sem_broadcast(&sem_serverOk); } } -void f_sendToMon(void * arg) { - int err; - MessageToMon msg; +/** + * @brief Thread sending data to monitor. + */ +void Tasks::SendToMonTask(void* arg) { + cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; - /* 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, (char*)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 f_receiveFromMon(void *arg) { - MessageFromMon msg; +/** + * Write a message in a given queue + * @param queue Queue identifier + * @param msg Message to be stored + */ +void WriteInQueue(RT_QUEUE &queue, Message *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); - robotMove = msg.data[0]; - rt_mutex_release(&mutex_move); -#ifdef _WITH_TRACE_ - printf("%s: message update movement with %c\n", info.name, robotMove); -#endif - - } - } - } while (err > 0); - + if ((err = rt_queue_send(&queue, (const void *) msg, sizeof ((const void *) msg), Q_NORMAL)) < 0) { + cerr << "Write in queue failed: " << strerror(-err) << endl << flush; + throw std::runtime_error{"Error in write in queue"}; + } } -void f_openComRobot(void * arg) { +/** + * Read a message from a given queue, block if empty + * @param queue Queue identifier + * @return Message read + */ +Message *ReadInQueue(RT_QUEUE &queue) { int err; + Message *msg; - /* 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, (char*)HEADER_STM_ACK); - write_in_queue(&q_messageToMon, msg); - } else { - MessageToMon msg; - set_msgToMon_header(&msg, (char*)HEADER_STM_NO_ACK); - write_in_queue(&q_messageToMon, msg); - } + if ((err = rt_queue_read(&queue, (void*) msg, sizeof ((void*) msg), TM_INFINITE)) < 0) { + cerr << "Write in queue failed: " << strerror(-err) << endl << flush; + throw std::runtime_error{"Error in write in queue"}; } + + return msg; } -void 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, (char*)HEADER_STM_ACK); - write_in_queue(&q_messageToMon, msg); - } else { - MessageToMon msg; - set_msgToMon_header(&msg, (char*)HEADER_STM_NO_ACK); - write_in_queue(&q_messageToMon, msg); - } - } -} - -void 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_PERIODIC_TRACE_ - printf("%s: start period\n", info.name); -#endif - rt_task_set_periodic(NULL, TM_NOW, 100000000); - while (1) { -#ifdef _WITH_PERIODIC_TRACE_ - printf("%s: Wait period \n", info.name); -#endif - rt_task_wait_period(NULL); -#ifdef _WITH_PERIODIC_TRACE_ - printf("%s: Periodic activation\n", info.name); - printf("%s: move equals %c\n", info.name, robotMove); -#endif - rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE); - if (robotStarted) { - rt_mutex_acquire(&mutex_move, TM_INFINITE); - send_command_to_robot(robotMove); - rt_mutex_release(&mutex_move); -#ifdef _WITH_TRACE_ - printf("%s: the movement %c was sent\n", info.name, robotMove); -#endif - } - rt_mutex_release(&mutex_robotStarted); - } -} - -void write_in_queue(RT_QUEUE *queue, MessageToMon 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); -} - -#endif // __WITH_PTHREAD__ \ No newline at end of file diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h index 119fc7f..c2b3263 100644 --- a/software/raspberry/superviseur-robot/tasks.h +++ b/software/raspberry/superviseur-robot/tasks.h @@ -18,10 +18,8 @@ #ifndef __TASKS_H__ #define __TASKS_H__ -#ifndef __WITH_PTHREAD__ -#include -#include #include +#include #include #include @@ -30,15 +28,11 @@ #include #include -//#include "monitor.h" -//#include "robot.h" -//#include "image.h" -//#include "message.h" -//#include "server.h" - #include "messages.h" #include "commonitor.h" #include "comrobot.h" +#include "camera.h" +#include "img.h" using namespace std; @@ -62,27 +56,33 @@ public: /** */ - void Join() { - rt_sem_broadcast(&sem_barrier); - pause(); - } + void Join(); /** */ bool AcceptClient() { - return false; + return monitor.AcceptClient(); } private: ComMonitor monitor; ComRobot robot; + bool sendImage=false; + bool sendPosition=false; + + int counter; + bool flag; + + bool showArena=false; + RT_TASK th_server; RT_TASK th_sendToMon; RT_TASK th_receiveFromMon; RT_TASK th_openComRobot; RT_TASK th_startRobot; RT_TASK th_move; + RT_TASK th_camera; RT_MUTEX mutex_robotStarted; RT_MUTEX mutex_move; @@ -100,37 +100,66 @@ private: int MSG_QUEUE_SIZE; + char mode_start; + /** - * \brief Thread handling server communication. + * Write a message in a given queue + * @param queue Queue identifier + * @param msg Message to be stored */ - void f_server(void *arg); + void WriteInQueue(RT_QUEUE *queue, Message *msg); /** - * \brief Thread handling communication to monitor. + * Read a message from a given queue, block if empty + * @param queue Queue identifier + * @return Message read */ - void f_sendToMon(void *arg); + Message *ReadInQueue(RT_QUEUE *queue); + + /** + * @brief Thread handling server communication. + */ + void ReceiveFromMonTask(void *arg); /** - * \brief Thread handling communication from monitor. + * @brief Thread handling periodic image capture. */ - void f_receiveFromMon(void *arg); - + void CameraTask(void *arg); + /** - * \brief Thread handling opening of robot communication. + * @brief Thread sending data to monitor. */ - void f_openComRobot(void * arg); - - /** - * \brief Thread handling robot mouvements. - */ - void f_move(void *arg); - - /** - * \brief Thread handling robot activation. - */ - void f_startRobot(void *arg); + void SendToMonTask(void *arg); +// /** +// * \brief Thread handling server communication. +// */ +// void f_server(void *arg); +// +// /** +// * \brief Thread handling communication to monitor. +// */ +// void f_sendToMon(void *arg); +// +// /** +// * \brief Thread handling communication from monitor. +// */ +// void f_receiveFromMon(void *arg); +// +// /** +// * \brief Thread handling opening of robot communication. +// */ +// void f_openComRobot(void * arg); +// +// /** +// * \brief Thread handling robot mouvements. +// */ +// void f_move(void *arg); +// +// /** +// * \brief Thread handling robot activation. +// */ +// void f_startRobot(void *arg); }; -#endif // __WITH_PTHREAD__ #endif // __TASKS_H__ diff --git a/software/robot/.cproject b/software/robot/.cproject index 2a15f6b..5629029 100644 --- a/software/robot/.cproject +++ b/software/robot/.cproject @@ -174,6 +174,7 @@ +