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Fully working Camera opening

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Marin-Muller Robin 2024-04-04 17:07:38 +02:00
parent 8d8dc0586f
commit b75a775775
4 changed files with 56 additions and 4 deletions
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2
software/raspberry/superviseur-robot/nbproject/private/configurations.xml
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@ -41,7 +41,7 @@
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
<developmentServer>xenomai@10.105.0.144:22</developmentServer>
<developmentServer>xenomai@10.105.0.140:22</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">

0
software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.0.140-xenomai-22 Normal file
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39
software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22 Normal file
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@ -0,0 +1,39 @@
#Thu Apr 04 17:02:01 CEST 2024
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/main.cpp=c1712238648769
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1712238648773
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1712238648790
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/Makefile=c1712238648634
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1712238648755
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1712238648766
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1712238648775
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1712238648721
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1712238648782
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.h=c1712238648836
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/README.md=c1712238648637
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1712238648826
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1712238648778
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1712238648829
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1712238648730
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1712242917288
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1712238648753
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.dep.inc=c1712238648629
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.h=c1712238648760
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1712238648744
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1712238648739
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1712238648758
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1712238648735
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1712238648737
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1712238648750
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/wrapper.c=c1712238648838
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1712238648742
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1712238648763
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1712238648718
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1712238648733
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1712238648728
VERSION=1.3
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1712238648747
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1712238648780
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1712238648784
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/.gitignore=c1712238648632
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1712238648823
/home/marin-muller/Documents/4A/Robot/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1712238648726

19
software/raspberry/superviseur-robot/tasks.cpp
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@ -25,7 +25,7 @@
#define PRIORITY_TSENDTOMON 22
#define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TSTARTROBOT 20
#define PRIORITY_TCAMERA 21
#define PRIORITY_TCAMERA 18
#define PRIORITY_TBATTERY 19
/*
@ -324,7 +324,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
}
else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
if(cameraStatus != CameraStatusEnum::OPENED)
if(cameraStatus == CameraStatusEnum::CLOSED)
cameraStatus = CameraStatusEnum::OPENING;
rt_mutex_release(&mutex_cameraStatus);
}
@ -522,8 +522,13 @@ void Tasks::OpenCamera(void * arg)
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/* The task starts here */
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while(1)
{
rt_task_wait_period(NULL);
// Verify that the robot has started
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
rs = robotStarted;
@ -537,9 +542,14 @@ void Tasks::OpenCamera(void * arg)
{
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
cam = new Camera(sm, 10);
bool is_opened = cam->Open();
rt_mutex_release(&mutex_camera);
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
cameraStatus = CameraStatusEnum::OPENED;
if(is_opened)
{
cameraStatus = CameraStatusEnum::OPENED;
std::cout << "Camera Opened" << std::endl;
}
rt_mutex_release(&mutex_cameraStatus);
}
}
@ -554,8 +564,11 @@ void Tasks::ImageCamera(void * arg)
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
rt_task_set_periodic(NULL, TM_NOW, 100000000);
while(1)
{
rt_task_wait_period(NULL);
// Check the status of the camera
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
cs = cameraStatus;