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Fully working Camera closing

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This commit is contained in:
Robin Marin-Muller 2024-04-04 17:27:28 +02:00
parent b75a775775
commit b7fae99df4
3 changed files with 57 additions and 6 deletions
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6
software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.0.140-xenomai-22
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@ -1,4 +1,4 @@
#Thu Apr 04 17:02:01 CEST 2024
#Thu Apr 04 17:21:41 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
@ -8,13 +8,13 @@
/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/tasks.h=c1712243914675
/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/tasks.cpp=c1712244064711
/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

52
software/raspberry/superviseur-robot/tasks.cpp
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@ -25,8 +25,9 @@
#define PRIORITY_TSENDTOMON 22
#define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TSTARTROBOT 20
#define PRIORITY_TCAMERA 18
#define PRIORITY_TCAMERA 21
#define PRIORITY_TBATTERY 19
#define PRIORITY_TSETCAMERA 18
/*
* Some remarks:
@ -142,7 +143,7 @@ void Tasks::Init() {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_cameraOpen, "th_cameraOpen", 0, PRIORITY_TCAMERA, 0)) {
if (err = rt_task_create(&th_cameraOpen, "th_cameraOpen", 0, PRIORITY_TSETCAMERA, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
@ -150,6 +151,10 @@ void Tasks::Init() {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_cameraClose, "th_cameraClose", 0, PRIORITY_TSETCAMERA, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks created successfully" << endl << flush;
/**************************************************************************************/
@ -207,6 +212,10 @@ void Tasks::Run() {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_cameraClose, (void(*)(void*)) & Tasks::CloseCamera, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
cout << "Tasks launched" << endl << flush;
}
@ -328,6 +337,12 @@ void Tasks::ReceiveFromMonTask(void *arg) {
cameraStatus = CameraStatusEnum::OPENING;
rt_mutex_release(&mutex_cameraStatus);
}
else if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
if(cameraStatus == CameraStatusEnum::OPENED)
cameraStatus = CameraStatusEnum::CLOSING;
rt_mutex_release(&mutex_cameraStatus);
}
else if (msgRcv->CompareID(MESSAGE_CAM_IMAGE)) {
//?
}
@ -582,4 +597,37 @@ void Tasks::ImageCamera(void * arg)
rt_mutex_release(&mutex_monitor);
}
}
}
void Tasks::CloseCamera(void * arg)
{
// Variables
CameraStatusEnum cs(CameraStatusEnum::CLOSED);
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
rt_task_set_periodic(NULL, TM_NOW, 500000000);
while(1)
{
rt_task_wait_period(NULL);
// Check the status of the camera
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
cs = cameraStatus;
rt_mutex_release(&mutex_cameraStatus);
if(cs == CameraStatusEnum::CLOSING)
{
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
cam->Close();
delete cam;
rt_mutex_release(&mutex_camera);
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
cameraStatus = CameraStatusEnum::CLOSED;
std::cout << "Camera Closed" << std::endl;
rt_mutex_release(&mutex_cameraStatus);
}
}
}

5
software/raspberry/superviseur-robot/tasks.h
View file

@ -39,7 +39,8 @@ using namespace std;
enum class CameraStatusEnum {
CLOSED,
OPENING,
OPENED
OPENED,
CLOSING
};
class Tasks {
@ -88,6 +89,7 @@ private:
RT_TASK th_battery;
RT_TASK th_cameraOpen;
RT_TASK th_cameraImage;
RT_TASK th_cameraClose;
/**********************************************************************/
/* Mutex */
@ -153,6 +155,7 @@ private:
void BatteryStatusTask(void * arg);
void OpenCamera(void * arg);
void ImageCamera(void * arg);
void CloseCamera(void * arg);
/**********************************************************************/