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Fully working positions with multiple robots

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This commit is contained in:
Robin Marin-Muller 2024-05-15 19:37:20 +02:00
parent ce68e09679
commit d89d36d040
1 changed files with 17 additions and 12 deletions
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29
software/raspberry/superviseur-robot/tasks.cpp
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@ -653,6 +653,7 @@ void Tasks::ImageCameraTask(void * arg)
std::vector<MessagePosition*> msgPos = {};
MessageImg *msgImg = nullptr;
bool pe = false;
std::list<Position> listPos = {};
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
@ -691,26 +692,30 @@ void Tasks::ImageCameraTask(void * arg)
if(!a.IsEmpty())
img->DrawArena(a);
// Check position
auto listPos = img->SearchRobot(a);
img->DrawAllRobots(listPos);
// Sending the image to the monitor
if(!listPos.empty())
// Gathering position
if(pe)
{
// Gather every robot available
listPos = img->SearchRobot(a);
// For every position, draw the robot and send the message
for(auto l : listPos)
{
img->DrawRobot(l);
msgPos.emplace_back(new MessagePosition(MESSAGE_CAM_POSITION, l));
}
}
msgImg= new MessageImg(MESSAGE_CAM_IMAGE, img);
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
if(!listPos.empty())
{
for(auto mg : msgPos)
monitor.Write(mg);
msgPos.clear();
}
// Writing every message position
for(auto mp : msgPos)
monitor.Write(mp);
// Writing every message image
monitor.Write(msgImg);
rt_mutex_release(&mutex_monitor);
// clearing the vector because all its values are unassigned
msgPos.clear();
}
}
}