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Storing into a vector the choosen Arena

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This commit is contained in:
Yohan Boujon 2024-05-11 12:11:24 +02:00
parent 5904a21007
commit e018b5d0f4
2 changed files with 37 additions and 3 deletions
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34
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -90,6 +90,10 @@ void Tasks::Init() {
cerr << "Error mutex create: " << strerror(-err) << endl << flush; cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
} }
if (err = rt_mutex_create(&mutex_arenaList, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutex_arenaStatus, NULL)) { if (err = rt_mutex_create(&mutex_arenaStatus, NULL)) {
cerr << "Error mutex create: " << strerror(-err) << endl << flush; cerr << "Error mutex create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
@ -365,11 +369,17 @@ void Tasks::ReceiveFromMonTask(void *arg) {
} }
else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) { else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
std::cout << "\n\n\nArena Confirm asked !!!\n\n\n" << std::endl; std::cout << "\n\n\nArena Confirm asked !!!\n\n\n" << std::endl;
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK)); rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
if(cameraStatus == ArenaStatusEnum::SEARCHING)
cameraStatus = ArenaStatusEnum::CONFIRM;
rt_mutex_release(&mutex_arenaStatus);
} }
else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) { else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
std::cout << "\n\n\nArena Infirm asked !!!\n\n\n" << std::endl; std::cout << "\n\n\nArena Infirm asked !!!\n\n\n" << std::endl;
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK)); rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
if(cameraStatus == ArenaStatusEnum::SEARCHING)
cameraStatus = ArenaStatusEnum::INFIRM;
rt_mutex_release(&mutex_arenaStatus);
} }
else if (msgRcv->CompareID(MESSAGE_CAM_IMAGE)) { else if (msgRcv->CompareID(MESSAGE_CAM_IMAGE)) {
//? //?
@ -674,6 +684,8 @@ void Tasks::ArenaChoice(void * arg)
rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE); rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
as = arenaStatus; as = arenaStatus;
rt_mutex_release(&mutex_arenaStatus); rt_mutex_release(&mutex_arenaStatus);
// ASK_ARENA
if(as == ArenaStatusEnum::SEARCHING) if(as == ArenaStatusEnum::SEARCHING)
{ {
// Gathering last image + closing camera when prompted // Gathering last image + closing camera when prompted
@ -697,5 +709,23 @@ void Tasks::ArenaChoice(void * arg)
rt_mutex_release(&mutex_monitor); rt_mutex_release(&mutex_monitor);
} }
} }
// ARENA_CONFIRM / INFIRM
else if(as != ArenaStatusEnum::NONE)
{
if(as == ArenaStatusEnum::CONFIRM)
{
rt_mutex_acquire(&mutex_arenaList, TM_INFINITE);
arenaList.emplace_back(a);
rt_mutex_release(&mutex_arenaList);
}
// Re-open the camera
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
cam->Open();
rt_mutex_release(&mutex_camera);
// empty the arena and write ACK to the monitor
a = Arena();
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
}
} }
} }

6
software/raspberry/superviseur-robot/tasks.h
View file

@ -20,6 +20,7 @@
#include <unistd.h> #include <unistd.h>
#include <iostream> #include <iostream>
#include <vector>
#include <sys/mman.h> #include <sys/mman.h>
#include <alchemy/task.h> #include <alchemy/task.h>
@ -46,7 +47,8 @@ enum class CameraStatusEnum {
enum class ArenaStatusEnum { enum class ArenaStatusEnum {
NONE, NONE,
SEARCHING, SEARCHING,
CHOOSEN CONFIRM,
INFIRM
}; };
class Tasks { class Tasks {
@ -82,6 +84,7 @@ private:
bool robotBatteryGet = false; bool robotBatteryGet = false;
CameraStatusEnum cameraStatus = CameraStatusEnum::CLOSED; CameraStatusEnum cameraStatus = CameraStatusEnum::CLOSED;
ArenaStatusEnum arenaStatus = ArenaStatusEnum::NONE; ArenaStatusEnum arenaStatus = ArenaStatusEnum::NONE;
std::vector<Arena> arenaList;
Camera* cam = nullptr; Camera* cam = nullptr;
/**********************************************************************/ /**********************************************************************/
@ -109,6 +112,7 @@ private:
RT_MUTEX mutex_batteryGet; RT_MUTEX mutex_batteryGet;
RT_MUTEX mutex_cameraStatus; RT_MUTEX mutex_cameraStatus;
RT_MUTEX mutex_camera; RT_MUTEX mutex_camera;
RT_MUTEX mutex_arenaList;
RT_MUTEX mutex_arenaStatus; RT_MUTEX mutex_arenaStatus;
/**********************************************************************/ /**********************************************************************/