From ff85e268e8c6e4996105e3b02204cd4f89740af7 Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?S=C3=A9bastien=20DI=20MERCURIO?= Date: Fri, 8 Feb 2019 09:04:53 +0100 Subject: [PATCH] nouvelle branche double_port pour tester un port special pour les images --- .../nbproject/Makefile-JPO2019_RPI_.mk | 6 +- .../nbproject/configurations.xml | 4 +- .../nbproject/private/private.xml | 1 + .../private/timestamps-10.105.1.11-pi-22 | 80 +++++++++---------- .../superviseur-robot/tasks_pthread.cpp | 8 +- .../superviseur-robot/tasks_pthread.h | 2 +- 6 files changed, 52 insertions(+), 49 deletions(-) diff --git a/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk b/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk index b279a12..3a34516 100644 --- a/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk +++ b/software/raspberry/superviseur-robot/nbproject/Makefile-JPO2019_RPI_.mk @@ -49,8 +49,8 @@ OBJECTFILES= \ 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 +CCFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg +CXXFLAGS=-D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg # Fortran Compiler Flags FFLAGS= @@ -67,7 +67,7 @@ LDLIBSOPTIONS=`pkg-config --libs opencv` -lraspicam_cv -lraspicam ${CND_DISTDIR}/${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} -Wl,--no-as-needed -lpthread -lrt + ${LINK.cc} -o ${CND_DISTDIR}/${CND_CONF}/${CND_PLATFORM}/superviseur-robot ${OBJECTFILES} ${LDLIBSOPTIONS} -Wl,--no-as-needed -lpthread -lrt -pg ${OBJECTDIR}/lib/base64/base64.o: lib/base64/base64.cpp ${MKDIR} -p ${OBJECTDIR}/lib/base64 diff --git a/software/raspberry/superviseur-robot/nbproject/configurations.xml b/software/raspberry/superviseur-robot/nbproject/configurations.xml index e59133e..a0d54a3 100644 --- a/software/raspberry/superviseur-robot/nbproject/configurations.xml +++ b/software/raspberry/superviseur-robot/nbproject/configurations.xml @@ -213,7 +213,7 @@ ./ ./lib - -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 + -D_GNU_SOURCE -D_REENTRANT -fasynchronous-unwind-tables -Wno-pmf-conversions -std=gnu++11 -pg _WITH_TRACE_ __WITH_ARUCO__ @@ -226,7 +226,7 @@ raspicam_cv raspicam - -Wl,--no-as-needed -lpthread -lrt + -Wl,--no-as-needed -lpthread -lrt -pg diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml index 32ac27e..1da5277 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/private.xml +++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml @@ -9,6 +9,7 @@ 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/tasks.cpp + 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/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/main.cpp diff --git a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.11-pi-22 b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.11-pi-22 index 1fca2ca..aafbae6 100644 --- a/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.11-pi-22 +++ b/software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.11-pi-22 @@ -1,4 +1,4 @@ -#Thu Jan 24 10:34:54 CET 2019 +#Thu Jan 24 17:03:52 CET 2019 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/all_0.js=c1547565563000 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/enumvalues_3.html=c1547565563000 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/camera_8h_source.html=c1547565563000 @@ -300,12 +300,12 @@ /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1547735186000 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1547735186000 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+/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_int__inherit__graph.map=c1547560340000 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/class_message_battery__coll__graph.md5=c1547560339000 +/home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/base64_8h__incl.png=c1547560339000 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/search/search_m.png=c1547565563000 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/globals_func.html=c1547565563000 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/jquery.js=c1547565563000 @@ -315,93 +315,93 @@ /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1547735186000 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-/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/hierarchy.js=c1547565563000 /home/dimercur/Documents/Travail/git/dumber/software/raspberry/superviseur-robot/doc/html/inherit_graph_5.md5=c1547564949000 diff --git a/software/raspberry/superviseur-robot/tasks_pthread.cpp b/software/raspberry/superviseur-robot/tasks_pthread.cpp index c145c3e..886f775 100644 --- a/software/raspberry/superviseur-robot/tasks_pthread.cpp +++ b/software/raspberry/superviseur-robot/tasks_pthread.cpp @@ -72,6 +72,7 @@ void Tasks::Init() { } void Tasks::Run() { + threadTimer = new thread((void (*)(void*)) & Tasks::TimerTask, this); threadServer = new thread((void (*)(void*)) & Tasks::ServerTask, this); @@ -86,7 +87,6 @@ void Tasks::Stop() { void Tasks::ServerTask(void *arg) { Message *msgRcv; Message *msgSend; - bool isActive = true; cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; @@ -115,6 +115,8 @@ void Tasks::ServerTask(void *arg) { if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) { msgSend = robot.Write(msgRcv); cout << "Start with wd answer: " << msgSend->ToString() << endl << flush; + + isActive=false; } if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) { @@ -135,7 +137,7 @@ void Tasks::ServerTask(void *arg) { msgSend = robot.Write(msgRcv); cout << "Movement answer: " << msgSend->ToString() << endl << flush; - + if (msgSend->CompareID(MESSAGE_ANSWER_ACK)) { delete (msgSend); msgSend = NULL; @@ -228,7 +230,7 @@ void Tasks::TimerTask(void* arg) { counter_img = 0; - while (1) { + while (isActive) { Img image = camera.Grab(); // 15fps cntFrame++; cout << "cnt: " << to_string(cntFrame) << endl << flush; diff --git a/software/raspberry/superviseur-robot/tasks_pthread.h b/software/raspberry/superviseur-robot/tasks_pthread.h index dda6150..29c90e5 100644 --- a/software/raspberry/superviseur-robot/tasks_pthread.h +++ b/software/raspberry/superviseur-robot/tasks_pthread.h @@ -89,7 +89,7 @@ private: int counter; bool flag; - + bool isActive = true; bool showArena=false; thread *threadServer;