mirror of
https://github.com/yoboujon/dumber.git
synced 2025-06-08 13:50:49 +02:00
840 lines
No EOL
31 KiB
C++
840 lines
No EOL
31 KiB
C++
/*
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* Copyright (C) 2018 dimercur
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*
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* This program is free software: you can redistribute it and/or modify
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* it under the terms of the GNU General Public License as published by
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* the Free Software Foundation, either version 3 of the License, or
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* (at your option) any later version.
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*
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* This program is distributed in the hope that it will be useful,
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* but WITHOUT ANY WARRANTY; without even the implied warranty of
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* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
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* GNU General Public License for more details.
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*
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* You should have received a copy of the GNU General Public License
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* along with this program. If not, see <http://www.gnu.org/licenses/>.
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*/
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#include "tasks.h"
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#include <stdexcept>
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#include <vector>
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// Task priority: higher has the best priority
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#define PRIORITY_TSERVER 30
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#define PRIORITY_TOPENCOMROBOT 20
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#define PRIORITY_TMOVE 20
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#define PRIORITY_TSENDTOMON 22
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#define PRIORITY_TRECEIVEFROMMON 25
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#define PRIORITY_TSTARTROBOT 20
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// Added Priorities
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// Camera is the most important as it has the most demanding timing request (10ms)
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#define PRIORITY_TCAMERA 21
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// Battery has a timing request of 500ms which is not important
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#define PRIORITY_TBATTERY 19
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// These priorities are for "Semaphored" tasks, not periodic.
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// Their priority is lower.
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#define PRIORITY_TSETCAMERA 18
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#define PRIOTITY_TARENA 17
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#define PRIOTITY_TPOSITION 16
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/*
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* Some remarks:
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* 1- This program is mostly a template. It shows you how to create tasks, semaphore
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* message queues, mutex ... and how to use them
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*
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* 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
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*
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* 3- Data flow is probably not optimal
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*
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* 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
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* time for interponal buffer to flush
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*
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* 5- Same behavior existe for ComMonitor::Write !
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*
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* 6- When you want to write something in terminal, use cout and terminate with endl and flush
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*
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* 7- Good luck !
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*/
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/**
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* @brief Initialisation des structures de l'application (tâches, mutex,
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* semaphore, etc.)
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*/
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void Tasks::Init() {
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int status;
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int err;
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/**************************************************************************************/
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/* Mutex creation */
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/**************************************************************************************/
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if (err = rt_mutex_create(&mutex_monitor, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_robot, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_move, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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// Added Mutexes
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if (err = rt_mutex_create(&mutex_batteryGet, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_cameraStatus, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_camera, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_arena, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_mutex_create(&mutex_arenaStatus, NULL)) {
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cerr << "Error mutex create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Mutexes created successfully" << endl << flush;
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/**************************************************************************************/
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/* Semaphors creation */
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/**************************************************************************************/
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if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_startRobot, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_findPosition, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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// Added Semaphores
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if (err = rt_sem_create(&sem_manageCamera, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_arenaChoice, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Semaphores created successfully" << endl << flush;
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/**************************************************************************************/
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/* Tasks creation */
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/**************************************************************************************/
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if (err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_startRobot, "th_startRobot", 0, PRIORITY_TSTARTROBOT, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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// Added tasks
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if (err = rt_task_create(&th_battery, "th_battery", 0, PRIORITY_TBATTERY, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_cameraManage, "th_cameraManage", 0, PRIORITY_TSETCAMERA, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_cameraImage, "th_cameraImage", 0, PRIORITY_TCAMERA, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_create(&th_arenaChoice, "th_arenaChoice", 0, PRIOTITY_TARENA, 0)) {
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cerr << "Error task create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Tasks created successfully" << endl << flush;
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/**************************************************************************************/
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/* Message queues creation */
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/**************************************************************************************/
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if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
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cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Queues created successfully" << endl << flush;
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}
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/**
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* @brief Démarrage des tâches
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*/
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void Tasks::Run() {
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rt_task_set_priority(NULL, T_LOPRIO);
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int err;
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if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_openComRobot, (void(*)(void*)) & Tasks::OpenComRobot, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_startRobot, (void(*)(void*)) & Tasks::StartRobotTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_move, (void(*)(void*)) & Tasks::MoveTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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// Added Tasks
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if (err = rt_task_start(&th_battery, (void(*)(void*)) & Tasks::BatteryStatusTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_cameraManage, (void(*)(void*)) & Tasks::ManageCameraTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_cameraImage, (void(*)(void*)) & Tasks::ImageCameraTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_task_start(&th_arenaChoice, (void(*)(void*)) & Tasks::ArenaChoiceTask, this)) {
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cerr << "Error task start: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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cout << "Tasks launched" << endl << flush;
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}
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/**
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* @brief Arrêt des tâches
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*/
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void Tasks::Stop() {
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monitor.Close();
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robot.Close();
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}
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/**
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*/
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void Tasks::Join() {
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cout << "Tasks synchronized" << endl << flush;
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rt_sem_broadcast(&sem_barrier);
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pause();
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}
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/**
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* @brief Thread handling server communication with the monitor.
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*/
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void Tasks::ServerTask(void *arg) {
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int status;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are started)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************/
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/* The task server starts here */
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/**************************************************************************************/
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rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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status = monitor.Open(SERVER_PORT);
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rt_mutex_release(&mutex_monitor);
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cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
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if (status < 0) throw std::runtime_error {
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"Unable to start server on port " + std::to_string(SERVER_PORT)
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};
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monitor.AcceptClient(); // Wait the monitor client
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cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
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rt_sem_broadcast(&sem_serverOk);
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}
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/**
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* @brief Thread sending data to monitor.
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*/
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void Tasks::SendToMonTask(void* arg) {
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Message *msg;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************/
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/* The task sendToMon starts here */
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/**************************************************************************************/
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rt_sem_p(&sem_serverOk, TM_INFINITE);
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while (1) {
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cout << "wait msg to send" << endl << flush;
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msg = ReadInQueue(&q_messageToMon);
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cout << "Send msg to mon: " << msg->ToString() << endl << flush;
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rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
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monitor.Write(msg); // The message is deleted with the Write
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rt_mutex_release(&mutex_monitor);
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}
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}
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/**
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* @brief Thread receiving data from monitor.
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*/
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void Tasks::ReceiveFromMonTask(void *arg) {
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Message *msgRcv;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************/
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/* The task receiveFromMon starts here */
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/**************************************************************************************/
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rt_sem_p(&sem_serverOk, TM_INFINITE);
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cout << "Received message from monitor activated" << endl << flush;
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while (1) {
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msgRcv = monitor.Read();
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cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
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if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
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delete(msgRcv);
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exit(-1);
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
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rt_sem_v(&sem_openComRobot);
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
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rt_sem_v(&sem_startRobot);
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
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msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
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msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
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msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
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msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {
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rt_mutex_acquire(&mutex_move, TM_INFINITE);
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move = msgRcv->GetID();
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rt_mutex_release(&mutex_move);
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}
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// Added messages
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// Battery
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else if (msgRcv->CompareID(MESSAGE_ROBOT_BATTERY_GET)) {
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rt_mutex_acquire(&mutex_batteryGet, TM_INFINITE);
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robotBatteryGet = true;
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rt_mutex_release(&mutex_batteryGet);
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}
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// Camera
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else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
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rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
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if(CameraStatusEnum::CLOSED == cameraStatus)
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cameraStatus = CameraStatusEnum::OPENING;
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rt_mutex_release(&mutex_cameraStatus);
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// Calling manageCamera, unblocking the thread.
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rt_sem_v(&sem_manageCamera);
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}
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else if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)) {
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rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
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if(CameraStatusEnum::OPENED == cameraStatus)
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cameraStatus = CameraStatusEnum::CLOSING;
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rt_mutex_release(&mutex_cameraStatus);
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// Calling manageCamera, unblocking the thread.
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rt_sem_v(&sem_manageCamera);
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}
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// Arena
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else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
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rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
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if(ArenaStatusEnum::NONE == arenaStatus)
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arenaStatus = ArenaStatusEnum::SEARCHING;
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rt_mutex_release(&mutex_arenaStatus);
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// Calling arenaChoice, unblocking the thread.
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rt_sem_v(&sem_arenaChoice);
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}
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else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
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rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
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if(ArenaStatusEnum::SEARCHED == arenaStatus)
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arenaStatus = ArenaStatusEnum::CONFIRM;
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rt_mutex_release(&mutex_arenaStatus);
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// Calling arenaChoice, unblocking the thread.
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rt_sem_v(&sem_arenaChoice);
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}
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else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
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rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
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if(ArenaStatusEnum::SEARCHED == arenaStatus)
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arenaStatus = ArenaStatusEnum::INFIRM;
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rt_mutex_release(&mutex_arenaStatus);
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// Calling arenaChoice, unblocking the thread.
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rt_sem_v(&sem_arenaChoice);
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}
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else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)){
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rt_mutex_acquire(&mutex_positionEnabled, TM_INFINITE);
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positionEnabled = true;
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rt_mutex_release(&mutex_positionEnabled);
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}
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else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)){
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rt_mutex_acquire(&mutex_positionEnabled, TM_INFINITE);
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positionEnabled = false;
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rt_mutex_release(&mutex_positionEnabled);
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}
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else if (msgRcv->CompareID(MESSAGE_CAM_IMAGE)) {
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//?
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}
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delete(msgRcv); // mus be deleted manually, no consumer
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}
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}
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/**
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* @brief Thread opening communication with the robot.
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*/
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void Tasks::OpenComRobot(void *arg) {
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int status;
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int err;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************/
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/* The task openComRobot starts here */
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/**************************************************************************************/
|
|
while (1) {
|
|
rt_sem_p(&sem_openComRobot, TM_INFINITE);
|
|
cout << "Open serial com (";
|
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
status = robot.Open();
|
|
rt_mutex_release(&mutex_robot);
|
|
cout << status;
|
|
cout << ")" << endl << flush;
|
|
|
|
Message * msgSend;
|
|
if (status < 0) {
|
|
msgSend = new Message(MESSAGE_ANSWER_NACK);
|
|
} else {
|
|
msgSend = new Message(MESSAGE_ANSWER_ACK);
|
|
}
|
|
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Thread starting the communication with the robot.
|
|
*/
|
|
void Tasks::StartRobotTask(void *arg) {
|
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
// Synchronization barrier (waiting that all tasks are starting)
|
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
|
|
/**************************************************************************************/
|
|
/* The task startRobot starts here */
|
|
/**************************************************************************************/
|
|
while (1) {
|
|
|
|
Message * msgSend;
|
|
rt_sem_p(&sem_startRobot, TM_INFINITE);
|
|
cout << "Start robot without watchdog (";
|
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
msgSend = robot.Write(robot.StartWithoutWD());
|
|
rt_mutex_release(&mutex_robot);
|
|
cout << msgSend->GetID();
|
|
cout << ")" << endl;
|
|
|
|
cout << "Movement answer: " << msgSend->ToString() << endl << flush;
|
|
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
|
|
|
if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
|
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
|
robotStarted = 1;
|
|
rt_mutex_release(&mutex_robotStarted);
|
|
}
|
|
}
|
|
}
|
|
|
|
/**
|
|
* @brief Thread handling control of the robot.
|
|
*/
|
|
void Tasks::MoveTask(void *arg) {
|
|
int rs;
|
|
int cpMove;
|
|
|
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
// 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, 100000000);
|
|
|
|
while (1) {
|
|
rt_task_wait_period(NULL);
|
|
//cout << "Periodic movement update";
|
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
|
rs = robotStarted;
|
|
rt_mutex_release(&mutex_robotStarted);
|
|
if (rs == 1) {
|
|
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
|
cpMove = move;
|
|
rt_mutex_release(&mutex_move);
|
|
|
|
cout << " move: " << cpMove;
|
|
|
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
robot.Write(new Message((MessageID) cpMove));
|
|
rt_mutex_release(&mutex_robot);
|
|
}
|
|
//cout << endl << flush;
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Write a message in a given queue
|
|
* @param queue Queue identifier
|
|
* @param msg Message to be stored
|
|
*/
|
|
void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
|
|
int err;
|
|
if ((err = rt_queue_write(queue, (const void *) &msg, sizeof ((const void *) &msg), Q_NORMAL)) < 0) {
|
|
cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
|
|
throw std::runtime_error{"Error in write in queue"};
|
|
}
|
|
}
|
|
|
|
/**
|
|
* Read a message from a given queue, block if empty
|
|
* @param queue Queue identifier
|
|
* @return Message read
|
|
*/
|
|
Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
|
|
int err;
|
|
Message *msg;
|
|
|
|
if ((err = rt_queue_read(queue, &msg, sizeof ((void*) &msg), TM_INFINITE)) < 0) {
|
|
cout << "Read in queue failed: " << strerror(-err) << endl << flush;
|
|
throw std::runtime_error{"Error in read in queue"};
|
|
}/** else {
|
|
cout << "@msg :" << msg << endl << flush;
|
|
} /**/
|
|
|
|
return msg;
|
|
}
|
|
|
|
/************************************************************************/
|
|
/* Added Tasks */
|
|
/************************************************************************/
|
|
|
|
void Tasks::BatteryStatusTask(void * arg) {
|
|
// Variables
|
|
int rs(0);
|
|
bool getbatterytask(false);
|
|
|
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
// Synchronization barrier (waiting that all tasks are starting)
|
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
|
|
|
|
// Periodic task set to 500ms
|
|
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;
|
|
rt_mutex_release(&mutex_robotStarted);
|
|
|
|
// Checking if battery should be gathered
|
|
rt_mutex_acquire(&mutex_batteryGet, TM_INFINITE);
|
|
getbatterytask = robotBatteryGet;
|
|
|
|
if ((rs != 0) && getbatterytask) {
|
|
// Acquire the battery level and send it to the message queue
|
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
Message* msg = robot.Write(new Message(MESSAGE_ROBOT_BATTERY_GET));
|
|
rt_mutex_release(&mutex_robot);
|
|
WriteInQueue(&q_messageToMon, msg);
|
|
// Resetting the battery status
|
|
robotBatteryGet = false;
|
|
getbatterytask = false;
|
|
}
|
|
rt_mutex_release(&mutex_batteryGet);
|
|
}
|
|
}
|
|
|
|
void Tasks::ManageCameraTask(void * arg)
|
|
{
|
|
// Variables
|
|
int rs(0);
|
|
CameraStatusEnum cs(CameraStatusEnum::CLOSED);
|
|
|
|
// Checking if all tasks started
|
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
|
|
|
|
while(1)
|
|
{
|
|
// Called when semaphore arenChoice incremented
|
|
rt_sem_p(&sem_manageCamera, TM_INFINITE);
|
|
|
|
// Check the status of the camera and store it in a local variable
|
|
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
|
|
cs = cameraStatus;
|
|
rt_mutex_release(&mutex_cameraStatus);
|
|
|
|
// Opening the camera
|
|
if(CameraStatusEnum::OPENING == cs)
|
|
{
|
|
const MessageID tempMessage = this->OpenCamera();
|
|
WriteInQueue(&q_messageToMon, new Message(tempMessage));
|
|
}
|
|
// Closing the camera
|
|
if(CameraStatusEnum::CLOSING == cs)
|
|
{
|
|
this->CloseCamera();
|
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
|
|
}
|
|
}
|
|
}
|
|
|
|
void Tasks::ImageCameraTask(void * arg)
|
|
{
|
|
// Variables
|
|
CameraStatusEnum cs = CameraStatusEnum::CLOSED;
|
|
Arena a = Arena();
|
|
std::vector<MessagePosition*> msgPos = {};
|
|
MessageImg *msgImg = nullptr;
|
|
bool pe = false;
|
|
|
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
// Synchronization barrier (waiting that all tasks are starting)
|
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
|
|
// Periodic task set to 10ms
|
|
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);
|
|
const CameraStatusEnum cs = cameraStatus;
|
|
rt_mutex_release(&mutex_cameraStatus);
|
|
|
|
// Gathering arena
|
|
rt_mutex_acquire(&mutex_arena, TM_INFINITE);
|
|
a = arena;
|
|
rt_mutex_release(&mutex_arena);
|
|
|
|
rt_mutex_acquire(&mutex_positionEnabled, TM_INFINITE);
|
|
pe = positionEnabled;
|
|
rt_mutex_release(&mutex_positionEnabled);
|
|
|
|
// Only gather image if opened
|
|
if(CameraStatusEnum::OPENED == cs)
|
|
{
|
|
// Gathering an image from the camera
|
|
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
|
|
Img * img = new Img(cam->Grab());
|
|
rt_mutex_release(&mutex_camera);
|
|
|
|
// If arena has been found, draw overlay
|
|
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())
|
|
{
|
|
for(auto l : listPos)
|
|
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();
|
|
}
|
|
monitor.Write(msgImg);
|
|
rt_mutex_release(&mutex_monitor);
|
|
}
|
|
}
|
|
}
|
|
|
|
void Tasks::ArenaChoiceTask(void * arg)
|
|
{
|
|
// Variables
|
|
Img* img = nullptr;
|
|
Arena a;
|
|
ArenaStatusEnum as(ArenaStatusEnum::NONE);
|
|
|
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
|
|
|
while(1)
|
|
{
|
|
// Called when semaphore arenChoice incremented
|
|
rt_sem_p(&sem_arenaChoice, TM_INFINITE);
|
|
|
|
// Check the status of the arena
|
|
rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
|
|
as = arenaStatus;
|
|
rt_mutex_release(&mutex_arenaStatus);
|
|
|
|
// ASK_ARENA
|
|
if(as == ArenaStatusEnum::SEARCHING)
|
|
{
|
|
// Change status for next command
|
|
rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
|
|
arenaStatus = ArenaStatusEnum::SEARCHED;
|
|
rt_mutex_release(&mutex_arenaStatus);
|
|
|
|
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
|
|
const CameraStatusEnum cs = cameraStatus;
|
|
rt_mutex_release(&mutex_cameraStatus);
|
|
|
|
// Only search if camera is already opened
|
|
if(CameraStatusEnum::OPENED == cs)
|
|
{
|
|
// Prepare to close the camera
|
|
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
|
|
cameraStatus = CameraStatusEnum::CLOSING;
|
|
rt_mutex_release(&mutex_cameraStatus);
|
|
|
|
// Gathering last image
|
|
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
|
|
img = new Img(cam->Grab());
|
|
rt_mutex_release(&mutex_camera);
|
|
// Closing camera when prompted
|
|
this->CloseCamera();
|
|
// Putting the arena overlay if found
|
|
a = img->SearchArena();
|
|
}
|
|
|
|
if(a.IsEmpty())
|
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
|
|
// If arena is not empty show the arena
|
|
else {
|
|
// Adding overlay on the image
|
|
img->DrawArena(a);
|
|
// Sending it to the writing queue
|
|
MessageImg *msgImg = new MessageImg(MESSAGE_CAM_IMAGE, img);
|
|
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
|
|
monitor.Write(msgImg);
|
|
rt_mutex_release(&mutex_monitor);
|
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
|
|
}
|
|
}
|
|
|
|
// ARENA_CONFIRM / INFIRM
|
|
if((ArenaStatusEnum::CONFIRM == as) || (ArenaStatusEnum::INFIRM == as))
|
|
{
|
|
rt_mutex_acquire(&mutex_arena, TM_INFINITE);
|
|
arena = a;
|
|
rt_mutex_release(&mutex_arena);
|
|
|
|
// empty the temporary arena
|
|
a = Arena();
|
|
// Re-open the camera (showing overlay if arena is stored)
|
|
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
|
|
cameraStatus = CameraStatusEnum::OPENING;
|
|
rt_mutex_release(&mutex_cameraStatus);
|
|
this->OpenCamera();
|
|
|
|
// Change the status of the arena to default value
|
|
rt_mutex_acquire(&mutex_arenaStatus, TM_INFINITE);
|
|
arenaStatus = ArenaStatusEnum::NONE;
|
|
rt_mutex_release(&mutex_arenaStatus);
|
|
}
|
|
}
|
|
}
|
|
|
|
/************************************************************************/
|
|
/* Added functions */
|
|
/************************************************************************/
|
|
|
|
MessageID Tasks::OpenCamera()
|
|
{
|
|
cout << "Called " << __PRETTY_FUNCTION__ << endl << flush;
|
|
// Opening camera
|
|
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
|
|
const bool isOpened = cam->Open();
|
|
rt_mutex_release(&mutex_camera);
|
|
|
|
// Changing status if succeeded
|
|
if(isOpened)
|
|
{
|
|
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
|
|
cameraStatus = CameraStatusEnum::OPENED;
|
|
rt_mutex_release(&mutex_cameraStatus);
|
|
}
|
|
return (isOpened ? MESSAGE_ANSWER_ACK : MESSAGE_ANSWER_NACK);
|
|
}
|
|
|
|
void Tasks::CloseCamera()
|
|
{
|
|
cout << "\n\nCalled " << __PRETTY_FUNCTION__ << "\n\n" << flush;
|
|
// Closing Camera
|
|
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
|
|
cam->Close();
|
|
rt_mutex_release(&mutex_camera);
|
|
|
|
// Changing Status
|
|
rt_mutex_acquire(&mutex_cameraStatus, TM_INFINITE);
|
|
cameraStatus = CameraStatusEnum::CLOSED;
|
|
rt_mutex_release(&mutex_cameraStatus);
|
|
} |