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Mise a jour git #9

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2ee4680
Mise a jour git
Feb 10, 2022
4397319
Fin CheckBattery
Feb 10, 2022
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2 changes: 1 addition & 1 deletion software/raspberry/superviseur-robot/nbproject/private/configurations.xml
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Original file line number Diff line number Diff line change
Expand Up @@ -41,7 +41,7 @@
</conf>
<conf name="Debug__RPI_" type="1">
<toolsSet>
<developmentServer>[email protected].08:22</developmentServer>
<developmentServer>[email protected].6:22</developmentServer>
<platform>2</platform>
</toolsSet>
<dbx_gdbdebugger version="1">
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Empty file added software/raspberry/superviseur-robot/nbproject/private/downloads-10.105.1.7-pi-22
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Empty file.
11 changes: 5 additions & 6 deletions software/raspberry/superviseur-robot/nbproject/private/private.xml
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Expand Up @@ -7,12 +7,11 @@
<editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
<open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
<group>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
<file>file:/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
<file>file:/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/tasks.h</file>
<file>file:/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
<file>file:/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/comrobot.h</file>
<file>file:/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
</group>
</open-files>
</project-private>
38 changes: 38 additions & 0 deletions software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.7-pi-22
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@@ -0,0 +1,38 @@
#Thu Feb 03 12:13:21 CET 2022
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1643878176645
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/base64.cpp=c1643878176627
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1643878176921
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/base64.h=c1643878176632
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/messages.h=c1643878176747
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1643878176827
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1643878176708
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/Makefile=c1643878176250
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__PC_.mk=c1643878176780
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1643878176823
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/.gitignore=c1643878176536
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/.gitignore=c1643878176246
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/compile-and-run-test=c1643878176639
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1643878176946
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/img.h=c1643878176731
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1643878176805
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/comrobot.h=c1643878176712
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/main.cpp=c1643878176764
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1643886797321
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/README.md=c1643878176254
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__RPI_.bash=c1643878176831
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1643878176738
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/tasks.h=c1643882845489
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/README.md=c1643878176622
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1643878176846
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1643878176545
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/commonitor.h=c1643878176702
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1643878176681
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1643878176617
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/.dep.inc=c1643878176242
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1643878176726
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1643878176816
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/gdbsudo.sh=c1643878176526
VERSION=1.3
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1643878176916
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1643878176654
/home/quaccia/Bureau/Projet_Temps_Reel/dumber/software/raspberry/superviseur-robot/lib/commonitor.cpp=c1643878176698
41 changes: 41 additions & 0 deletions software/raspberry/superviseur-robot/tasks.cpp
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Expand Up @@ -27,6 +27,8 @@
#define PRIORITY_TSTARTROBOT 20
#define PRIORITY_TCAMERA 21

#define PRIORITY_TBATTERY 20

/*
* Some remarks:
* 1- This program is mostly a template. It shows you how to create tasks, semaphore
Expand Down Expand Up @@ -123,6 +125,12 @@ void Tasks::Init() {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&th_battery, "th_battery", 0, PRIORITY_TBATTERY, 0)) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}


cout << "Tasks created successfully" << endl << flush;

/**************************************************************************************/
Expand Down Expand Up @@ -167,6 +175,10 @@ void Tasks::Run() {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}
if (err = rt_task_start(&th_battery, (void(*)(void*)) & Tasks::CheckBattery, this)) {
cerr << "Error task start: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
}

cout << "Tasks launched" << endl << flush;
}
Expand Down Expand Up @@ -396,6 +408,35 @@ void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
}
}


/**
* Check battery
*/
void Tasks::CheckBattery() {

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);
cout << "Battery Periodic" << endl << flush;
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
if (robotStarted==1) {
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
MessageBattery* bat = (MessageBattery*)robot.Write(new Message(MESSAGE_ROBOT_BATTERY_GET));
cout << "Battery level : " << bat->ToString() << endl << flush;
rt_mutex_release(&mutex_robot);
}
rt_mutex_release(&mutex_robotStarted);
cout << endl << flush;
}

}


/**
* Read a message from a given queue, block if empty
* @param queue Queue identifier
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10 changes: 10 additions & 0 deletions software/raspberry/superviseur-robot/tasks.h
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Expand Up @@ -76,6 +76,7 @@ class Tasks {
RT_TASK th_openComRobot;
RT_TASK th_startRobot;
RT_TASK th_move;
RT_TASK th_battery;

/**********************************************************************/
/* Mutex */
Expand Down Expand Up @@ -142,6 +143,15 @@ class Tasks {
*/
void WriteInQueue(RT_QUEUE *queue, Message *msg);


/*
* @brief Check the battery level and send a message
*/
void CheckBattery();




/**
* Read a message from a given queue, block if empty
* @param queue Queue identifier
Expand Down