void initStruct(void) {
int err;
/* Creation des mutex */
if (err = rt_mutex_create(&mutexEtat, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutexMove, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutexRobot, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutexServer, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutexArene, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutexImage, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutexPositionRobot, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutexPositionVoulue, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutexValidArene, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
/* Creation des semaphores */
if (err = rt_sem_create(&semConnecterRobot, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&semWatchdog, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&semPosition, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&semAcquArene, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&semValidArene, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&semBattery, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&semWebcam, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&semMission, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
/* Creation des taches */
if (err = rt_task_create(&tcommunicate, NULL, 0, PRIORITY_TCOMMUNICATE, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&tconnect, NULL, 0, PRIORITY_TCONNECT, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&tmove, NULL, 0, PRIORITY_TMOVE, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&tsend, NULL, 0, PRIORITY_TSEND, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&twatchdog, NULL, 0, PRIORITY_TWATCHDOG, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&tbattery, NULL, 0, PRIORITY_TBATTERY, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&tcam, NULL, 0, PRIORITY_TCAM, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&tposition, NULL, 0, PRIORITY_TPOSITION, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&tarena, NULL, 0, PRIORITY_TARENA, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&tmission, NULL, 0, PRIORITY_TMISSION, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
/* Definition des periodes */
rt_task_set_periodic(&tmove, TM_NOW, 200000000); // 200ms
rt_task_set_periodic(&tsend, TM_NOW, 200000000); // 200ms
rt_task_set_periodic(&twatchdog, TM_NOW, 1000000000); // 1s
rt_task_set_periodic(&tbattery, TM_NOW, 250000000); // 250ms
rt_task_set_periodic(&tcam, TM_NOW, 600000000); // 600ms
rt_task_set_periodic(&tposition, TM_NOW, 600000000); // 600ms
rt_task_set_periodic(&tmission, TM_NOW, 600000000); // 600ms
/* Creation des files de messages */
if (err = rt_queue_create(&queueMsgGUI, "toto", MSG_QUEUE_SIZE*sizeof(DMessage), MSG_QUEUE_SIZE, Q_FIFO))
{
rt_printf("Error msg queue create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
/* Creation des structures globales du projet */
areneValidee = 1;
arena = 0;
robot = d_new_robot();
mvt = d_new_movement();
server = d_new_server();
image = d_new_image();
positionRobot = d_new_position();
positionVoulue = d_new_position();
etat_communication = malloc(sizeof(Etat_communication_t));
etat_communication->robot = 1;
etat_communication->moniteur = 1;
}
void envoyer_image(void *arg) {
DMessage *message = d_new_message();
DMessage *message_position = d_new_message();
DMessage *message_arena = d_new_message();
DImage *image = d_new_image();
DJpegimage *jpegimage = d_new_jpegimage();
char arena_found[] = "arena found";
rt_printf("tstreaming : Envoi de l'image à ~2.5img/s\n");
rt_task_set_periodic(NULL, TM_NOW, 400000000);
while (1) {
/* Attente de l'activation périodique */
rt_task_wait_period(NULL);
rt_mutex_acquire(&mutexEtatCamera, TM_INFINITE);
camera->get_frame(camera, image);
switch (etat_camera) {
case 0 : /* streaming simple */
rt_mutex_release(&mutexEtatCamera);
break;
case 1 : /* streaming avec arena */
rt_mutex_release(&mutexEtatCamera);
/* détection de l'arène */
arena = (DArena *) image->compute_arena_position(image);
/*check si l'arene a été trouvée*/
if (arena != NULL) {
x_arena = arena->get_x(arena);
y_arena = arena->get_y(arena);
//rt_printf("x = %f; y = %f\n ", x_arena, y_arena);
/*envoie du message confirmant que l'arène a été trouvée*/
message_arena->set(message_arena, ACTION_ARENA_IS_FOUND, strlen(arena_found), arena_found);
serveur->send(serveur, message_arena);
d_imageshop_draw_arena(image, arena);
}
break;
case 2 : /* streaming avec position du robot */
rt_mutex_release(&mutexEtatCamera);
/* détection de la position du robot */
arena = (DArena *) image->compute_arena_position(image);
rt_mutex_acquire(&mutexPosition, TM_INFINITE);
position_robot = (DPosition *) image->compute_robot_position(image, arena);
if (position_robot != NULL) {
x_robot = position_robot->get_x(position_robot);
y_robot = position_robot->get_y(position_robot);
orientation_robot = position_robot->get_orientation(position_robot);
rt_mutex_release(&mutexPosition);
/* rt_printf("\n\n\nx = %f; y = %f, angle = %f\n\n\n ", x_robot, y_robot, orientation_robot); */
/*envoie de la position par message*/
message_position->put_position(message_position, position_robot);
serveur->send(serveur, message_position);
d_imageshop_draw_position(image, position_robot);
}
break;
case 3 : /* streaming avec position de l'arene et du robot */
rt_mutex_release(&mutexEtatCamera);
/* détection de la position du robot et de l'arene*/
arena = (DArena *) image->compute_arena_position(image);
rt_mutex_acquire(&mutexPosition, TM_INFINITE);
position_robot = (DPosition *) image->compute_robot_position(image, arena);
if (position_robot != NULL) {
x_robot = position_robot->get_x(position_robot);
y_robot = position_robot->get_y(position_robot);
/* rt_printf("\n\n\nx = %f; y = %f\n\n\n ", x_robot, y_robot); */
rt_mutex_release(&mutexPosition);
/*envoie de la position par message*/
message_position->put_position(message_position, position_robot);
serveur->send(serveur, message_position);
d_imageshop_draw_position(image, position_robot);
}
/*check si l'arene a été trouvée*/
if (arena != NULL) {
x_arena = arena->get_x(arena);
y_arena = arena->get_y(arena);
/* rt_printf("x = %f; y = %f\n ", x_arena, y_arena); */
/*envoie du message confirmant que l'arène a été trouvée*/
message_arena->set(message_arena, ACTION_ARENA_IS_FOUND, strlen(arena_found), arena_found);
serveur->send(serveur, message_arena);
d_imageshop_draw_arena(image, arena);
}
break;
default :
rt_printf("valeur de etat_camera corrompue\n");
}
/*compression et envoie de l'image*/
jpegimage->compress(jpegimage, image);
//jpegimage->print(jpegimage);
message->put_jpeg_image(message, jpegimage);
serveur->send(serveur, message);
}
}
