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 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(&mutexArena, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_mutex_create(&mutexPosition, 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(&mutexMission, NULL)) {
rt_printf("Error mutex create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
/* Creation du semaphore */
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(&semGetImage, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_sem_create(&semDetectArena, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
}
if (err = rt_sem_create(&semComputePosition, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
}
if (err = rt_sem_create(&semwatchDog, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
}
if (err = rt_sem_create(&semCommunicate, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
}
if (err = rt_sem_create(&semConnect, NULL, 0, S_FIFO)) {
rt_printf("Error semaphore create: %s\n", strerror(-err));
}
/* Creation des taches */
if (err = rt_task_create(&tServeur, NULL, 0, PRIORITY_TSERVEUR, 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(&tenvoyer, NULL, 0, PRIORITY_TENVOYER, 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(&tcamera, NULL, 0, PRIORITY_TCAMERA, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&tverify, NULL, 0, PRIORITY_TVERIFY, 0)) {
rt_printf("Error task create: %s\n", strerror(-err));
exit(EXIT_FAILURE);
}
if (err = rt_task_create(&tcomputepos, NULL, 0, PRIORITY_TCOMPUTEPOS, 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);
}
/* 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 */
robot = d_new_robot();
move = d_new_movement();
serveur = d_new_server();
camera = d_new_camera();
battery = d_new_battery();
mission = NULL;
position = NULL;
arena = NULL;
image = NULL;
}
