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https://github.com/RobotechLille/cdf2018-principal
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Sécurité
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@ -11,7 +11,7 @@ CFLAGS_CUSTOM += -g
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## Générateurs de drapeaux pour les bibliothèques
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PKG_CONFIG=pkg-config
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## Nom des objets communs
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OBJS=actionneurs buttons CA CF debug diagnostics i2c imu ihm lcd motor movement parcours points position
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OBJS=actionneurs buttons CA CF debug diagnostics i2c imu ihm lcd motor movement parcours points position securite
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OBJS_O=$(addprefix obj/,$(addsuffix .o,$(OBJS)))
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# VARIABLES AUTOMATIQUES
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66
chef/src/securite.c
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66
chef/src/securite.c
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@ -0,0 +1,66 @@
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#include <math.h>
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#include <stdio.h>
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#include <string.h>
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#include <unistd.h>
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#include "debug.h"
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#include "securite.h"
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// Globales
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pthread_t tSecurite;
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pthread_mutex_t secPolling;
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pthread_mutex_t secData;
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struct F2CI_CAPTs secRaw;
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float secFront, secBack;
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void onF2CI_CAPT()
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{
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readCF(&secRaw, sizeof(struct F2CI_CAPTs));
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pthread_mutex_unlock(&secPolling);
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}
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void* TaskSecurite(void* pData)
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{
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(void)pData;
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for (;;) {
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pthread_mutex_lock(&secPolling);
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sendCF(F2CI_CAPT, NULL, 0);
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// Waiting for reception
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pthread_mutex_lock(&secPolling);
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pthread_mutex_unlock(&secPolling);
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pthread_mutex_lock(&secData);
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secFront = (float)secRaw.front * SOUND_MM_P_MS;
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secBack = (float)secRaw.back * SOUND_MM_P_MS;
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pthread_mutex_unlock(&secData);
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usleep(SENSOR_SAMPLING_INTERVAL * 1000);
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}
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return NULL;
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}
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void getDistance(float* front, float* back)
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{
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pthread_mutex_lock(&secData);
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*front = secFront;
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*back = secBack;
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pthread_mutex_unlock(&secData);
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}
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void configureSecurite()
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{
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pthread_mutex_init(&secPolling, NULL);
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pthread_mutex_init(&secData, NULL);
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registerRxHandlerCF(F2CI_CODER, onF2CI_CAPT);
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registerDebugVar("secFront", ld, &secFront);
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registerDebugVar("secBack", ld, &secBack);
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pthread_create(&tSecurite, NULL, TaskSecurite, NULL);
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}
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void deconfigureSecurite()
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{
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pthread_cancel(tSecurite);
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}
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16
chef/src/securite.h
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16
chef/src/securite.h
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@ -0,0 +1,16 @@
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#ifndef __SECURITE_H_
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#define __SECURITE_H_
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#include "CF.h"
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#include <pthread.h>
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#define SOUND_MM_P_MS 0.3312
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#define SENSOR_SAMPLING_INTERVAL 60
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// Fonctions
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void configureSecurite();
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void deconfigureSecurite();
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void getDistance(float* avant, float* arriere);
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#endif
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24
chef/src/testSecu.c
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24
chef/src/testSecu.c
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#include <stdlib.h>
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#include <unistd.h>
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#include <stdio.h>
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#include "CF.h"
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#include "securite.h"
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int main(int argc, char* argv[])
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{
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(void)argc;
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(void)argv;
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configureCF();
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configureSecurite();
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float f, b;
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for (;;) {
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getDistance(&f, &b);
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printf("Av: %6f Ar: %6f\n", f, b);
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sleep(1);
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}
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}
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