Sécurité

chef/Makefile

@@ -11,7 +11,7 @@ CFLAGS_CUSTOM += -g
 ## Générateurs de drapeaux pour les bibliothèques
 PKG_CONFIG=pkg-config
 ## Nom des objets communs
-OBJS=actionneurs buttons CA CF debug diagnostics i2c imu ihm lcd motor movement parcours points position
+OBJS=actionneurs buttons CA CF debug diagnostics i2c imu ihm lcd motor movement parcours points position securite
 OBJS_O=$(addprefix obj/,$(addsuffix .o,$(OBJS)))
 
 # VARIABLES AUTOMATIQUES

chef/src/securite.c

@@ -0,0 +1,66 @@
+#include <math.h>
+#include <stdio.h>
+#include <string.h>
+#include <unistd.h>
+
+#include "debug.h"
+#include "securite.h"
+
+// Globales
+pthread_t tSecurite;
+pthread_mutex_t secPolling;
+pthread_mutex_t secData;
+struct F2CI_CAPTs secRaw;
+float secFront, secBack;
+
+void onF2CI_CAPT()
+{
+    readCF(&secRaw, sizeof(struct F2CI_CAPTs));
+    pthread_mutex_unlock(&secPolling);
+}
+
+void* TaskSecurite(void* pData)
+{
+    (void)pData;
+
+    for (;;) {
+        pthread_mutex_lock(&secPolling);
+        sendCF(F2CI_CAPT, NULL, 0);
+        // Waiting for reception
+        pthread_mutex_lock(&secPolling);
+        pthread_mutex_unlock(&secPolling);
+
+        pthread_mutex_lock(&secData);
+        secFront = (float)secRaw.front * SOUND_MM_P_MS;
+        secBack = (float)secRaw.back * SOUND_MM_P_MS;
+        pthread_mutex_unlock(&secData);
+
+        usleep(SENSOR_SAMPLING_INTERVAL * 1000);
+    }
+
+    return NULL;
+}
+
+void getDistance(float* front, float* back)
+{
+    pthread_mutex_lock(&secData);
+    *front = secFront;
+    *back = secBack;
+    pthread_mutex_unlock(&secData);
+}
+
+void configureSecurite()
+{
+    pthread_mutex_init(&secPolling, NULL);
+    pthread_mutex_init(&secData, NULL);
+    registerRxHandlerCF(F2CI_CODER, onF2CI_CAPT);
+    registerDebugVar("secFront", ld, &secFront);
+    registerDebugVar("secBack", ld, &secBack);
+    pthread_create(&tSecurite, NULL, TaskSecurite, NULL);
+}
+
+void deconfigureSecurite()
+{
+    pthread_cancel(tSecurite);
+}
+

chef/src/securite.h

@@ -0,0 +1,16 @@
+#ifndef __SECURITE_H_
+#define __SECURITE_H_
+
+#include "CF.h"
+#include <pthread.h>
+
+#define SOUND_MM_P_MS 0.3312
+#define SENSOR_SAMPLING_INTERVAL 60
+
+// Fonctions
+void configureSecurite();
+void deconfigureSecurite();
+void getDistance(float* avant, float* arriere);
+
+#endif
+

chef/src/testSecu.c

@@ -0,0 +1,24 @@
+#include <stdlib.h>
+#include <unistd.h>
+#include <stdio.h>
+
+#include "CF.h"
+#include "securite.h"
+
+int main(int argc, char* argv[])
+{
+
+    (void)argc;
+    (void)argv;
+
+    configureCF();
+    configureSecurite();
+
+    float f, b;
+
+    for (;;) {
+        getDistance(&f, &b);
+        printf("Av: %6f Ar: %6f\n", f, b);
+        sleep(1);
+    }
+}