Arduino↔Chef: Ajout côté chef & corrections

arduino/AC.c

@@ -1,35 +1,37 @@
 #include "AC.h"
 
-void registerRxHandler(unsigned char code, rxHandler handler)
+void registerRxHandlerAC(unsigned char code, rxHandler handler)
 {
-    rxHandlers[code] = handler;
+    rxHandlersAC[code] = handler;
 }
 
-
 ISR(USART0_UDRE_vect)
 {
     // When a transmit is ready to be done again
-    TaskHandle_t holder = xSemaphoreGetMutexHolder(sSendAC);
-    if (holder != NULL) {
-        vTaskResume(holder);
+    UDR0 = *toSendAC;
+    toSendAC++;
+    toSendSizeAC--;
+    if (toSendSizeAC <= 0) {
+        UCSR0B &= ~(1 << UDRIE0);
+        TaskHandle_t holder = xSemaphoreGetMutexHolder(sSendAC);
+        if (holder != NULL) {
+            vTaskNotifyGiveFromISR(holder, NULL);
+        }
     }
 }
 
-void sendByteAC(unsigned char data)
-{
-    while (!bit_is_set(UCSR0A, UDRE0)) {
-        vTaskSuspend(xSemaphoreGetMutexHolder(sSendAC));
-    }
-    UDR0 = data;
-}
-
 void sendAC(unsigned char code, void* data, size_t size)
 {
-    xSemaphoreTake(sSendAC, 0);
-    sendByteAC(code);
-    unsigned char* p = data;
-    for (int i = 0; i < size; i++) {
-        sendByteAC(*p++);
+    xSemaphoreTake(sSendAC, portMAX_DELAY);
+    toSendAC = &code;
+    toSendSizeAC = sizeof(code);
+    UCSR0B |= (1 << UDRIE0);
+    ulTaskNotifyTake(pdFALSE, portMAX_DELAY);
+    if (size > 0) {
+        toSendAC = data;
+        toSendSizeAC = size;
+        UCSR0B |= (1 << UDRIE0);
+        ulTaskNotifyTake(pdFALSE, portMAX_DELAY);
     }
     xSemaphoreGive(sSendAC);
 }
@@ -37,15 +39,16 @@ void sendAC(unsigned char code, void* data, size_t size)
 ISR(USART0_RX_vect)
 {
     // When a character is received
-    vTaskResume(tReaderAC);
+    vTaskNotifyGiveFromISR(tReaderAC, NULL);
 }
 
 unsigned char readByteAC()
 {
     while (!bit_is_set(UCSR0A, RXC0)) {
-        vTaskSuspend(tReaderAC);
+        ulTaskNotifyTake(pdFALSE, portMAX_DELAY);
     }
-    return UDR0;
+    unsigned char c = UDR0;
+    return c;
 }
 
 void readAC(void* data, size_t size)
@@ -64,16 +67,21 @@ void TaskReaderAC(void* pvParameters)
     for (;;) {
         code = readByteAC();
 
-        rxHandler handler = rxHandlers[code];
+        rxHandler handler = rxHandlersAC[code];
         if (handler != NULL) {
             handler();
         } else {
-            struct A2CI_ERRs err = { ERR_UNKNOWN_CODE };
+            struct A2CD_ERRs err = { ERR_UNKNOWN_CODE };
             sendAC(A2CD_ERR, &err, sizeof(err));
         }
     }
 }
 
+void onC2AD_PING()
+{
+    sendAC(C2AD_PING, NULL, 0);
+}
+
 void configureAC()
 {
     /* Set baud rate */
@@ -83,14 +91,16 @@ void configureAC()
     UCSR0A &= ~(1 << U2X0);
 
     /* Enable transmitter & receiver with interrupts */
-    UCSR0B = (1 << RXCIE0 | 1 << UDRIE0 | 1 << TXEN0 | 1 << RXEN0);
+    UCSR0B = (1 << RXCIE0 | 1 << TXEN0 | 1 << RXEN0);
 
     /* Set 8 bits character and 1 stop bit */
     UCSR0C = (1 << UCSZ01 | 1 << UCSZ00);
 
     for (int i = 0; i < 256; i++) {
-        rxHandlers[i] = NULL;
+        rxHandlersAC[i] = NULL;
     }
     sSendAC = xSemaphoreCreateMutex();
     xTaskCreate(TaskReaderAC, "TaskReaderAC", 128, NULL, 2, &tReaderAC);
+
+    registerRxHandlerAC(C2AD_PING, onC2AD_PING);
 }

arduino/AC.h

@@ -2,8 +2,8 @@
  * Définition des fonctions utilisées pour échager entre l'Arduino et le chef
  */
 
-#ifndef __SERIAL_H_
-#define __SERIAL_H_
+#ifndef __AC_H_
+#define __AC_H_
 
 #include <FreeRTOS.h>
 #include <avr/interrupt.h>
@@ -19,16 +19,17 @@
 
 TaskHandle_t tReaderAC;
 SemaphoreHandle_t sSendAC;
+unsigned char* toSendAC;
+size_t toSendSizeAC;
 
 typedef void (*rxHandler)(void);
-rxHandler rxHandlers[256];
+rxHandler rxHandlersAC[256];
 
-void registerRxHandler(unsigned char code, rxHandler handler);
-void sendByteAC(unsigned char data);
+void registerRxHandlerAC(unsigned char code, rxHandler handler); // À utiliser après configureAC();
 void sendAC(unsigned char code, void* data, size_t size);
 unsigned char readByteAC(); // À utiliser uniquement depuis un rxHandler
 void readAC(void* data, size_t size); // À utiliser uniquement depuis un rxHandler
-void TaskReaderAC(void* pvParameters);
+void TaskReaderAC(void* pvParameters); // Privé
 void configureAC();
 
 #endif

arduino/ACsignals.h

@@ -8,7 +8,7 @@
 #define AC_BAUDRATE 9600UL
 
 // Structures used everywhere
-struct position {
+struct __attribute__ ((packed)) position {
     float x;
     float y;
     float o;
@@ -30,13 +30,9 @@ struct position {
 
 // Pour le debug
 #define C2AD_PING 'P'
-struct C2AD_PINGs {
-};
 
 // Arrête tous les actionneurs
 #define C2AD_STOP 'S'
-struct C2ADD_STOPs {
-};
 
 // Donne une destination
 #define C2AD_GOTO 'G'
@@ -47,15 +43,16 @@ struct C2ADD_STOPs {
 
 // Erreur quelconque
 #define A2CD_ERR 'E'
-struct A2CI_ERRs {
+struct __attribute__ ((packed)) A2CD_ERRs {
     unsigned char code;
 };
 
 #define ERR_UNKNOWN_CODE 'C'
+#define ERR_UNKNOWN_CODE_FPGA 'c'
 
 // Envoie les infos de debug
 #define A2CI_DBG 'D'
-struct A2CI_DBGs {
+struct __attribute__ ((packed)) A2CI_DBGs {
     struct position actuel;
     struct position destination;
     unsigned char movement;

arduino/AF.c

@@ -0,0 +1,99 @@
+#include "AF.h"
+#include "AC.h"
+
+void registerRxHandlerAF(unsigned char code, rxHandler handler)
+{
+    rxHandlersAF[code] = handler;
+}
+
+ISR(USART1_UDRE_vect)
+{
+    // When a transmit is ready to be done again
+    UDR1 = *toSendAF;
+    toSendAF++;
+    toSendSizeAF--;
+    if (toSendSizeAF <= 0) {
+        UCSR1B &= ~(1 << UDRIE0);
+        TaskHandle_t holder = xSemaphoreGetMutexHolder(sSendAF);
+        if (holder != NULL) {
+            vTaskNotifyGiveFromISR(holder, NULL);
+        }
+    }
+}
+
+void sendAF(unsigned char code, void* data, size_t size)
+{
+    xSemaphoreTake(sSendAF, portMAX_DELAY);
+    toSendAF = &code;
+    toSendSizeAF = sizeof(code);
+    UCSR1B |= (1 << UDRIE0);
+    ulTaskNotifyTake(pdFALSE, portMAX_DELAY);
+    if (size > 0) {
+        toSendAF = data;
+        toSendSizeAF = size;
+        UCSR1B |= (1 << UDRIE0);
+        ulTaskNotifyTake(pdFALSE, portMAX_DELAY);
+    }
+    xSemaphoreGive(sSendAF);
+}
+
+ISR(USART1_RX_vect)
+{
+    // When a character is received
+    vTaskNotifyGiveFromISR(tReaderAF, NULL);
+}
+
+unsigned char readByteAF()
+{
+    while (!bit_is_set(UCSR1A, RXC1)) {
+        ulTaskNotifyTake(pdFALSE, portMAX_DELAY);
+    }
+    return UDR1;
+}
+
+void readAF(void* data, size_t size)
+{
+    unsigned char* p = data;
+    for (int i = 0; i < size; i++) {
+        *p = readByteAF();
+        p++;
+    }
+}
+
+void TaskReaderAF(void* pvParameters)
+{
+    (void)pvParameters;
+    unsigned char code;
+    for (;;) {
+        code = readByteAF();
+
+        rxHandler handler = rxHandlersAF[code];
+        if (handler != NULL) {
+            handler();
+        } else {
+            struct A2CD_ERRs err = { ERR_UNKNOWN_CODE_FPGA };
+            sendAC(A2CD_ERR, &err, sizeof(err));
+        }
+    }
+}
+
+void configureAF()
+{
+    /* Set baud rate */
+    UBRR1 = AF_PRESCALER;
+
+    /* Set off UART baud doubler */
+    UCSR1A &= ~(1 << U2X1);
+
+    /* Enable transmitter & receiver with interrupts */
+    UCSR1B = (1 << RXCIE1 | 1 << TXEN1 | 1 << RXEN1);
+
+    /* Set 8 bits character and 1 stop bit */
+    UCSR1C = (1 << UCSZ11 | 1 << UCSZ10);
+
+    for (int i = 0; i < 256; i++) {
+        rxHandlersAF[i] = NULL;
+    }
+    sSendAF = xSemaphoreCreateMutex();
+    xTaskCreate(TaskReaderAF, "TaskReaderAF", 128, NULL, 2, &tReaderAF);
+}

arduino/AF.h

@@ -0,0 +1,35 @@
+/*
+ * Définition des fonctions utilisées pour échager entre l'Arduino et le chef
+ */
+
+#ifndef __AF_H_
+#define __AF_H_
+
+#include <FreeRTOS.h>
+#include <avr/interrupt.h>
+#include <avr/io.h>
+#include <queue.h>
+#include <semphr.h>
+#include <stdlib.h>
+#include <task.h>
+#include "AFsignals.h"
+
+#define CPU_FREQ 16000000UL
+#define AF_PRESCALER CPU_FREQ / (AF_BAUDRATE << 4) - 1
+
+TaskHandle_t tReaderAF;
+SemaphoreHandle_t sSendAF;
+unsigned char* toSendAF;
+size_t toSendSizeAF;
+
+typedef void (*rxHandler)(void);
+rxHandler rxHandlersAF[256];
+
+void registerRxHandlerAF(unsigned char code, rxHandler handler); // À utiliser après configureAF();
+void sendAF(unsigned char code, void* data, size_t size);
+unsigned char readByteAF(); // À utiliser uniquement depuis un rxHandler
+void readAF(void* data, size_t size); // À utiliser uniquement depuis un rxHandler
+void TaskReaderAF(void* pvParameters); // Privé
+void configureAF();
+
+#endif

arduino/AFsignals.h

@@ -0,0 +1,67 @@
+/*
+ * Définition des signaux échagés entre l'Arduino et le chef
+ */
+
+#ifndef __AFSIGNALS_H_
+#define __AFSIGNALS_H_
+
+#include <stdint.h>
+
+#define AF_BAUDRATE 9600UL
+
+// Structures used everywhere
+
+// D: Direct
+// Sens naturel : Envoi de donnée
+// Sens inverse : Accusé de réception
+
+// I: Indirect
+// Sens inverse : Demande de donnée
+// Sens naturel : Envoi de donnée
+
+// T: Trigger
+// Sens inverse : Paramètrage du trigger
+// Sens naturel : Envoi de trigger
+
+// Arduino → FPGA
+
+// Pour le debug
+#define A2FD_PING 'P'
+
+// Réinitialise la valeur des codeuses
+#define A2FD_RESETCODER 'R'
+
+// FPGA → Arduino
+
+// Erreur quelconque
+#define F2AD_ERR 'E'
+struct __attribute__ ((packed)) F2AD_ERRs {
+    unsigned char code;
+};
+
+#define ERR_UNKNOWN_CODE 'C'
+
+// Récupère les valeur des encodeurs
+#define F2AI_CODER 'D'
+struct __attribute__ ((packed)) F2AI_CODERs {
+    int16_t left;
+    int16_t right;
+};
+
+// Récupère les valeur des capteurs de distance
+#define F2AI_CAPT 'C'
+struct __attribute__ ((packed)) F2AI_CAPTs {
+    uint16_t front;
+    uint16_t back;
+};
+
+// Récupère les valeur des capteurs de distance (trigger au supérieur)
+#define F2AT_CAPT 'c'
+// /!\ Structure de la requête de trigger (A→F). Les données seront envoyées avec F2AI_CAPT 
+struct __attribute__ ((packed)) F2AT_CAPTs { 
+    uint16_t front;
+    uint16_t back;
+};
+
+
+#endif

arduino/FreeRTOSConfig.h

@@ -85,13 +85,6 @@
 #define INCLUDE_xQueueGetMutexHolder    1
 // -- done
 
-// JF: added
-#define configUSE_TIMERS                        1
-#define configTIMER_TASK_PRIORITY               3
-#define configTIMER_QUEUE_LENGTH                10
-#define configTIMER_TASK_STACK_DEPTH            configMINIMAL_STACK_SIZE
-// -- done
-
 #define configUSE_PREEMPTION		1
 #define configUSE_IDLE_HOOK			0
 #define configUSE_TICK_HOOK			0

arduino/Makefile

@@ -29,7 +29,7 @@ FORMAT = ihex
 
 # Target file name (without extension).
 TARGET = principal
-OBJS = AC position movement debug
+OBJS = AC AF position movement debug
 
 # Custom
 NAME = $(TARGET).c
@@ -78,7 +78,7 @@ LDFLAGS = -Wl,-Map=$(TARGET).map,--cref
 # Type: avrdude -c ?
 # to get a full listing.
 #
-AVRDUDE_PROGRAMMER = stk500
+AVRDUDE_PROGRAMMER = wiring
 
 AVRDUDE_PORT = /dev/ttyACM0	   # programmer connected to serial device
 

arduino/debug.c

@@ -8,7 +8,7 @@
 void TaskDebug(void *pvParameters) {
     (void) pvParameters;
     for (;;) {
-        vTaskSuspend(tDebug);
+        ulTaskNotifyTake(pdFALSE, portMAX_DELAY);
 
         // Copie des valeurs à envoyer en debug
         memcpy((void*) &debug.actuel, (const void*) &actuel, (unsigned long) sizeof(actuel));
@@ -21,12 +21,12 @@ void TaskDebug(void *pvParameters) {
 }
 
 void onA2CI_DBG() {
-    vTaskResume(tDebug);
+    vTaskNotifyGiveFromISR(tDebug, NULL);
 }
 
 
 void configureDebug() {
-    registerRxHandler(A2CI_DBG, onA2CI_DBG);
+    registerRxHandlerAC(A2CI_DBG, onA2CI_DBG);
     xTaskCreate(TaskDebug, "Debug", 128, NULL, 10, &tDebug);;
 }
 

arduino/movement.c

@@ -1,4 +1,5 @@
 #include "movement.h"
+#include "position.h"
 #include "AC.h"
 
 void TaskMovement(void *pvParameters) {
@@ -6,19 +7,25 @@ void TaskMovement(void *pvParameters) {
     TickType_t xLastWakeTime;
     TickType_t xFrequency = 100 / portTICK_PERIOD_MS;
 
-    vTaskSuspend(tMovement); // Mettre en veille jusqu'à l'arrivée de la prochaine instruction
+    ulTaskNotifyTake(pdFALSE, portMAX_DELAY); // Mettre en veille jusqu'à l'arrivée de la prochaine instruction
     xLastWakeTime = xTaskGetTickCount();
     for (;;) {
 
         // TODO Ici ira le code qui changera les valeurs des moteurs
         vTaskDelayUntil(&xLastWakeTime, 1000 / portTICK_PERIOD_MS);
 
+        if (movement == C2AD_GOTO) {
+            actuel.x = destination.x;
+            actuel.y = destination.y;
+            actuel.o = destination.o;
+        }
+
         if (true) { // Arrivé à destination
             sendAC(movement, NULL, 0); // On rapporte au chef qu'on a terminé l'action en cours
-            // Mettre en brake
+            // TODO Mettre en brake
+            movement = C2AD_STOP;
 
-            // Envoi du message de bonne réception
-            vTaskSuspend(tMovement); // Mettre en veille jusqu'à l'arrivée de la prochaine instruction
+            ulTaskNotifyTake(pdFALSE, portMAX_DELAY); // Mettre en veille jusqu'à l'arrivée de la prochaine instruction
             xLastWakeTime = xTaskGetTickCount();
         } else {
             vTaskDelayUntil(&xLastWakeTime, xFrequency);
@@ -28,13 +35,13 @@ void TaskMovement(void *pvParameters) {
 
 void onC2AD_STOP() {
     movement = C2AD_STOP;
-    vTaskResume(tMovement);
+    vTaskNotifyGiveFromISR(tMovement, NULL);
 }
 
 void onC2AD_GOTO() {
     movement = C2AD_GOTO;
     readAC(&destination, sizeof(struct C2AD_GOTOs));
-    vTaskResume(tMovement);
+    vTaskNotifyGiveFromISR(tMovement, NULL);
 }
 
 
@@ -43,8 +50,8 @@ void configureMovement() {
 
     movement = C2AD_STOP;
 
-    registerRxHandler(C2AD_STOP, onC2AD_STOP);
-    registerRxHandler(C2AD_GOTO, onC2AD_GOTO);
+    registerRxHandlerAC(C2AD_STOP, onC2AD_STOP);
+    registerRxHandlerAC(C2AD_GOTO, onC2AD_GOTO);
 
     xTaskCreate(TaskMovement, "Movement", 128, NULL, 2, &tMovement);;
 }

arduino/position.c

@@ -6,7 +6,7 @@ void TaskPosition(void *pvParameters) {
     TickType_t xLastWakeTime;
     TickType_t xFrequency = 100 / portTICK_PERIOD_MS;
 
-    vTaskSuspend(tPosition); // TODO Dummy
+    ulTaskNotifyTake(pdFALSE, portMAX_DELAY); // TODO Dummy
     xLastWakeTime = xTaskGetTickCount();
     for (;;) {
         vTaskDelayUntil(&xLastWakeTime, xFrequency);
@@ -16,6 +16,10 @@ void TaskPosition(void *pvParameters) {
 
 
 void configurePosition() {
+    actuel.x = 0;
+    actuel.y = 0;
+    actuel.o = 90;
+
     xTaskCreate(TaskPosition, "Position", 128, NULL, 2, &tPosition);;
 }
 

arduino/principal.c

@@ -4,16 +4,15 @@
 #include <task.h>
 
 #include "AC.h"
+#include "AF.h"
 #include "position.h"
 #include "movement.h"
 #include "debug.h"
 
-unsigned char speed = 200;
-
 void TaskBlink(void *pvParameters) {
     (void) pvParameters;
     TickType_t xLastWakeTime;
-    TickType_t xFrequency = speed / portTICK_PERIOD_MS;
+    TickType_t xFrequency = 200 / portTICK_PERIOD_MS;
 
     DDRB = 0xFF;
 
@@ -26,6 +25,7 @@ void TaskBlink(void *pvParameters) {
 
 int main(void) {
     configureAC(); // Doit rester en premier :)
+    configureAF(); // Doit rester en premier :)
     configureMovement();
     configurePosition();
     configureDebug();

chef/Makefile

@@ -5,7 +5,7 @@ CC=gcc
 # Bibliothèques
 LIBS=
 ## Drapeaux pour le linker
-LDFLAGS=
+LDFLAGS=-lpthread
 ## Drapeaux pour le compilateur
 CFLAGS=
 ## Générateurs de drapeaux pour les bibliothèques
@@ -37,7 +37,7 @@ endif
 default: bin/testpin bin/premier
 
 # Binaires (dont il faut spécifier les objets explicitement)
-bin/premier: obj/common.o obj/serial.o
+bin/premier: obj/CA.o obj/debug.o obj/movement.o
 bin/testPin: obj/testPin.o
 	$(CC) $(LDFLAGS) $^ -lwiringPi -o $@
 

chef/src/CA.c

@@ -0,0 +1,178 @@
+#include "CA.h"
+#include <fcntl.h>   // O_*
+#include <stdio.h>   // printf...
+#include <stdlib.h>  // stuff
+#include <string.h>  // memcpy
+#include <strings.h> // bzero
+#include <unistd.h>  // read(), write()...
+
+void printData(void* data, size_t size)
+{
+    printf(" ");
+    unsigned char* p = data;
+    for (size_t i = 0; i < size; i++) {
+        if (*p >= ' ' && *p <= '~') {
+            printf("  %c", *p);
+        } else {
+            printf(" %02x", *p);
+        }
+        p++;
+    }
+    printf("\n");
+}
+
+void configureArduino()
+{
+    // Connection au port série
+    printf("Connexion à %s... ", ARDUINO_PORTNAME);
+    arduino = open(ARDUINO_PORTNAME, O_RDWR | O_NOCTTY | O_NDELAY);
+    if (arduino < 0) {
+        printf("Échec !\n");
+        exit(1);
+    }
+
+    // Configuration du port série
+    struct termios cfg;
+    bzero(&cfg, sizeof(cfg));
+    cfg.c_cflag = CLOCAL | CREAD | CA_BAUDRATE | CS8;
+    cfg.c_iflag = 0;
+    cfg.c_oflag = 0;
+    cfg.c_lflag = 0;     /* set input mode (non-canonical, no echo,...) */
+    cfg.c_cc[VTIME] = 0; /* inter-character timer unused */
+    cfg.c_cc[VMIN] = 1;  /* blocking read until 1 char received */
+    if (tcsetattr(arduino, TCSANOW, &cfg) < 0) {
+        perror("serialConfig.tcsetattr");
+        exit(1);
+    }
+
+    sleep(1);
+
+    // Flush
+    unsigned char trash[1024];
+    read(arduino, &trash, sizeof(trash));
+
+    printf("OK!\n");
+}
+
+void deconfigureArduino()
+{
+    close(arduino);
+    printf("Déconnecté\n");
+}
+
+void registerRxHandler(unsigned char code, rxHandler handler)
+{
+    rxHandlersAC[code] = handler;
+}
+
+void* TaskReaderAC(void* pdata)
+{
+    (void)pdata;
+    unsigned char code;
+    for (;;) {
+        code = readByteCA();
+
+#ifdef PRINTRAWDATA
+        printf("↓");
+        printData(&code, sizeof(code));
+#endif
+        rxHandler handler = rxHandlersAC[code];
+        if (handler != NULL) {
+            handler();
+        } else {
+            printf("Code inconnu: %x (%c)\n", code, code);
+        }
+    }
+    return NULL;
+}
+
+void onA2CD_ERR()
+{
+    struct A2CD_ERRs s;
+    readCA(&s, sizeof(struct A2CD_ERRs));
+    printf("Erreur reçue : %c (%2x)\n", s.code, s.code);
+}
+
+void configureCA()
+{
+    configureArduino();
+    for (int i = 0; i < 256; i++) {
+        rxHandlersAC[i] = NULL;
+    }
+
+    pthread_mutex_init(&sSendCA, NULL);
+    pthread_create(&tReaderAC, NULL, TaskReaderAC, NULL);
+    registerRxHandler(A2CD_ERR, onA2CD_ERR);
+}
+
+void deconfigureCA()
+{
+    deconfigureArduino();
+}
+
+void sendByteCA(unsigned char data)
+{
+    write(arduino, &data, sizeof(data));
+
+#ifdef PRINTRAWDATA
+    printf("↑");
+    printData(&data, sizeof(data));
+#endif
+}
+
+void sendCA(unsigned char code, void* data, size_t size)
+{
+    pthread_mutex_lock(&sSendCA);
+
+    sendByteCA(code);
+    if (size > 0) {
+        unsigned char* p = data;
+        for (size_t i = 0; i < size; i++) {
+            write(arduino, p, sizeof(unsigned char));
+            p++;
+        }
+        // Envoyer plus d'un octet d'un coup curieusement il aime pas ça du tout
+    }
+    pthread_mutex_unlock(&sSendCA);
+
+#ifdef PRINTRAWDATA
+    if (size > 0) {
+        printf("↑");
+        printData(data, size);
+    }
+#endif
+}
+
+unsigned char readByteCA()
+{
+    unsigned char c;
+
+    while (read(arduino, &c, sizeof(c)) < 1) {
+        sleep(0);
+    }
+    return c;
+
+#ifdef PRINTRAWDATA
+    printf("↓");
+    printData(&c, sizeof(c));
+#endif
+}
+
+void readCA(void* data, size_t size)
+{
+    size_t remaining = size;
+    int justRead;
+    char* p = data;
+    do {
+        justRead = read(arduino, p, remaining);
+        if (justRead > 0) {
+            p += justRead;
+            remaining -= justRead;
+        }
+    } while (remaining > 0);
+
+#ifdef PRINTRAWDATA
+    printf("↓");
+    printData(data, size);
+#endif
+}

chef/src/CA.h

@@ -0,0 +1,29 @@
+#ifndef __AC_H_
+#define __AC_H_
+
+#include <sys/ioctl.h>
+#include <pthread.h>
+#include <termios.h> // baudrates
+
+#include "ACsignals.h"
+
+#define ARDUINO_PORTNAME "/dev/ttyACM0"
+#define CA_BAUDRATE B9600
+// #define PRINTRAWDATA
+
+int arduino;
+pthread_mutex_t sSendCA;
+pthread_t tReaderAC;
+
+typedef void (*rxHandler)(void);
+rxHandler rxHandlersAC[256];
+
+void registerRxHandler(unsigned char code, rxHandler handler); // À utiliser après configureCA();
+void sendByteCA(unsigned char data); // Privé
+void sendCA(unsigned char code, void* data, size_t size);
+unsigned char readByteCA(); // À utiliser uniquement depuis un rxHandler
+void readCA(void* data, size_t size); // À utiliser uniquement depuis un rxHandler
+void configureCA();
+void deconfigureCA();
+
+#endif

chef/src/common.c

@@ -1 +0,0 @@
-#include "common.h"

chef/src/common.h

@@ -1,10 +0,0 @@
-#ifndef __COMMON_H_
-#define __COMMON_H_
-
-#include <stdlib.h>
-#include <stdio.h>
-
-#define SIGNAL_AVANCER 42
-
-#endif
-

chef/src/debug.c

@@ -0,0 +1,52 @@
+#include "debug.h"
+#include <stdio.h>
+#include <unistd.h> // sleep
+
+void* TaskDebug(void* pdata)
+{
+    (void)pdata;
+    struct timespec tim;
+    /* tim.tv_sec = 0; */
+    /* tim.tv_nsec = 100000000L; */
+    tim.tv_sec = 1;
+    tim.tv_nsec = 0;
+
+    for (;;) {
+        nanosleep(&tim, NULL);
+        sendCA(A2CI_DBG, NULL, 0);
+    }
+
+    return NULL;
+}
+
+void printDebugInfos(struct A2CI_DBGs* debug)
+{
+    printf("← Position actuelle (%f; %f) (%f°)", debug->actuel.x, debug->actuel.y, debug->actuel.o);
+    printf(", destination : ");
+    if (debug->movement == C2AD_STOP) {
+        printf("aucune\n");
+    } else {
+        printf("(%f; %f) (%f°)\n", debug->destination.x, debug->destination.y, debug->destination.o);
+    }
+}
+
+void onA2CI_DBG()
+{
+    readCA(&debug, sizeof(struct A2CI_DBGs));
+    printDebugInfos(&debug);
+}
+
+void configureDebug()
+{
+    registerRxHandler(A2CI_DBG, onA2CI_DBG);
+#ifdef REGULARREPORTS
+    pthread_create(&tDebug, NULL, TaskDebug, NULL);
+#endif
+}
+
+void deconfigureDebug()
+{
+#ifdef REGULARREPORTS
+    pthread_cancel(tDebug);
+#endif
+}

chef/src/debug.h

@@ -0,0 +1,16 @@
+#ifndef __DEBUG_H_
+#define __DEBUG_H_
+
+#include <pthread.h>
+#include "CA.h"
+#define REGULARREPORTS
+
+struct A2CI_DBGs debug;
+pthread_t tDebug;
+
+void* TaskDebug(void *pdata);
+void onA2CI_DBG();
+void configureDebug();
+void deconfigureDebug();
+
+#endif

chef/src/movement.c

@@ -0,0 +1,55 @@
+#include "movement.h"
+#include "CA.h"
+#include <stdbool.h>
+#include <stdio.h>
+#include <stdlib.h>
+
+void onC2AD_STOP()
+{
+    // On considère que l'arrêt se fait très rapidement pour ne pas
+    // avoir à attendre le signal de retour de C2AD_STOP
+}
+
+void stop()
+{
+    printf("→ Arrêt\n");
+    sendCA(C2AD_STOP, NULL, 0);
+    registerRxHandler(C2AD_STOP, onC2AD_STOP);
+}
+
+// Inspiré de https://stackoverflow.com/a/1760819
+pthread_mutex_t reponseMutex = PTHREAD_MUTEX_INITIALIZER;
+pthread_cond_t reponseCond = PTHREAD_COND_INITIALIZER;
+bool attenteReponse = false;
+
+void onC2AD_GOTO()
+{
+    pthread_mutex_lock(&reponseMutex);
+    attenteReponse = false;
+    pthread_cond_signal(&reponseCond);
+    pthread_mutex_unlock(&reponseMutex);
+}
+
+void aller(struct position* pos)
+{
+    printf("→ Déplacement vers (%f; %f) (%f°)\n", pos->x, pos->y, pos->o);
+
+    if (attenteReponse) {
+        printf("Déjà en déplacement !\n");
+        exit(EXIT_FAILURE);
+    }
+    attenteReponse = true;
+
+    registerRxHandler(C2AD_GOTO, onC2AD_GOTO);
+    sendCA(C2AD_GOTO, (struct C2AD_GOTOs*)pos, sizeof(struct C2AD_GOTOs));
+
+    pthread_mutex_lock(&reponseMutex);
+    while (attenteReponse) {
+        pthread_cond_wait(&reponseCond, &reponseMutex);
+    }
+    pthread_mutex_unlock(&reponseMutex);
+
+    registerRxHandler(C2AD_GOTO, NULL);
+
+    printf("← Arrivé à destination\n");
+}

chef/src/movement.h

@@ -0,0 +1,9 @@
+#ifndef __MOVEMENT_H_
+#define __MOVEMENT_H_
+
+#include "CA.h"
+
+void stop();
+void aller(struct position* pos);
+
+#endif

chef/src/premier.c

@@ -1,15 +1,59 @@
-#include "premier.h"
+#include <stdlib.h>
+#include <stdio.h>
+#include <time.h> // random seed
+#include <pthread.h>
+#include <unistd.h> // sleep
 
-#include "serial.h"
+#include "CA.h"
+#include "movement.h"
+#include "debug.h"
+
+#define TEMPSMAX 10
+
+void* TaskParcours(void *pdata)
+{
+    (void) pdata;
+
+    struct position pos;
+    for (;;) {
+        pos.x = (int) (rand()*200.0/RAND_MAX);
+        pos.y = (int) (rand()*100.0/RAND_MAX);
+        pos.o = (int) (rand()*360.0/RAND_MAX);
+        aller(&pos);
+        sleep(1);
+        stop();
+        sleep(2);
+    }
+
+    printf("Fin du parcours\n");
+    return NULL;
+}
 
 int main()
 {
-    unsigned char g;
+
+    printf("Démarrage...\n");
     configureCA();
-    sendByteCA('c');
-    while ((g = readByteCA())) {
-        printf("%c\n", g);
-    }
+    configureDebug();
+    srand(time(NULL));
+
+    /* printf("Synchronisation avec le Raspberry Pi\n"); // TODO */
+
+    /* printf("En attente de la tirette...\n"); // TODO */
+    printf("C'est parti !\n");
+
+    pthread_t tParcours;
+    pthread_create(&tParcours, NULL, TaskParcours, NULL);
+
+    sleep(TEMPSMAX);
+
+    printf("Fin des %d secondes\n", TEMPSMAX);
+    /* pthread_cancel(tParcours); */
+
+
+    /* stop(); */
+    /*  */
+    deconfigureDebug();
     deconfigureCA();
-    return 0;
+    return EXIT_SUCCESS;
 }

chef/src/premier.h

@@ -1,5 +0,0 @@
-#ifndef __PREMIER_H_
-
-#include "common.h"
-
-#endif

chef/src/serial.c

@@ -1,58 +0,0 @@
-#include "serial.h"
-#include <stdio.h> // printf...
-#include <stdlib.h> // stuff
-#include <unistd.h> // read(), write()...
-#include <fcntl.h> // O_*
-#include <strings.h> // bzero
-
-#include "common.h"
-
-void configureCA()
-{
-    // Connection au port série
-    printf("Connexion à %s... ", ARDUINO_PORTNAME);
-    arduino = open(ARDUINO_PORTNAME, O_RDWR | O_NOCTTY | O_NDELAY);
-    if (arduino < 0) {
-        printf("Échec !\n");
-        exit(1);
-    }
-
-    // Configuration du port série
-    struct termios cfg;
-    bzero(&cfg, sizeof(cfg));
-    cfg.c_cflag = CLOCAL | CREAD | CA_BAUDRATE | CS8;
-    cfg.c_iflag = 0;
-    cfg.c_oflag = 0;
-    cfg.c_lflag = 0;     /* set input mode (non-canonical, no echo,...) */
-    cfg.c_cc[VTIME] = 0; /* inter-character timer unused */
-    cfg.c_cc[VMIN] = 1;  /* blocking read until 1 char received */
-    if (tcsetattr(arduino, TCSANOW, &cfg) < 0) {
-        perror("serialConfig.tcsetattr");
-        exit(1);
-    }
-
-    sleep(1);
-
-    printf("OK!\n");
-}
-
-void deconfigureCA() {
-    close(arduino);
-}
-
-void sendByteCA(unsigned char data) {
-    write(arduino, &data, sizeof(data));
-}
-
-void sendCA(unsigned char code, void* data, size_t size)
-{
-    sendByteCA(code);
-    write(arduino, data, size);
-}
-
-unsigned char readByteCA() {
-    unsigned char c;
-    while (read(arduino, &c, sizeof(c)) < 1) {
-    }
-    return c;
-}

chef/src/serial.h

@@ -1,19 +0,0 @@
-#ifndef __SERIAL_H_
-#define __SERIAL_H_
-
-#include <sys/ioctl.h>
-#include <termios.h> // baudrates
-
-#include "ACsignals.h"
-
-#define ARDUINO_PORTNAME "/dev/ttyACM0"
-#define CA_BAUDRATE B9600
-
-int arduino;
-
-void configureCA();
-void deconfigureCA();
-void sendByteCA(unsigned char data);
-unsigned char readByteCA();
-
-#endif