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Code Issues Releases Wiki Activity

Peut ignorer si l'Arduino n'est pas connecté

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This commit is contained in:
Geoffrey Frogeye 2018-05-09 00:59:23 +02:00
parent f0778e621f
commit de62a72457
1 changed files with 30 additions and 17 deletions
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47
chef/src/actionneurs.c
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@ -1,10 +1,14 @@
// Robotech Lille 2017-2018
#include "actionneurs.h"
#include <stdio.h>
#include <stdlib.h>
#include "CA.h"
#include "actionneurs.h"
pthread_mutex_t receptionActionMutex;
pthread_cond_t receptionActionCond;
bool actionneursConfigured = false;
// On fait un truc de malpropre : étant donné que l'Arduino
// peut faire qu'une seule tache à la fois on suppose que le
@ -12,6 +16,8 @@ pthread_cond_t receptionActionCond;
void configureActionneurs()
{
actionneursConfigured = true;
configureCA();
pthread_mutex_init(&receptionActionMutex, NULL);
pthread_cond_init(&receptionActionCond, NULL);
resetActionneurs();
@ -26,15 +32,15 @@ void setPositionBalle(enum positionBalle pos)
{
unsigned char code;
switch (pos) {
case attente:
code = C2AD_POS_BALLE_ATTENTE;
break;
case ejection:
code = C2AD_POS_BALLE_EJECTION;
break;
case evacuation:
code = C2AD_POS_BALLE_EVACUATION;
break;
case attente:
code = C2AD_POS_BALLE_ATTENTE;
break;
case ejection:
code = C2AD_POS_BALLE_EJECTION;
break;
case evacuation:
code = C2AD_POS_BALLE_EVACUATION;
break;
}
attendAction(code);
}
@ -64,7 +70,6 @@ void setPropulsion(bool state)
attendAction(state ? C2AD_PROPULSION_ON : C2AD_PROPULSION_OFF);
}
void resetActionneurs()
{
setLoquet(false);
@ -87,14 +92,22 @@ void receptionAction()
void attendAction(unsigned char code)
{
pthread_mutex_lock(&receptionActionMutex);
registerRxHandlerCA(code, receptionAction);
sendCA(code, NULL, 0);
pthread_cond_wait(&receptionActionCond, &receptionActionMutex);
pthread_mutex_unlock(&receptionActionMutex);
if (actionneursConfigured) {
pthread_mutex_lock(&receptionActionMutex);
registerRxHandlerCA(code, receptionAction);
sendCA(code, NULL, 0);
pthread_cond_wait(&receptionActionCond, &receptionActionMutex);
pthread_mutex_unlock(&receptionActionMutex);
} else {
fprintf(stderr, "Action demandée sans Arduino configuré\n");
}
}
void deconfigureActionneurs()
{
stopActionneurs();
if (actionneursConfigured) {
stopActionneurs();
deconfigureCA();
actionneursConfigured = false;
}
}