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re_task.cpp
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re_task.cpp
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#include "re_task.hpp"
cv::Mat frame[3];
int frame_index_write = 0;
int frame_index_read = 1;
int frame_index_read_ = 2;
// bool shutdown = false;
int SwapIndex(int *fi)
{
return *fi = (*fi + 1) % 3;
}
pthread_mutex_t frame_rw = PTHREAD_MUTEX_INITIALIZER; /* thread mutex
variable */
pthread_cond_t synch_condition = PTHREAD_COND_INITIALIZER; /*thread condition
variable*/
cv::VideoCapture capture(cv::CAP_ANY); /* open the default
camera */
// int lowThreshold = 0;
// const int max_lowThreshold = 100;
cv::Mat gray_capture;
cv::Mat detected_edges;
void CheckCapturingDevice()
{
if (!capture.isOpened()) /* check if the camera device is open */
{
std::cout << "Error opening video camera! " << std::endl;
exit(EXIT_FAILURE);
}
}
int TaskCreat()
{
int allocated_processor = 0;
rtmode_t my_modes;
int mode_res = rtmode_init(&my_modes, 2);
if (mode_res < 0)
{
std::cout << "Cannot create the mode manager!" << std::endl;
}
checkTaskCreation(StartTask(allocated_processor, &my_modes, CapturingImageTask));
allocated_processor++;
checkTaskCreation(StartTask(allocated_processor, &my_modes, DisplyingImageTask));
allocated_processor++;
checkTaskCreation(StartTask(allocated_processor, &my_modes, EdgeDetectionTask));
allocated_processor++;
// ptask_activate(0);
// ptask_activate_at(1, PER, MILLI);
// ptask_activate_at(2, PER, MILLI);
rtmode_changemode(&my_modes, MODE_ON);
int exit_char;
exit_char = getchar();
while (exit_char != ESC)
{
exit_char = getchar();
}
rtmode_changemode(&my_modes, MODE_OFF);
// shutdown = true;
return allocated_processor;
}
static int StartTask(int processor, rtmode_t *modes, void (*task_body)(void))
{
tpars params;
params = TASK_SPEC_DFL;
params.period = tspec_from(PER, MILLI);
params.priority = PRIORITY;
params.modes = modes;
params.mode_list[0] = MODE_ON;
params.mode_list[1] = MODE_OFF;
params.measure_flag = 1;
params.act_flag = DEFERRED;
params.processor = processor;
return ptask_create_param(task_body, ¶ms);
}
/*
Checking the tasks creation status
*/
int checkTaskCreation(int task_index)
{
if (task_index != -1)
{
std::cout << "The task " << task_index << " was created successfully"
<< std::endl;
return EXIT_SUCCESS;
}
else
{
std::cout << " ERROR! task not created !!!" << std::endl;
exit(EXIT_FAILURE);
}
}
/*
Display runing tasks information
*/
void DisplayTasksInstances(int job_id)
{
std::cout << "The job " << job_id << " of Task T" << ptask_get_index()
<< " is running on core " << sched_getcpu() << " at time : "
<< ptask_gettime(MILLI) << std::endl;
}
/*
The capturing task' body
*/
ptask CapturingImageTask()
{
ptask_wait_for_activation();
int task_job = 0;
while (1)
{
DisplayTasksInstances(task_job);
pthread_mutex_lock(&frame_rw);
capture.grab();
capture.retrieve(frame[frame_index_write], CHANNEL);
SwapIndex(&frame_index_write);
pthread_cond_broadcast(&synch_condition); /* After capturing the frame
signal the displaying task*/
pthread_mutex_unlock(&frame_rw);
ptask_wait_for_period();
task_job++;
}
}
/*
The displaying task' body
*/
ptask DisplyingImageTask()
{
ptask_wait_for_activation();
int task_job = 0;
while (1)
{
DisplayTasksInstances(task_job);
pthread_mutex_lock(&frame_rw);
pthread_cond_wait(&synch_condition, &frame_rw); /*wait for the capturing
func to send a signal*/
if (frame[frame_index_read].data)
{
cv::imshow(CAPTURED_IMAGE_WINDOW_NAME, frame[frame_index_read]);
SwapIndex(&frame_index_read);
cv::waitKey(1);
}
else
{
std::cout << "Frame reading error" << std::endl;
}
pthread_mutex_unlock(&frame_rw);
ptask_wait_for_period();
task_job++;
}
}
ptask EdgeDetectionTask()
{
ptask_wait_for_activation();
int task_job = 0;
while (1)
{
DisplayTasksInstances(task_job);
pthread_mutex_lock(&frame_rw);
pthread_cond_wait(&synch_condition, &frame_rw); /*wait for the capturing
func to send a signal*/
if (frame[frame_index_read_].data)
{
cv::cvtColor(frame[frame_index_read_], gray_capture, cv::COLOR_BGR2GRAY);
cv::blur(gray_capture, detected_edges, cv::Size(3, 3));
cv::Canny(detected_edges, detected_edges, 0, 100, 3);
cv::imshow(EDGE_IMAGE_WINDOW_NAME, detected_edges);
SwapIndex(&frame_index_read_);
cv::waitKey(1);
}
else
{
std::cout << "Frame reading error" << std::endl;
}
pthread_mutex_unlock(&frame_rw);
ptask_wait_for_period();
task_job++;
}
}
/*
Compute the worst case execution and average time
for the created tasks
*/
void TasksStatisticComputing(int nbr_tasks)
{
for (int task_index = 0; task_index < nbr_tasks; task_index++)
{
tspec wcet;
wcet = ptask_get_wcet(task_index);
tspec avg;
avg = ptask_get_avg(task_index);
std::cout << "Task " << task_index << " : WCET = " << tspec_to(&wcet, MILLI)
<< " AVG = " << tspec_to(&avg, MILLI) << " NINST = "
<< ptask_get_numinstances(task_index) << std::endl;
}
}