rover/src/tasks/webserver_motordrive_task.cpp

/*
 * Copyright (c) 2017 FH Dortmund and others
 * All rights reserved. This program and the accompanying materials
 * are made available under the terms of the Eclipse Public License v1.0
 * which accompanies this distribution, and is available at
 * http://www.eclipse.org/legal/epl-v10.html
 *
 * Description:
 *    Communicating with web server back-end via file access
 *
 *    In order to drive your rover via web page, please follow instructions from:
 *       https://gitlab.pimes.fh-dortmund.de/RPublic/RoverWeb/raw/master/documentation/RoverWebpageDocumentation.pdf
 *
 * Authors:
 *    M. Ozcelikors,            R.Hottger
 *    <mozcelikors@gmail.com>   <robert.hoettger@fh-dortmund.de>
 *
 * Contributors:
 *
 * Update History:
 *    02.02.2017   -    first compilation
 *    15.03.2017   -    updated tasks for web-based driving
 *
 */

#include "webserver_motordrive_task.h"

#include <string.h>
#include <ctime>
#include <wiringPi.h>
#include <unistd.h>
#include "../api/basic_psys_rover.h"
#include "../interfaces.h"
#include "../timing/timing.h"
#include <pthread.h>
#include "../RaspberryTest.h"
#include <softPwm.h>

#include "../pthread_monitoring/collect_thread_name.h"

#include <iostream>
#include <fstream>

void *WebServer_MotorDrive_Task(void * arg)
{
	timing webserver_motordrive_task_tmr;

	CollectThreadName("WebServer_MotorDrive_Task");

	webserver_motordrive_task_tmr.setTaskID("Web");
	webserver_motordrive_task_tmr.setDeadline(0.05);
	webserver_motordrive_task_tmr.setPeriod(0.05);

	FILE *fp;
	char ch;

	while(1)
	{
		webserver_motordrive_task_tmr.recordStartTime();
		webserver_motordrive_task_tmr.calculatePreviousSlackTime();

		//Task content starts here -----------------------------------------------
		fp = fopen("/var/www/html/ROVER_CMD.inc", "r");
		ch = fgetc (fp);
		pthread_mutex_lock(&keycommand_lock);
		keycommand_shared = tolower(ch);
		pthread_mutex_unlock(&keycommand_lock);
		fclose(fp);

		std::fstream myfile("/var/www/html/ROVER_SPEED.inc", std::ios_base::in);
		pthread_mutex_lock(&speed_lock);
		myfile >> speed_shared;
		pthread_mutex_unlock(&speed_lock);
		myfile.close();
		//Task content ends here -------------------------------------------------

		webserver_motordrive_task_tmr.recordEndTime();
		webserver_motordrive_task_tmr.calculateExecutionTime();
		webserver_motordrive_task_tmr.calculateDeadlineMissPercentage();
		webserver_motordrive_task_tmr.incrementTotalCycles();
		pthread_mutex_lock(&webserver_motordrive_task_ti_l);
			webserver_motordrive_task_ti.deadline = webserver_motordrive_task_tmr.getDeadline();
			webserver_motordrive_task_ti.deadline_miss_percentage = webserver_motordrive_task_tmr.getDeadlineMissPercentage();
			webserver_motordrive_task_ti.execution_time = webserver_motordrive_task_tmr.getExecutionTime();
			webserver_motordrive_task_ti.period = webserver_motordrive_task_tmr.getPeriod();
			webserver_motordrive_task_ti.prev_slack_time = webserver_motordrive_task_tmr.getPrevSlackTime();
			webserver_motordrive_task_ti.task_id = webserver_motordrive_task_tmr.getTaskID();
			webserver_motordrive_task_ti.start_time = webserver_motordrive_task_tmr.getStartTime();
			webserver_motordrive_task_ti.end_time = webserver_motordrive_task_tmr.getEndTime();
		pthread_mutex_unlock(&webserver_motordrive_task_ti_l);
		webserver_motordrive_task_tmr.sleepToMatchPeriod();

	}
}