Leonie Gallois 3 years ago
parent
commit
eb02897a06

+ 3
- 6
software/raspberry/superviseur-robot/nbproject/private/private.xml View File

@@ -7,12 +7,9 @@
7 7
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
8 8
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
9 9
         <group>
10
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
11
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
12
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</file>
13
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
14
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
15
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
10
+            <file>file:/home/gallois/Documents/insa4/S2/robot/Temps_Reel_Robot/software/raspberry/superviseur-robot/tasks.cpp</file>
11
+            <file>file:/home/gallois/Documents/insa4/S2/robot/Temps_Reel_Robot/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
12
+            <file>file:/home/gallois/Documents/insa4/S2/robot/Temps_Reel_Robot/software/raspberry/superviseur-robot/tasks.h</file>
16 13
         </group>
17 14
     </open-files>
18 15
 </project-private>

+ 58
- 27
software/raspberry/superviseur-robot/tasks.cpp View File

@@ -97,6 +97,11 @@ void Tasks::Init() {
97 97
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
98 98
         exit(EXIT_FAILURE);
99 99
     }
100
+    if (err = rt_sem_create(&sem_restartServer, NULL, 0, S_FIFO)) {
101
+        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
102
+        exit(EXIT_FAILURE);
103
+    }
104
+    
100 105
     cout << "Semaphores created successfully" << endl << flush;
101 106
 
102 107
     /**************************************************************************************/
@@ -224,18 +229,22 @@ void Tasks::ServerTask(void *arg) {
224 229
     /**************************************************************************************/
225 230
     /* The task server starts here                                                        */
226 231
     /**************************************************************************************/
227
-    rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
228
-    status = monitor.Open(SERVER_PORT);
229
-    rt_mutex_release(&mutex_monitor);
230
-
231
-    cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
232
-
233
-    if (status < 0) throw std::runtime_error {
234
-        "Unable to start server on port " + std::to_string(SERVER_PORT)
235
-    };
236
-    monitor.AcceptClient(); // Wait the monitor client
237
-    cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
238
-    rt_sem_broadcast(&sem_serverOk);
232
+    while(1){
233
+        rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
234
+        status = monitor.Open(SERVER_PORT);
235
+        rt_mutex_release(&mutex_monitor);
236
+
237
+        cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
238
+
239
+        if (status < 0) throw std::runtime_error {
240
+            "Unable to start server on port " + std::to_string(SERVER_PORT)
241
+        };
242
+        monitor.AcceptClient(); // Wait the monitor client
243
+        cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
244
+        rt_sem_broadcast(&sem_serverOk);
245
+        rt_sem_p(&sem_restartServer);
246
+    }
247
+
239 248
 }
240 249
 
241 250
 /**
@@ -287,7 +296,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
287 296
             delete(msgRcv);
288 297
             exit(-1);
289 298
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
290
-            rt_sem_v(&sem_openComRobot);
299
+            //rt_sem_v(&sem_openComRobot);
300
+            WriteInQueue(&q_messageComRobot, msgRcv); 
291 301
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
292 302
             rt_sem_v(&sem_startRobot);
293 303
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
@@ -319,21 +329,42 @@ void Tasks::OpenComRobot(void *arg) {
319 329
     /* The task openComRobot starts here                                                  */
320 330
     /**************************************************************************************/
321 331
     while (1) {
322
-        rt_sem_p(&sem_openComRobot, TM_INFINITE);
323
-        cout << "Open serial com (";
324
-        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
325
-        status = robot.Open();
326
-        rt_mutex_release(&mutex_robot);
327
-        cout << status;
328
-        cout << ")" << endl << flush;
329
-
330
-        Message * msgSend;
331
-        if (status < 0) {
332
-            msgSend = new Message(MESSAGE_ANSWER_NACK);
333
-        } else {
334
-            msgSend = new Message(MESSAGE_ANSWER_ACK);
332
+        Message * msg;
333
+        msg=ReadInQueue(&q_messageComRobot); 
334
+        if(msg->CompareID(MESSAGE_ROBOT_COM_OPEN)){
335
+            cout << "Open serial com (";
336
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
337
+            status = robot.Open();
338
+            rt_mutex_release(&mutex_robot);
339
+            cout << status;
340
+            cout << ")" << endl << flush;
341
+
342
+            Message * msgSend;
343
+            if (status < 0) {
344
+                msgSend = new Message(MESSAGE_ANSWER_NACK);
345
+            } else {
346
+                msgSend = new Message(MESSAGE_ANSWER_ACK);
347
+            }
348
+            WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
349
+        }else if(msg->CompareID(MESSAGE_ROBOT_COM_CLOSE)){
350
+            cout << "Close serial com (";
351
+            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
352
+            status = robot.Close();
353
+            rt_mutex_release(&mutex_robot);
354
+            cout << status;
355
+            cout << ")" << endl << flush;
356
+
357
+            Message * msgSend;
358
+            if (status < 0) {
359
+                msgSend = new Message(MESSAGE_ANSWER_NACK);
360
+            } else {
361
+                msgSend = new Message(MESSAGE_ANSWER_ACK);
362
+            }
363
+            WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
335 364
         }
336
-        WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
365
+        delete(msg);
366
+        //rt_sem_p(&sem_openComRobot, TM_INFINITE);
367
+        
337 368
     }
338 369
 }
339 370
 

Loading…
Cancel
Save