From f76171f0b31f6337cf4b769b9fc3632febef38d8 Mon Sep 17 00:00:00 2001
From: moukhlis <moukhlis@etud.insa-toulouse.fr>
Date: Mon, 15 Mar 2021 10:20:40 +0100
Subject: [PATCH] Definition des threads, des mutex, semaphores et messagequeue

---
 software/raspberry/superviseur-robot/tasks.cpp | 18 ++++++++++++++++--
 software/raspberry/superviseur-robot/tasks.h   | 14 +++++++++++++-
 2 files changed, 29 insertions(+), 3 deletions(-)

diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 2094c5d..126e0b9 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -28,6 +28,8 @@
 #define PRIORITY_TCAMERA 21
 #define PRIORITY_TBATTERY 31
 
+
+
 /*
  * Some remarks:
  * 1- This program is mostly a template. It shows you how to create tasks, semaphore
@@ -137,8 +139,21 @@ void Tasks::Init() {
         cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
+    if ((err = rt_queue_create(&q_messageComRobot, "q_messageComRobot", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
+        cerr << "Error messageComRobot queue create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    
+    if ((err = rt_queue_create(&q_messageControlRobot, "q_messageControlRobot", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
+        cerr << "Error messageControlRobot queue create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
+    
+    if ((err = rt_queue_create(&q_messageControlCam, "q_messageControlCam", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
+        cerr << "Error messageControlCam queue create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    } 
     cout << "Queues created successfully" << endl << flush;
-
 }
 
 /**
@@ -455,7 +470,6 @@ void Tasks::ReadBattery(void *arg){
                 monitor.Write(msg);
                 rt_mutex_release(&mutex_monitor);
             }
-             
         }
        
         cout << endl << flush;
diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h
index 4176b3d..d042d1c 100644
--- a/software/raspberry/superviseur-robot/tasks.h
+++ b/software/raspberry/superviseur-robot/tasks.h
@@ -77,6 +77,9 @@ private:
     RT_TASK th_startRobot;
     RT_TASK th_move;
     RT_TASK th_getBattery;
+    RT_TASK th_watchDog;
+    RT_TASK th_controlCamera;
+    RT_TASK th_picture;
     
     /**********************************************************************/
     /* Mutex                                                              */
@@ -85,7 +88,10 @@ private:
     RT_MUTEX mutex_robot;
     RT_MUTEX mutex_robotStarted;
     RT_MUTEX mutex_move;
-
+    
+    RT_MUTEX mutex_camera;
+    RT_MUTEX mutex_controlStruct;
+    
     /**********************************************************************/
     /* Semaphores                                                         */
     /**********************************************************************/
@@ -93,6 +99,8 @@ private:
     RT_SEM sem_openComRobot;
     RT_SEM sem_serverOk;
     RT_SEM sem_startRobot;
+    
+    
 
     /**********************************************************************/
     /* Message queues                                                     */
@@ -100,6 +108,10 @@ private:
     int MSG_QUEUE_SIZE;
     RT_QUEUE q_messageToMon;
     
+    RT_QUEUE q_messageComRobot;
+    RT_QUEUE q_messageControlRobot;
+    RT_QUEUE q_messageControlCam;
+    
     /**********************************************************************/
     /* Tasks' functions                                                   */
     /**********************************************************************/