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@@ -28,6 +28,8 @@
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28
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28
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#define PRIORITY_TCAMERA 21
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#define PRIORITY_TBATTERY 31
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30
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30
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31
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+
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32
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+
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31
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33
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/*
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* Some remarks:
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* 1- This program is mostly a template. It shows you how to create tasks, semaphore
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@@ -137,8 +139,21 @@ void Tasks::Init() {
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cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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139
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}
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+ if ((err = rt_queue_create(&q_messageComRobot, "q_messageComRobot", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
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+ cerr << "Error messageComRobot queue create: " << strerror(-err) << endl << flush;
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+ exit(EXIT_FAILURE);
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+ }
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+
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+ if ((err = rt_queue_create(&q_messageControlRobot, "q_messageControlRobot", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
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148
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+ cerr << "Error messageControlRobot queue create: " << strerror(-err) << endl << flush;
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149
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+ exit(EXIT_FAILURE);
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+ }
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+
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+ if ((err = rt_queue_create(&q_messageControlCam, "q_messageControlCam", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
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+ cerr << "Error messageControlCam queue create: " << strerror(-err) << endl << flush;
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+ exit(EXIT_FAILURE);
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+ }
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cout << "Queues created successfully" << endl << flush;
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-
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}
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/**
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@@ -455,7 +470,6 @@ void Tasks::ReadBattery(void *arg){
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470
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monitor.Write(msg);
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456
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rt_mutex_release(&mutex_monitor);
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}
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-
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}
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474
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cout << endl << flush;
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