software/raspberry/superviseur-robot/nbproject/private/private.xml

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

software/raspberry/superviseur-robot/tasks.cpp

@@ -97,11 +97,6 @@ void Tasks::Init() {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_sem_create(&sem_restartServer, NULL, 0, S_FIFO)) {
-        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
-        exit(EXIT_FAILURE);
-    }
-    
     cout << "Semaphores created successfully" << endl << flush;
 
     /**************************************************************************************/
@@ -229,22 +224,18 @@ void Tasks::ServerTask(void *arg) {
     /**************************************************************************************/
     /* The task server starts here                                                        */
     /**************************************************************************************/
-    while(1){
+    rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
-        rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
+    status = monitor.Open(SERVER_PORT);
-        status = monitor.Open(SERVER_PORT);
+    rt_mutex_release(&mutex_monitor);
-        rt_mutex_release(&mutex_monitor);
 
-        cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
+    cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;
-
-        if (status < 0) throw std::runtime_error {
-            "Unable to start server on port " + std::to_string(SERVER_PORT)
-        };
-        monitor.AcceptClient(); // Wait the monitor client
-        cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
-        rt_sem_broadcast(&sem_serverOk);
-        rt_sem_p(&sem_restartServer);
-    }
 
+    if (status < 0) throw std::runtime_error {
+        "Unable to start server on port " + std::to_string(SERVER_PORT)
+    };
+    monitor.AcceptClient(); // Wait the monitor client
+    cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
+    rt_sem_broadcast(&sem_serverOk);
 }
 
 /**
@@ -350,42 +341,21 @@ void Tasks::OpenComRobot(void *arg) {
     /* The task openComRobot starts here                                                  */
     /**************************************************************************************/
     while (1) {
-        Message * msg;
+        rt_sem_p(&sem_openComRobot, TM_INFINITE);
-        msg=ReadInQueue(&q_messageComRobot); 
+        cout << "Open serial com (";
-        if(msg->CompareID(MESSAGE_ROBOT_COM_OPEN)){
+        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-            cout << "Open serial com (";
+        status = robot.Open();
-            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+        rt_mutex_release(&mutex_robot);
-            status = robot.Open();
+        cout << status;
-            rt_mutex_release(&mutex_robot);
+        cout << ")" << endl << flush;
-            cout << status;
-            cout << ")" << endl << flush;
 
-            Message * msgSend;
+        Message * msgSend;
-            if (status < 0) {
+        if (status < 0) {
-                msgSend = new Message(MESSAGE_ANSWER_NACK);
+            msgSend = new Message(MESSAGE_ANSWER_NACK);
-            } else {
+        } else {
-                msgSend = new Message(MESSAGE_ANSWER_ACK);
+            msgSend = new Message(MESSAGE_ANSWER_ACK);
-            }
-            WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
-        }else if(msg->CompareID(MESSAGE_ROBOT_COM_CLOSE)){
-            cout << "Close serial com (";
-            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
-            status = robot.Close();
-            rt_mutex_release(&mutex_robot);
-            cout << status;
-            cout << ")" << endl << flush;
-
-            Message * msgSend;
-            if (status < 0) {
-                msgSend = new Message(MESSAGE_ANSWER_NACK);
-            } else {
-                msgSend = new Message(MESSAGE_ANSWER_ACK);
-            }
-            WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
         }
-        delete(msg);
+        WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
-        //rt_sem_p(&sem_openComRobot, TM_INFINITE);
-        
     }
 }