Merge branch 'master' of https://git.etud.insa-toulouse.fr/alartigu/Temps_Reel_Robot

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

@@ -7,12 +7,9 @@
     <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_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/tasks.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/lib/comrobot.cpp</file>
-            <file>file:/home_pers/pehladik/dumber/software/raspberry/superviseur-robot/tasks.h</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/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

@@ -97,6 +97,11 @@ 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;
 
     /**************************************************************************************/
@@ -224,6 +229,7 @@ void Tasks::ServerTask(void *arg) {
     /**************************************************************************************/
     /* The task server starts here                                                        */
     /**************************************************************************************/
+    while(1){
         rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
         status = monitor.Open(SERVER_PORT);
         rt_mutex_release(&mutex_monitor);
@@ -236,6 +242,9 @@ void Tasks::ServerTask(void *arg) {
         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);
+    }
+
 }
 
 /**
@@ -341,7 +350,9 @@ void Tasks::OpenComRobot(void *arg) {
     /* The task openComRobot starts here                                                  */
     /**************************************************************************************/
     while (1) {
-        rt_sem_p(&sem_openComRobot, TM_INFINITE);
+        Message * msg;
+        msg=ReadInQueue(&q_messageComRobot); 
+        if(msg->CompareID(MESSAGE_ROBOT_COM_OPEN)){
             cout << "Open serial com (";
             rt_mutex_acquire(&mutex_robot, TM_INFINITE);
             status = robot.Open();
@@ -356,6 +367,25 @@ void Tasks::OpenComRobot(void *arg) {
                 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);
+        //rt_sem_p(&sem_openComRobot, TM_INFINITE);
+        
     }
 }