Nettoyage du Code Gwen inc.

software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.4-xenomai-22

@@ -1,4 +1,4 @@
-#Thu Apr 13 16:52:14 CEST 2023
+#Thu Apr 13 17:09:29 CEST 2023
 /home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/README.md=c1681393207260
 /home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1681393207255
 /home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/LICENSE=c1681393207258
@@ -22,7 +22,7 @@
 /home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/.dep.inc=c1681393207120
 /home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1681393207321
 /home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1681393207272
-/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp=c1681397524403
+/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp=c1681398565600
 /home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.cpp=c1681393226950
 /home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1681393226960
 /home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/superviseur.doxygen=c1681393207355

software/raspberry/superviseur-robot/tasks.cpp

@@ -666,45 +666,55 @@ void Tasks::StartCameraTask(void *arg) {
     /**************************************************************************************/
     while (1) {
 
-        Message * msgSend;
         Message * msg;
         bool status;
         rt_sem_p(&sem_startCamera, TM_INFINITE);
-        cout << "Start Camera ";
+        cout << "Camera changed state " << endl << flush;
+        
         rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
         rt_mutex_acquire(&mutex_camera, TM_INFINITE);
         if(!cameraStarted){
+            
             status = camera->Open();
-            cout << "Camera Opened" << endl << flush; // Toggle a modifier ?
+            cout << "Camera Opened" << endl << flush;
+            
             rt_mutex_acquire(&mutex_image, TM_INFINITE);
             getImage = 1;
             rt_mutex_release(&mutex_image);
+            
         }else{
+            
             camera->Close();
-            status = true;
+            status = true; // camera->Close() does not return a status
+            cout << "Camera Closed" << endl << flush;
+            
+            
             rt_mutex_acquire(&mutex_image, TM_INFINITE);
             getImage = 0;
             rt_mutex_release(&mutex_image);
-            cout << "Camera Closed" << endl << flush;
+            
+            
         }
-
-        if(!status){
-            msgSend = new Message(MESSAGE_ANSWER_NACK);
-            WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
-            cout << msgSend->ToString() << endl << flush;
-            rt_mutex_release(&mutex_camera);
-            rt_mutex_release(&mutex_cameraStarted);
-            continue;
-        }
-        msg = new Message(MESSAGE_ANSWER_ACK);
-        cout << msg->ToString() << endl << flush;
-        cameraStarted = !cameraStarted;
-        cout << cameraStarted << endl << flush;
         rt_mutex_release(&mutex_camera);
+                
+        if(!status){
+            
+            msg = new Message(MESSAGE_ANSWER_NACK);
+            cout << msg->ToString() << endl << flush;
+            cout << "Camera failed to start" << endl << flush;
+            
+        }else{
+            
+            msg = new Message(MESSAGE_ANSWER_ACK);
+            cout << msg->ToString() << endl << flush;
+            cameraStarted = !cameraStarted;
+            cout << "Camera started successfully !" << endl <<flush;
+        }
+        
+        WriteInQueue(&q_messageToMon, msg); 
+
         rt_mutex_release(&mutex_cameraStarted);
 
-
-        cout << "Cam success! " << endl <<flush;
         cout << "Fin de start cam" << endl << flush;
     }
 }
@@ -767,16 +777,15 @@ void Tasks::BatteryTask(void *arg) {
         rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
         rs = robotStarted;
         rt_mutex_release(&mutex_robotStarted);
+        
         if (rs == 1) {
+            
             rt_mutex_acquire(&mutex_robot, TM_INFINITE);
             Message* batteryReply = parseMessage(robot.Write(robot.GetBattery()));
-            string batteryLevel = batteryReply->ToString();
             rt_mutex_release(&mutex_robot);
             WriteInQueue(&q_messageToMon, batteryReply); 
             
-        }
+        }   
-
-        
     }
 }
 
@@ -785,7 +794,6 @@ void Tasks::BatteryTask(void *arg) {
 */
 void Tasks::CameraTask(void *arg){
     int cam;
-    int grab;
     Img* image; // Image qui sera envoyée au moniteur 
     Arena arenaSaved,arena ; // arenaSaved : Arène sauvegardée par le moniteur, arena: Arène temporaire pour le traitement
     std::list<Position> robotPosition; // Liste des positions de robot à envoyer
@@ -807,10 +815,9 @@ void Tasks::CameraTask(void *arg){
         }
         rt_mutex_acquire(&mutex_image, TM_INFINITE);
         if(getImage){
-            cout << "Statut du traitement " << getImage << endl;
+            // Lancer le traitement périodique
             //cout << "Traitement de l'image" << endl << flush ;
             rt_mutex_acquire(&mutex_camera, TM_INFINITE);
-            // Lancer le traitement périodique
 
             Img img = camera->Grab();
             image = img.Copy();
@@ -821,8 +828,6 @@ void Tasks::CameraTask(void *arg){
                 
                 cout << "Arret du traitment !!!!" << endl << flush;
                 getImage = 0;
-               
-                // chopper l'arene
                 if(arena.IsEmpty()){
                     cout << "Arena is empty" << endl << flush;
                     // envoi d'un no ack au moniteur
@@ -859,16 +864,13 @@ void Tasks::CameraTask(void *arg){
             WriteInQueue(&q_messageToMon, imgToSend);
 
         }
-        cout << "Statut du traitement " << getImage << endl;
-        cout << "Statut du search " << searchArena << endl;
         rt_mutex_release(&mutex_image);
-         cout << "Avant Réponse ! " << endl << flush;
+
-        rt_mutex_acquire(&mutex_answer_arena, TM_INFINITE);
         if(searchArena){
-            //rt_sem_p(&sem_answerSync, TM_INFINITE);
+            rt_mutex_acquire(&mutex_answerSync, TM_INFINITE); // Possibilité de réduire les conditions inutiles avec des sémaphores
-            rt_mutex_acquire(&mutex_answerSync, TM_INFINITE);
             if(answerSync){
                 
+                rt_mutex_acquire(&mutex_answer_arena, TM_INFINITE);
                 if(arenaConfirm){
                     // Arena OK
                     cout << "Arena Saved" << endl << flush;
@@ -879,15 +881,16 @@ void Tasks::CameraTask(void *arg){
                     // Rien ?
                 }
                 rt_mutex_acquire(&mutex_image, TM_INFINITE);
-                getImage = 1; // changer en booleen pour synchroniser plutot que ça
+                getImage = 1; 
                 rt_mutex_release(&mutex_image);
                 searchArena = 0;
                 answerSync = 0;
-
+                rt_mutex_release(&mutex_answer_arena);
             }
+            
             rt_mutex_release(&mutex_answerSync);
         }
-        rt_mutex_release(&mutex_answer_arena);
+        
         rt_mutex_release(&mutex_search_arena);
     }
 }