final version (hope so)

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

@@ -41,7 +41,7 @@
     </conf>
     <conf name="Debug__RPI_" type="1">
       <toolsSet>
-        <developmentServer>xenomai@10.105.1.4:22</developmentServer>
+        <developmentServer>xenomai@10.105.1.1:22</developmentServer>
         <platform>2</platform>
       </toolsSet>
       <dbx_gdbdebugger version="1">

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

@@ -7,15 +7,10 @@
     <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/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h</file>
+            <file>file:/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h</file>
-            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h</file>
+            <file>file:/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h</file>
-            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp</file>
+            <file>file:/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp</file>
-            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp</file>
-            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp</file>
-            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp</file>
-            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp</file>
-            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.h</file>
-            <file>file:/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.h</file>
         </group>
     </open-files>
 </project-private>

software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.1-xenomai-22

@@ -0,0 +1,39 @@
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+VERSION=1.3
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software/raspberry/superviseur-robot/nbproject/private/timestamps-10.105.1.8-xenomai-22

@@ -1,39 +1,76 @@
-#Fri Apr 07 12:13:15 CEST 2023
+#Fri Apr 14 09:20:11 CEST 2023
-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.cpp=c1680524819149
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-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/wrapper.c=c1680524985856
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 VERSION=1.3
-/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1680524819168
 /home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h=c1680862388302
+/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/wrapper.c=c1681393227008
+/home/g_robert/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h=c1681393207291

software/raspberry/superviseur-robot/tasks.cpp

@@ -93,6 +93,9 @@ Message* Tasks::parseMessage(Message* msg){
                 rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
                 robotStarted = 0;
                 rt_mutex_release(&mutex_robotStarted);
+                rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
+                compteurRobotLoss = 0;
+                rt_mutex_release(&mutex_compteurRobotLoss);
                 
 
                 // send info to monitor
@@ -482,18 +485,26 @@ void Tasks::ReceiveFromMonTask(void *arg) {
             rt_mutex_release(&mutex_robot_pos);
             cout << "Robot Pos false" << endl << flush;
             
-        }else if(msgRcv->CompareID(MESSAGE_MONITOR_LOST)){ // Perte de connexion avec le robot
+        }else if(msgRcv->CompareID(MESSAGE_MONITOR_LOST)){ // Perte de connexion avec le moniteur
             cout << "MONITOR LOST" << endl << flush;
 
             rt_mutex_acquire(&mutex_robot, TM_INFINITE);
             robot.Close();
             rt_mutex_release(&mutex_robot);
 
+            rt_mutex_acquire(&mutex_image, TM_INFINITE);
+            getImage = 0;
+            rt_mutex_release(&mutex_image);
             
             rt_mutex_acquire(&mutex_camera, TM_INFINITE);
             camera->Close();
             rt_mutex_release(&mutex_camera);
             
+            rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
+            cameraStarted = 0;
+            rt_mutex_release(&mutex_cameraStarted);
+            
+
 
             rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
             robotStarted = 0;
@@ -672,8 +683,10 @@ void Tasks::StartCameraTask(void *arg) {
         cout << "Camera changed state " << endl << flush;
         
         rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
+        int cameraStart = cameraStarted;
+        rt_mutex_release(&mutex_cameraStarted);
         rt_mutex_acquire(&mutex_camera, TM_INFINITE);
-        if(!cameraStarted){
+        if(!cameraStart){
             
             status = camera->Open();
             cout << "Camera Opened" << endl << flush;
@@ -681,6 +694,7 @@ void Tasks::StartCameraTask(void *arg) {
             rt_mutex_acquire(&mutex_image, TM_INFINITE);
             getImage = 1;
             rt_mutex_release(&mutex_image);
+            cameraStart = 1; 
             
         }else{
             
@@ -688,7 +702,7 @@ void Tasks::StartCameraTask(void *arg) {
             status = true; // camera->Close() does not return a status
             cout << "Camera Closed" << endl << flush;
             
-            
+            cameraStart = 0;
             rt_mutex_acquire(&mutex_image, TM_INFINITE);
             getImage = 0;
             rt_mutex_release(&mutex_image);
@@ -707,14 +721,14 @@ void Tasks::StartCameraTask(void *arg) {
             
             msg = new Message(MESSAGE_ANSWER_ACK);
             cout << msg->ToString() << endl << flush;
-            cameraStarted = !cameraStarted;
+            rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
+            cameraStarted = cameraStart;
+            rt_mutex_release(&mutex_cameraStarted);
             cout << "Camera started successfully !" << endl <<flush;
         }
         
         WriteInQueue(&q_messageToMon, msg); 
 
-        rt_mutex_release(&mutex_cameraStarted);
-
         cout << "Fin de start cam" << endl << flush;
     }
 }
@@ -814,7 +828,10 @@ void Tasks::CameraTask(void *arg){
             continue;
         }
         rt_mutex_acquire(&mutex_image, TM_INFINITE);
-        if(getImage){
+        int statusGetImage = getImage;
+        rt_mutex_release(&mutex_image);
+        cout << "Statut du traitement " << statusGetImage << endl << flush;  
+        if(statusGetImage){
             // Lancer le traitement périodique
             //cout << "Traitement de l'image" << endl << flush ;
             rt_mutex_acquire(&mutex_camera, TM_INFINITE);
@@ -827,7 +844,7 @@ void Tasks::CameraTask(void *arg){
             if(searchArena){
                 
                 cout << "Arret du traitment !!!!" << endl << flush;
-                getImage = 0;
+                statusGetImage = 0;
                 if(arena.IsEmpty()){
                     cout << "Arena is empty" << endl << flush;
                     // envoi d'un no ack au moniteur
@@ -864,7 +881,6 @@ void Tasks::CameraTask(void *arg){
             WriteInQueue(&q_messageToMon, imgToSend);
 
         }
-        rt_mutex_release(&mutex_image);
 
         if(searchArena){
             rt_mutex_acquire(&mutex_answerSync, TM_INFINITE); // Possibilité de réduire les conditions inutiles avec des sémaphores
@@ -880,9 +896,7 @@ void Tasks::CameraTask(void *arg){
                     cout << "Arena Dumped" << endl << flush;
                     // Rien ?
                 }
-                rt_mutex_acquire(&mutex_image, TM_INFINITE);
+                statusGetImage = 1; 
-                getImage = 1; 
-                rt_mutex_release(&mutex_image);
                 searchArena = 0;
                 answerSync = 0;
                 rt_mutex_release(&mutex_answer_arena);
@@ -892,6 +906,9 @@ void Tasks::CameraTask(void *arg){
         }
         
         rt_mutex_release(&mutex_search_arena);
+        rt_mutex_acquire(&mutex_image, TM_INFINITE);
+        getImage = statusGetImage;
+        rt_mutex_release(&mutex_image);
     }
 }