"en fait la doc avait tord il fallait mettre ça"

software/raspberry/superviseur-robot/tasks.cpp

@@ -54,6 +54,7 @@
  * semaphore, etc.)
  */
 void Tasks::robotLossCounter(){
+    int status;
 
     // wait for connexion establishement
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
@@ -152,7 +153,7 @@ void Tasks::Init() {
     cout << "Mutexes created successfully" << endl << flush;
 
     /**************************************************************************************/
-    /* 	Semaphors creation       							  */
+    /* 	Semaphores creation       							  */
     /**************************************************************************************/
     if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
@@ -174,6 +175,10 @@ void Tasks::Init() {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
+    if (err = rt_sem_create(&sem_startRobotWithWatchdog, NULL, 0, S_FIFO)) {
+        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
     if (err = rt_sem_create(&sem_startCamera, NULL, 0, S_FIFO)) {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
@@ -382,6 +387,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
             rt_sem_v(&sem_openComRobot);
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
             rt_sem_v(&sem_startRobot);
+        } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
+            rt_sem_v(&sem_startRobotWithWatchdog);
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_GO_FORWARD) ||
                 msgRcv->CompareID(MESSAGE_ROBOT_GO_BACKWARD) ||
                 msgRcv->CompareID(MESSAGE_ROBOT_GO_LEFT) ||
@@ -477,6 +484,69 @@ void Tasks::StartRobotTask(void *arg) {
     }
 }
 
+/**
+ * @brief Thread starting the communication with the robot.
+ */
+
+// TODO : refactor with the previous : if (watchdog) {call with; start the watchdog messages tasks} else {call without}
+    void Tasks::StartRobotWithWatchDogTask(void *arg) {
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+
+    /**************************************************************************************/
+    /* The task startRobot starts here                                                    */
+    /**************************************************************************************/
+    while (1) {
+
+        Message * msgSend;
+        rt_sem_p(&sem_startRobot, TM_INFINITE);
+        cout << "Start robot without watchdog (";
+        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
+        msgSend = call(robot.Write(robot.StartWithWD()));
+        rt_mutex_release(&mutex_robot);
+        cout << msgSend->GetID();
+        cout << ")" << endl;
+
+        cout << "Movement answer: " << msgSend->ToString() << endl << flush;
+        WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
+
+        if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
+            rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
+            robotStarted = 1;
+            rt_mutex_release(&mutex_robotStarted);
+        }
+
+        rt_sem_v(&sem_reloadMessages, TM_INFINITE);
+    }
+}
+
+/**
+ * @brief Thread sending a message every 500 ms to the robot to prevent it from turning off.
+ */
+
+void Tasks::RobotReloadMessage(void *arg) {
+    int status;
+
+    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+    rt_sem_p(&sem_reloadMessages);
+    cout << "Starting to monitor packet losses " << endl << flush;
+    rt_task_set_periodic(NULL, TM_NOW, 500*1000*1000);
+    while(1) {
+        rt_task_wait_period(NULL);
+        status = (robot.Write(robot.reloadWD()));
+        // send info to monitor
+        if (state < 0) {
+            WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
+        } else {
+            WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
+        }
+    }
+
+}
+
 /**
  * @brief Thread starting the communication with the robot.
  */

software/raspberry/superviseur-robot/tasks.h

@@ -105,6 +105,7 @@ private:
     RT_SEM sem_openComRobot;
     RT_SEM sem_serverOk;
     RT_SEM sem_startRobot;
+    RT_SEM sem_startRobotWithWatchdog;
     RT_SEM sem_startCamera;
     RT_SEM sem_connexionEstablished;
 
@@ -143,7 +144,12 @@ private:
     void StartRobotTask(void *arg);
 
     /**
-     * @brief Thread starting the communication with the robot.
+     * @brief Thread starting the communication with the robot with a watchdog.
+     */
+    void StartRobotWithWatchDogTask(void *arg);
+    
+    /**
+     * @brief Thread starting the communication with the Camera.
      */
     void StartCameraTask(void *arg);