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</conf>
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</conf>
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<conf name="Debug__RPI_" type="1">
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<conf name="Debug__RPI_" type="1">
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<toolsSet>
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<toolsSet>
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<compilerSet>default</compilerSet>
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<compilerSet>GNU|GNU</compilerSet>
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<dependencyChecking>true</dependencyChecking>
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<dependencyChecking>true</dependencyChecking>
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<rebuildPropChanged>false</rebuildPropChanged>
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</toolsSet>
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</conf>
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<conf name="Debug__RPI_" type="1">
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<conf name="Debug__RPI_" type="1">
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<toolsSet>
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<toolsSet>
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<developmentServer>xenomai@10.105.1.8:22</developmentServer>
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<developmentServer>xenomai@10.105.1.10:22</developmentServer>
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<platform>2</platform>
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<platform>2</platform>
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</toolsSet>
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<dbx_gdbdebugger version="1">
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<group>
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<group>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.cpp</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/messages.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/main.cpp</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/tasks.h</file>
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<file>file:/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
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</project-private>
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@ -1,39 +1,76 @@
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#Fri Mar 31 12:07:07 CEST 2023
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#Tue Apr 11 12:36:14 CEST 2023
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/messages.cpp=c1680248859421
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.cpp=c1680524985794
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/Makefile=c1680524818973
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||||||
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1681203554260
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/comrobot.cpp=c1679401457314
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.cpp=c1680257220969
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1680524819176
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-variables.mk=c1679401432922
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/img.cpp=c1679401457320
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1680256228274
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.h=c1680256228274
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/README.md=c1679401432714
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/tasks.h=c1680253954166
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/wrapper.c=c1679401457381
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/main.cpp=c1679404095224
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.properties=c1679401432983
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||||||
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/camera.h=c1680524985797
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1679401457304
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/camera.cpp=c1679401457304
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/test.cpp=c1679401432851
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/README.md=c1680524818978
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/img.cpp=c1680524985804
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/.gitignore=c1680524819087
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1680524819092
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||||||
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/home/rlacroix/Bureau/4ir/Temps-Reel_Lejeune_Robert_Lacroix/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1681203554238
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||||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-Debug__RPI_.mk=c1679401457346
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Package-Debug__PC_.bash=c1679401432926
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/project.xml=c1679401457377
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||||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/lib/base64/.gitignore=c1679401432827
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/Makefile-impl.mk=c1679401432918
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1679401432944
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/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/nbproject/private/Makefile-variables.mk=c1679401432944
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||||||
/home/alejeune/Documents/4ir/S2/dumber/software/raspberry/superviseur-robot/superviseur.doxygen=c1679401432993
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VERSION=1.3
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int state;
|
||||||
if (msg->CompareID(MESSAGE_ANSWER_NACK) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_TIMEOUT) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_ERROR) ||msg->CompareID(MESSAGE_ANSWER_COM_ERROR)){
|
|
||||||
// increment
|
|
||||||
rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
|
|
||||||
compteurRobotLoss ++;
|
|
||||||
rt_mutex_release(&mutex_compteurRobotLoss);
|
|
||||||
} else {
|
|
||||||
|
|
||||||
// reset
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
|
int tempRobotStarted = robotStarted ;
|
||||||
compteurRobotLoss = 0;
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
|
|
||||||
|
if (tempRobotStarted != 0) {
|
||||||
|
|
||||||
|
if (msg->CompareID(MESSAGE_ANSWER_NACK) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_TIMEOUT) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_UNKNOWN_COMMAND) ||msg->CompareID(MESSAGE_ANSWER_ROBOT_ERROR) ||msg->CompareID(MESSAGE_ANSWER_COM_ERROR)){
|
||||||
|
// increment
|
||||||
|
rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
|
||||||
|
compteurRobotLoss ++;
|
||||||
|
cout << "Current loss value " << compteurRobotLoss << endl << flush;
|
||||||
|
rt_mutex_release(&mutex_compteurRobotLoss);
|
||||||
|
} else {
|
||||||
|
|
||||||
|
// reset
|
||||||
|
rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
|
||||||
|
if (compteurRobotLoss > 0){
|
||||||
|
cout << "Loss value reset" << endl << flush;
|
||||||
|
}
|
||||||
|
compteurRobotLoss = 0;
|
||||||
|
rt_mutex_release(&mutex_compteurRobotLoss);
|
||||||
|
}
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
|
||||||
|
if(compteurRobotLoss >= 3){
|
||||||
|
// send info to monitor
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_COM_ERROR)); // TODO : c'est probablement faux mais on a suivi la doc *sig*
|
||||||
|
cout << "Lost communication with robot " << endl << flush;
|
||||||
|
|
||||||
|
// close robot
|
||||||
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
|
state = robot.Close();
|
||||||
|
rt_mutex_release(&mutex_robot);
|
||||||
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
|
robotStarted = 0;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
|
|
||||||
|
|
||||||
|
// send info to monitor
|
||||||
|
if (state < 0) {
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
|
||||||
|
} else {
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
|
||||||
|
}
|
||||||
|
}
|
||||||
rt_mutex_release(&mutex_compteurRobotLoss);
|
rt_mutex_release(&mutex_compteurRobotLoss);
|
||||||
}
|
}
|
||||||
|
|
||||||
rt_mutex_acquire(&mutex_compteurRobotLoss, TM_INFINITE);
|
|
||||||
if(compteurRobotLoss >= 3){
|
|
||||||
// send info to monitor
|
|
||||||
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_COM_ERROR)); // TODO : c'est probablement faux mais on a suivi la doc *sig*
|
|
||||||
|
|
||||||
// close robot
|
|
||||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
||||||
state = robot.Close();
|
|
||||||
rt_mutex_release(&mutex_robot);
|
|
||||||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
|
||||||
robotStarted = 0;
|
|
||||||
rt_mutex_release(&mutex_robotStarted);
|
|
||||||
|
|
||||||
|
|
||||||
// send info to monitor
|
|
||||||
if (state < 0) {
|
|
||||||
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
|
|
||||||
} else {
|
|
||||||
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
|
|
||||||
}
|
|
||||||
}
|
|
||||||
rt_mutex_release(&mutex_compteurRobotLoss);
|
|
||||||
|
|
||||||
|
|
||||||
return msg;
|
return msg;
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -462,6 +473,23 @@ void Tasks::ReceiveFromMonTask(void *arg) {
|
||||||
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
|
rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
|
||||||
robotPos = 0;
|
robotPos = 0;
|
||||||
rt_mutex_release(&mutex_robot_pos);
|
rt_mutex_release(&mutex_robot_pos);
|
||||||
|
}else if(msgRcv->CompareID(MESSAGE_MONITOR_LOST)){
|
||||||
|
cout << "MONITOR LOST" << endl << flush;
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
|
robot.Close();
|
||||||
|
rt_mutex_release(&mutex_robot);
|
||||||
|
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_camera, TM_INFINITE);
|
||||||
|
camera.Close();
|
||||||
|
rt_mutex_release(&mutex_camera);
|
||||||
|
|
||||||
|
|
||||||
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
|
robotStarted = 0;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
|
|
||||||
}
|
}
|
||||||
delete(msgRcv); // must be deleted manually, no consumer
|
delete(msgRcv); // must be deleted manually, no consumer
|
||||||
}
|
}
|
||||||
|
@ -497,6 +525,8 @@ void Tasks::OpenComRobot(void *arg) {
|
||||||
rt_sem_v(&sem_connexionEstablished);
|
rt_sem_v(&sem_connexionEstablished);
|
||||||
msgSend = new Message(MESSAGE_ANSWER_ACK);
|
msgSend = new Message(MESSAGE_ANSWER_ACK);
|
||||||
}
|
}
|
||||||
|
|
||||||
|
cout << "Open serial com (";
|
||||||
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
@ -580,21 +610,35 @@ void Tasks::RobotReloadMessage(void *arg) {
|
||||||
int status;
|
int status;
|
||||||
|
|
||||||
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
// Synchronization barrier (waiting that all tasks are starting)
|
// Synchronization barrier (waiting that all tasks are starting)
|
||||||
rt_sem_p(&sem_barrier, TM_INFINITE);
|
rt_sem_p(&sem_barrier, TM_INFINITE);
|
||||||
rt_sem_p(&sem_reloadMessages, TM_INFINITE);
|
rt_sem_p(&sem_reloadMessages, TM_INFINITE);
|
||||||
|
|
||||||
|
|
||||||
|
|
||||||
cout << "Starting to monitor packet losses " << endl << flush;
|
cout << "Starting to monitor packet losses " << endl << flush;
|
||||||
rt_task_set_periodic(NULL, TM_NOW, 1000*1000*1000);
|
rt_task_set_periodic(NULL, TM_NOW, 1000*1000*1000);
|
||||||
while(1) {
|
while(1) {
|
||||||
rt_task_wait_period(NULL);
|
rt_task_wait_period(NULL);
|
||||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
|
||||||
status = parseMessage(robot.Write(robot.ReloadWD()))->GetID();
|
|
||||||
rt_mutex_release(&mutex_robot);
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
// send info to monitor
|
int tempRobotStarted = robotStarted ;
|
||||||
if (status < 0) {
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
|
|
||||||
} else {
|
if (tempRobotStarted != 0) {
|
||||||
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
|
status = parseMessage(robot.Write(robot.ReloadWD()))->GetID();
|
||||||
|
rt_mutex_release(&mutex_robot);
|
||||||
|
// send info to monitor
|
||||||
|
if (status < 0) {
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_NACK));
|
||||||
|
} else {
|
||||||
|
WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
|
||||||
|
}
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
||||||
|
@ -666,18 +710,18 @@ void Tasks::MoveTask(void *arg) {
|
||||||
//cout << "Periodic movement update";
|
//cout << "Periodic movement update";
|
||||||
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
|
||||||
rs = robotStarted;
|
rs = robotStarted;
|
||||||
|
rt_mutex_release(&mutex_robotStarted);
|
||||||
if (rs == 1) {
|
if (rs == 1) {
|
||||||
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
rt_mutex_acquire(&mutex_move, TM_INFINITE);
|
||||||
cpMove = move;
|
cpMove = move;
|
||||||
rt_mutex_release(&mutex_move);
|
rt_mutex_release(&mutex_move);
|
||||||
|
|
||||||
cout << " move: " << cpMove;
|
cout << " move: " << cpMove << endl << flush;
|
||||||
|
|
||||||
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
|
||||||
parseMessage(robot.Write(new Message((MessageID)cpMove)));
|
parseMessage(robot.Write(new Message((MessageID)cpMove)));
|
||||||
rt_mutex_release(&mutex_robot);
|
rt_mutex_release(&mutex_robot);
|
||||||
}
|
}
|
||||||
rt_mutex_release(&mutex_robotStarted);
|
|
||||||
//cout << endl << flush;
|
//cout << endl << flush;
|
||||||
}
|
}
|
||||||
}
|
}
|
||||||
|
|
Loading…
Reference in a new issue