/*
 * Copyright (C) 2018 dimercur
 *
 * This program is free software: you can redistribute it and/or modify
 * it under the terms of the GNU General Public License as published by
 * the Free Software Foundation, either version 3 of the License, or
 * (at your option) any later version.
 *
 * This program is distributed in the hope that it will be useful,
 * but WITHOUT ANY WARRANTY; without even the implied warranty of
 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE.  See the
 * GNU General Public License for more details.
 *
 * You should have received a copy of the GNU General Public License
 * along with this program.  If not, see <http://www.gnu.org/licenses/>.
 */

#include "tasks.h"
#include <stdexcept>

// Déclaration des priorités des taches
#define PRIORITY_TSERVER 30
#define PRIORITY_TOPENCOMROBOT 20
#define PRIORITY_TMOVE 20
#define PRIORITY_TSENDTOMON 23
#define PRIORITY_TRECEIVEFROMMON 25
#define PRIORITY_TSTARTROBOT 20
#define PRIORITY_TCAMERA 21
#define PRIORITY_TBATTERY 19
#define PRIORITY_TSTARTCAMERA 22
#define PRIORITY_TROBOTRELOADMESSAGE 25

/*
 * Some remarks:
 * 1- This program is mostly a template. It shows you how to create tasks, semaphore
 *   message queues, mutex ... and how to use them
 * 
 * 2- semDumber is, as name say, useless. Its goal is only to show you how to use semaphore
 * 
 * 3- Data flow is probably not optimal
 * 
 * 4- Take into account that ComRobot::Write will block your task when serial buffer is full,
 *   time for internal buffer to flush
 * 
 * 5- Same behavior exists for ComMonitor::Write !
 * 
 * 6- When you want to write something in terminal, use cout and terminate with endl and flush
 * 
 * 7- Good luck ! Thanks
 */

/**
 * @brief Initialisation des structures de l'application (tâches, mutex, 
 * semaphore, etc.)
 */

Message* Tasks::parseMessage(Message* msg){
    int state;

    rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
    int tempRobotStarted = robotStarted ;
    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);
    }
    return msg;
}


void Tasks::Init() {
    int status;
    int err;

    /**************************************************************************************/
    /* 	Mutex creation                                                                    */
    /**************************************************************************************/
    if (err = rt_mutex_create(&mutex_monitor, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_mutex_create(&mutex_robot, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_mutex_create(&mutex_robotStarted, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_mutex_create(&mutex_move, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_mutex_create(&mutex_compteurRobotLoss, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }

    if (err = rt_mutex_create(&mutex_cameraStarted, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_mutex_create(&mutex_robot_pos, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_mutex_create(&mutex_search_arena, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_mutex_create(&mutex_camera, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_mutex_create(&mutex_battery, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_mutex_create(&mutex_image, NULL)) {
        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    cout << "Mutexes created successfully" << endl << flush;

    /**************************************************************************************/
    /* 	Semaphores creation       							  */
    /**************************************************************************************/
    if (err = rt_sem_create(&sem_barrier, NULL, 0, S_FIFO)) {
        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_sem_create(&sem_openComRobot, NULL, 0, S_FIFO)) {
        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_sem_create(&sem_connexionEstablished, NULL, 0, S_FIFO)) {
        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_sem_create(&sem_serverOk, NULL, 0, S_FIFO)) {
        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_sem_create(&sem_startRobot, NULL, 0, S_FIFO)) {
        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);
    }
    if (err = rt_sem_create(&sem_reloadMessages, NULL, 0, S_FIFO)) {
        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    cout << "Semaphores created successfully" << endl << flush;

    /**************************************************************************************/
    /* Tasks creation                                                                     */
    /**************************************************************************************/
    if (err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_create(&th_sendToMon, "th_sendToMon", 0, PRIORITY_TSENDTOMON, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_create(&th_receiveFromMon, "th_receiveFromMon", 0, PRIORITY_TRECEIVEFROMMON, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_create(&th_openComRobot, "th_openComRobot", 0, PRIORITY_TOPENCOMROBOT, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_create(&th_startRobot, "th_startRobot", 0, PRIORITY_TSTARTROBOT, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_create(&th_startCamera, "th_startCamera", 0, PRIORITY_TSTARTCAMERA, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_create(&th_move, "th_move", 0, PRIORITY_TMOVE, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_create(&th_battery, "th_battery", 0, PRIORITY_TBATTERY, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_create(&th_camera, "th_camera", 0, PRIORITY_TCAMERA, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_create(&th_startRobotWithWatchdog, "th_startRobotWithWatchdog", 0, PRIORITY_TSTARTROBOT, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_create(&th_robotReloadMessage, "th_robotReloadMessage", 0, PRIORITY_TROBOTRELOADMESSAGE, 0)) {
        cerr << "Error task create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }

    cout << "Tasks created successfully" << endl << flush;

    /**************************************************************************************/
    /* Message queues creation                                                            */
    /**************************************************************************************/
    if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*100, Q_UNLIMITED, Q_FIFO)) < 0) {
        cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    cout << "Queues created successfully" << endl << flush;

    camera = new Camera(sm,5);
    cout << "New camera ! " << endl << flush;
}

/**
 * @brief Démarrage des tâches
 */
void Tasks::Run() {
    rt_task_set_priority(NULL, T_LOPRIO);
    int err;

    if (err = rt_task_start(&th_server, (void(*)(void*)) & Tasks::ServerTask, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_start(&th_sendToMon, (void(*)(void*)) & Tasks::SendToMonTask, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_start(&th_receiveFromMon, (void(*)(void*)) & Tasks::ReceiveFromMonTask, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_start(&th_openComRobot, (void(*)(void*)) & Tasks::OpenComRobot, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_start(&th_startRobot, (void(*)(void*)) & Tasks::StartRobotTask, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_start(&th_move, (void(*)(void*)) & Tasks::MoveTask, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_start(&th_battery, (void(*)(void*)) & Tasks::BatteryTask, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_start(&th_camera, (void(*)(void*)) & Tasks::CameraTask, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_start(&th_startCamera, (void(*)(void*)) & Tasks::StartCameraTask, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_start(&th_robotReloadMessage, (void(*)(void*)) & Tasks::RobotReloadMessage, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }
    if (err = rt_task_start(&th_startRobotWithWatchdog, (void(*)(void*)) & Tasks::StartRobotWithWatchDogTask, this)) {
        cerr << "Error task start: " << strerror(-err) << endl << flush;
        exit(EXIT_FAILURE);
    }

    cout << "Tasks launched" << endl << flush;
}

/**
 * @brief Arrêt des tâches
 */
void Tasks::Stop() {
    monitor.Close();
    robot.Close();
}
/**
 */
void Tasks::Join() {
    cout << "Tasks synchronized" << endl << flush;
    rt_sem_broadcast(&sem_barrier);
    pause();
}

/**
 * @brief Thread handling server communication with the monitor.
 */
void Tasks::ServerTask(void *arg) {
    int status;
    
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are started)
    rt_sem_p(&sem_barrier, TM_INFINITE);

    /**************************************************************************************/
    /* The task server starts here                                                        */
    /**************************************************************************************/
    rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
    status = monitor.Open(SERVER_PORT);
    rt_mutex_release(&mutex_monitor);

    cout << "Open server on port " << (SERVER_PORT) << " (" << status << ")" << endl;

    if (status < 0) throw std::runtime_error {
        "Unable to start server on port " + std::to_string(SERVER_PORT)
    };
    monitor.AcceptClient(); // Wait the monitor client
    cout << "Rock'n'Roll baby, client accepted!" << endl << flush;
    rt_sem_broadcast(&sem_serverOk);
}

/**
 * @brief Thread sending data to monitor.
 */
void Tasks::SendToMonTask(void* arg) {
    Message *msg;
    
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);

    /**************************************************************************************/
    /* The task sendToMon starts here                                                     */
    /**************************************************************************************/
    rt_sem_p(&sem_serverOk, TM_INFINITE);

    while (1) {
        cout << "wait msg to send" << endl << flush;
        msg = ReadInQueue(&q_messageToMon);
        cout << "Send msg to mon: " << msg->ToString() << endl << flush;
        rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
        monitor.Write(msg); // The message is deleted with the Write
        rt_mutex_release(&mutex_monitor);
    }
}

/**
 * @brief Thread receiving data from monitor.
 */
void Tasks::ReceiveFromMonTask(void *arg) {
    Message *msgRcv;
    
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);
    
    /**************************************************************************************/
    /* The task receiveFromMon starts here                                                */
    /**************************************************************************************/
    rt_sem_p(&sem_serverOk, TM_INFINITE);
    cout << "Received message from monitor activated" << endl << flush;

    while (1) {
        msgRcv = monitor.Read();
        cout << "Rcv <= " << msgRcv->ToString() << endl << flush;

        if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
            delete(msgRcv);
            exit(-1);
        } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
            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) ||
                msgRcv->CompareID(MESSAGE_ROBOT_GO_RIGHT) ||
                msgRcv->CompareID(MESSAGE_ROBOT_STOP)) {

            rt_mutex_acquire(&mutex_move, TM_INFINITE);
            move = msgRcv->GetID();
            rt_mutex_release(&mutex_move);
        } else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)){
            rt_sem_v(&sem_startCamera);
        } else if (msgRcv->CompareID(MESSAGE_CAM_CLOSE)){
            rt_sem_v(&sem_startCamera);
        }else if(msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)){
            cout << "Enabling search arena" << endl << flush;
            rt_mutex_acquire(&mutex_search_arena, TM_INFINITE);
            searchArena = 1;
            rt_mutex_release(&mutex_search_arena);
            rt_mutex_acquire(&mutex_image, TM_INFINITE);
            getImage = 0;
            rt_mutex_release(&mutex_image);
            cout << "Search arena true " << endl << flush;
        } else if(msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM) || msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)){
            rt_mutex_acquire(&mutex_answer_arena,TM_INFINITE);
            arenaConfirm = msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)? 1:0; // A vérifier que le ternaire est utile
            cout << "Statut de l'arene" <<  arenaConfirm << endl << flush;
            rt_mutex_release(&mutex_answer_arena);
            rt_sem_v(&sem_answerSync);
        }else if(msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)){
            rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
            robotPos = 1;
            rt_mutex_release(&mutex_robot_pos);
            cout << "Robot Pos true " << endl << flush;
        }else if(msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)){
            rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
            robotPos = 0;
            rt_mutex_release(&mutex_robot_pos);
            cout << "Robot Pos false" << endl << flush;
        }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
    }
}

/**
 * @brief Thread opening communication with the robot.
 */
void Tasks::OpenComRobot(void *arg) {
    int status;
    int err;

    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);
    
    /**************************************************************************************/
    /* The task openComRobot starts here                                                  */
    /**************************************************************************************/
    while (1) {
        rt_sem_p(&sem_openComRobot, TM_INFINITE);
        cout << "Open serial com (";
        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
        status = robot.Open();
        rt_mutex_release(&mutex_robot);
        cout << status;
        cout << ")" << endl << flush;

        Message * msgSend;
        if (status < 0) {
            msgSend = new Message(MESSAGE_ANSWER_NACK);
        } else {
            rt_sem_v(&sem_connexionEstablished);
            msgSend = new Message(MESSAGE_ANSWER_ACK);
        }

        cout << "Open serial com (";
        WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
    }
}

/**
 * @brief Thread starting the communication with the robot.
 */
void Tasks::StartRobotTask(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 = parseMessage(robot.Write(robot.StartWithoutWD()));
        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);
        }
    }
}

/**
 * @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_startRobotWithWatchdog, TM_INFINITE);
        cout << "Start robot with watchdog (";
        rt_mutex_acquire(&mutex_robot, TM_INFINITE);
        msgSend = parseMessage(robot.Write(robot.StartWithWD())); // TODO : convert Message MessageID
        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);
            cout << "Ca a strat avec watchdog" << endl;
            robotStarted = 1;
            rt_mutex_release(&mutex_robotStarted);
        }

        rt_sem_v(&sem_reloadMessages);
    }
}

/**
 * @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, TM_INFINITE);



    cout << "Starting to monitor packet losses " << endl << flush;
    rt_task_set_periodic(NULL, TM_NOW, 1000*1000*1000);
    while(1) {
        rt_task_wait_period(NULL);


        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
        int tempRobotStarted = robotStarted ;
        rt_mutex_release(&mutex_robotStarted);

        if (tempRobotStarted != 0) {
            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));
            }
        }
    }

}

/**
 * @brief Thread starting the communication with the robot.
 */
void Tasks::StartCameraTask(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;
        Message * msg;
        bool status;
        rt_sem_p(&sem_startCamera, TM_INFINITE);
        cout << "Start Camera ";
        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 ?
            rt_mutex_acquire(&mutex_image, TM_INFINITE);
            getImage = 1;
            rt_mutex_release(&mutex_image);
        }else{
            camera->Close();
            status = true;
            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);
        rt_mutex_release(&mutex_cameraStarted);


        cout << "Cam success! " << endl <<flush;
        cout << "Fin de start cam" << endl << flush;
    }
}

/**
 * @brief Thread handling control of the robot.
 */
void Tasks::MoveTask(void *arg) {
    int rs;
    int cpMove;
    
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);
    
    /**************************************************************************************/
    /* The task starts here                                                               */
    /**************************************************************************************/
    rt_task_set_periodic(NULL, TM_NOW, 100000000);

    while (1) {
        rt_task_wait_period(NULL);
        //cout << "Periodic movement update";
        rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
        rs = robotStarted;
        rt_mutex_release(&mutex_robotStarted);
        if (rs == 1) {
            rt_mutex_acquire(&mutex_move, TM_INFINITE);
            cpMove = move;
            rt_mutex_release(&mutex_move);
            
            cout << " move: " << cpMove << endl << flush;
            
            rt_mutex_acquire(&mutex_robot, TM_INFINITE);
            parseMessage(robot.Write(new Message((MessageID)cpMove)));
            rt_mutex_release(&mutex_robot);
        }
        //cout << endl << flush;
    }
}

/**
 * @brief task in charge of the battery status.
 */
void Tasks::BatteryTask(void *arg) {
    int rs;
    int cpMove;
    
    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);
    
    /**************************************************************************************/
    /* The task starts here                                                               */
    /**************************************************************************************/
    rt_task_set_periodic(NULL, TM_NOW, 500*1000*1000);

    while (1) {
        rt_task_wait_period(NULL);
        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); 
            
        }

        
    }
}

/**
* @brief task in charge of managing the camera.
*/
void Tasks::CameraTask(void *arg){
    int cam;
    int grab;
    Img* image;
    Arena arenaSaved,arena ;
    std::list<Position> robotPosition;
    MessageImg* imgToSend;

    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
    // Synchronization barrier (waiting that all tasks are starting)
    rt_sem_p(&sem_barrier, TM_INFINITE);
    rt_task_set_periodic(NULL, TM_NOW, 100*1000*1000);
    while(1){
        rt_task_wait_period(NULL);
        rt_mutex_acquire(&mutex_cameraStarted, TM_INFINITE);
        cam = cameraStarted;
        rt_mutex_release(&mutex_cameraStarted);

        if(!cam){
            continue;
        }

        if(getImage){
            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();
            rt_mutex_release(&mutex_camera);
            rt_mutex_acquire(&mutex_search_arena, TM_INFINITE);
            arena = image->SearchArena(); // Mise a jour de l'arene tout le temps pour la position du robot mais draw si search arena = true
            if(searchArena){
                rt_mutex_acquire(&mutex_image, TM_INFINITE);
                getImage = 0;
                rt_mutex_release(&mutex_image);
                // chopper l'arene
                if(arena.IsEmpty()){
                    cout << "Arena empty" << endl << flush;
                    // envoi d'un no ack au moniteur

                }else{
                    cout << "Draw Arena" << endl << flush;
                    image->DrawArena(arena);
                    // envoi de l'arene pour vérif
                }
            }else {
                image->DrawArena(arenaSaved);
            }

            rt_mutex_acquire(&mutex_robot_pos, TM_INFINITE);
            if(robotPos){
                // chopper le robot
                cout << "Searching robot positions" << endl << flush ;
                robotPosition =  image->SearchRobot(arena);

                //Traitement du robot
                if(!robotPosition.empty()){ // Robot position != null
                    image->DrawAllRobots(robotPosition);
                }
                for (auto position : robotPosition)
                {
                    WriteInQueue(&q_messageToMon, new MessagePosition(MESSAGE_CAM_POSITION,position)); // Envoi de toutes les positions
                }
            }
            rt_mutex_release(&mutex_robot_pos);
            // Envoi de l'image
            cout << "Envoi de l'image" << endl << flush ;
            imgToSend = new MessageImg(MESSAGE_CAM_IMAGE,image);
            WriteInQueue(&q_messageToMon, imgToSend);

        }

        
        rt_mutex_acquire(&mutex_answer_arena, TM_INFINITE);
        if(searchArena){
            rt_sem_p(&sem_answerSync, TM_INFINITE);
            if(arenaConfirm){
                // Arena OK
                cout << "Arena Saved" << endl << flush;
                arenaSaved = arena;
            }else{
                // Arena not OK
                cout << "Arena Dumped" << endl << flush;
                // Rien ?
            }
            rt_mutex_acquire(&mutex_image, TM_INFINITE);
            getImage = 1; // changer en booleen pour synchroniser plutot que ça
            rt_mutex_release(&mutex_image);
            searchArena = 0;
        }
        rt_mutex_release(&mutex_answer_arena);
        rt_mutex_release(&mutex_search_arena);
    }
}

/**
 * Write a message in a given queue
 * @param queue Queue identifier
 * @param msg Message to be stored
 */
void Tasks::WriteInQueue(RT_QUEUE *queue, Message *msg) {
    int err;
    if ((err = rt_queue_write(queue, (const void *) &msg, sizeof ((const void *) &msg), Q_NORMAL)) < 0) {
        cerr << "Write in queue failed: " << strerror(-err) << endl << flush;
        throw std::runtime_error{"Error in write in queue"};
    }
}

/**
 * Read a message from a given queue, block if empty
 * @param queue Queue identifier
 * @return Message read
 */
Message *Tasks::ReadInQueue(RT_QUEUE *queue) {
    int err;
    Message *msg;

    if ((err = rt_queue_read(queue, &msg, sizeof ((void*) &msg), TM_INFINITE)) < 0) {
        cout << "Read in queue failed: " << strerror(-err) << endl << flush;
        throw std::runtime_error{"Error in read in queue"};
    }/** else {
        cout << "@msg :" << msg << endl << flush;
    } /**/

    return msg;
}