From 153fc3a049206330bae734d800b42eb3f643e518 Mon Sep 17 00:00:00 2001
From: Raphael <benistan@etud.insa-toulouse.fr>
Date: Sun, 29 Mar 2020 12:12:36 +0200
Subject: [PATCH] Restart ReceiveMon + Server + SendToMon ok

---
 .../raspberry/superviseur-robot/tasks.cpp     | 27 +++++++++----------
 1 file changed, 12 insertions(+), 15 deletions(-)

diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index e9d4f1e..64dfa74 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -368,15 +368,16 @@ void Tasks::ReceiveFromMonTask(void *arg) {
     
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
         
+    // Synchronization barrier (waiting that all tasks are starting)
+    rt_sem_p(&sem_barrier, TM_INFINITE);
+    
     while(1){
-        // Synchronization barrier (waiting that all tasks are starting)
-        rt_sem_p(&sem_barrier, TM_INFINITE);
-
         //rt_sem_p(&sem_restart,TM_INFINITE);
 
-        //Reinitialize control boolean 
+        //Reinitialize control boolean
+        killReceiveFromMonOk = 0;
         rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
-            killReceiveFromMon=0;
+            killReceiveFromMon = 0;
         rt_mutex_release(&mutex_killReceiveFromMon);
 
         /**************************************************************************************/
@@ -390,7 +391,6 @@ void Tasks::ReceiveFromMonTask(void *arg) {
             cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
 
             if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
-                delete(msgRcv);
                 cout << "Connection to monitor lost" << endl;
 
                 rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
@@ -419,16 +419,19 @@ void Tasks::ReceiveFromMonTask(void *arg) {
                     acquireImage=0;
                 rt_mutex_release(&mutex_acquireImage);
 
+                //Wait every task to die
                 sleep(1);
-
+                
+                //All closes
                 monitor.Close();
                 robot.Close();
 
                 //Tasks::Join();
                 
-                cout << "End sleep" << endl << flush;
+                //Release restarted tasks
+//                cout << "End sleep" << endl << flush;
                 rt_sem_broadcast(&sem_barrier);             
-                cout << "Mes couilles" << endl << flush;
+//                cout << "Mes couilles" << endl << flush;
 
                 //exit(-1);
 
@@ -518,13 +521,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
 
             //Update loop condition
 
-            cout << "J'arrive la" << endl << flush;
-
             rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
                 killReceiveFromMonOk = killReceiveFromMon;
             rt_mutex_release(&mutex_killReceiveFromMon);
-
-            cout << "Kill Receive From Mon Ok = " << killReceiveFromMonOk << endl << flush;
         }
 
         cout << "ReceiveFromMon dies" << endl << flush;
@@ -642,8 +641,6 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     int err;
     
     while(1){
-    
-        rt_sem_p(&sem_restart, TM_INFINITE);
         
         rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
         cout << "Start robot with watchdog (";