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Start and restart SendToMon ok

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This commit is contained in:
Raphael Benistant 2020-03-29 09:48:27 +02:00
parent 9adc001ccf
commit 15772bb420
1 changed files with 19 additions and 7 deletions
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26
software/raspberry/superviseur-robot/tasks.cpp
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@ -324,10 +324,11 @@ void Tasks::SendToMonTask(void* arg) {
bool kill_sendToMonOk=0;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
//while(1){
while(1){
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task sendToMon starts here */
@ -335,6 +336,7 @@ void Tasks::SendToMonTask(void* arg) {
rt_sem_p(&sem_serverOk, TM_INFINITE);
//Initialize the loop condition
kill_sendToMonOk=0;
rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
killSendMon=0; // The message is deleted with the Write
rt_mutex_release(&mutex_killSendMon);
@ -352,7 +354,9 @@ void Tasks::SendToMonTask(void* arg) {
rt_mutex_release(&mutex_killSendMon);
}
//}
cout << "SendToMon Task dies" << endl << flush;
}
}
/**
@ -400,7 +404,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
killSendMon=1;
rt_mutex_release(&mutex_killSendMon);
rt_mutex_release(&mutex_killSendMon);
//Write fake message in queue to unblock Read function
WriteInQueue(&q_messageToMon, new Message(MESSAGE_EMPTY));
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=1;
@ -413,7 +419,13 @@ void Tasks::ReceiveFromMonTask(void *arg) {
rt_mutex_acquire(&mutex_acquireImage, TM_INFINITE);
acquireImage=0;
rt_mutex_release(&mutex_acquireImage);
//close Monitor
monitor.Close();
robot.Close();
sleep(2);
//Restart all the process
Tasks::Join();
//rt_sem_v(&sem_restart);
@ -545,7 +557,7 @@ void Tasks::OpenComRobot(void *arg) {
msgSend = new Message(MESSAGE_ANSWER_ACK);
}
WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
//Trigger Detection of Communication Loss with Robot
rt_sem_v(&sem_detectLostSupRob);