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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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16
software/raspberry/superviseur-robot/tasks.cpp
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@ -324,10 +324,11 @@ void Tasks::SendToMonTask(void* arg) {
bool kill_sendToMonOk=0; bool kill_sendToMonOk=0;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
while(1){
// 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);
//while(1){
/**************************************************************************************/ /**************************************************************************************/
/* The task sendToMon starts here */ /* The task sendToMon starts here */
@ -335,6 +336,7 @@ void Tasks::SendToMonTask(void* arg) {
rt_sem_p(&sem_serverOk, TM_INFINITE); rt_sem_p(&sem_serverOk, TM_INFINITE);
//Initialize the loop condition //Initialize the loop condition
kill_sendToMonOk=0;
rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE); rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
killSendMon=0; // The message is deleted with the Write killSendMon=0; // The message is deleted with the Write
rt_mutex_release(&mutex_killSendMon); rt_mutex_release(&mutex_killSendMon);
@ -352,7 +354,9 @@ void Tasks::SendToMonTask(void* arg) {
rt_mutex_release(&mutex_killSendMon); rt_mutex_release(&mutex_killSendMon);
} }
//}
cout << "SendToMon Task dies" << endl << flush;
}
} }
/** /**
@ -401,6 +405,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE); rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
killSendMon=1; 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); rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=1; killBattery=1;
@ -414,6 +420,12 @@ void Tasks::ReceiveFromMonTask(void *arg) {
acquireImage=0; acquireImage=0;
rt_mutex_release(&mutex_acquireImage); rt_mutex_release(&mutex_acquireImage);
//close Monitor
monitor.Close();
robot.Close();
sleep(2);
//Restart all the process //Restart all the process
Tasks::Join(); Tasks::Join();
//rt_sem_v(&sem_restart); //rt_sem_v(&sem_restart);