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Modif comments Raph 2 + while sem_barrier

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Raphael Benistant 2020-04-03 16:22:52 +02:00
parent 54c744b28b
commit 2deabff76f
1 changed files with 19 additions and 15 deletions
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34
software/raspberry/superviseur-robot/tasks.cpp
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@ -556,14 +556,14 @@ void Tasks::OpenComRobot(void *arg) { //PAS DE SOUCIS AU REDEMARAGE
int err;
//bool killOpenComRobotOk = 0;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
while (1) { //Is used to restart process
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) { //Is used to restart process
rt_sem_p(&sem_openComRobot, TM_INFINITE);
cout << "Open serial com (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@ -710,16 +710,16 @@ 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);
rt_task_set_periodic(NULL, TM_NOW, 100000000);
while (1) {
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);
@ -752,6 +752,10 @@ void Tasks::DetectLostSupRob(void *arg){
while(1){//Used to restart process
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
//Wait the Communication with the Robot to be Set
rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
cout << "Start DetectLostSupRob" << endl << flush;
@ -821,15 +825,15 @@ void Tasks::DetectLostSupRob(void *arg){
void Tasks::AskBattery(void *arg){
Message* p_mess_answer_battery;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
while(1){
Message* p_mess_answer_battery;
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 */
/**************************************************************************************/
while(1){
rt_sem_p(&sem_askBattery, TM_INFINITE);
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());