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changements effectués pour que le merge soit clean

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This commit is contained in:
Romain Vitrat 2020-03-31 17:11:31 +02:00
parent c5892bacc9
commit 3fabeb9559
1 changed files with 3 additions and 3 deletions
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6
software/raspberry/superviseur-robot/tasks.cpp
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@ -656,7 +656,7 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
void Tasks::StartRobotTaskWithWatchdog(void *arg) { void Tasks::StartRobotTaskWithWatchdog(void *arg) {
int killBatteryOk=0; int killBatteryOk=0;
int cpt=0; int cpt=1;
Message * msgSend; Message * msgSend;
while(1){ while(1){
@ -697,7 +697,7 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
cpt++; cpt++;
if(cpt==2){ if(cpt==2){
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(MESSAGE_ROBOT_RELOAD_WD); robot.Write(robot.ReloadWD());
rt_mutex_release(&mutex_robot); rt_mutex_release(&mutex_robot);
cpt=0; cpt=0;
} }
@ -727,7 +727,7 @@ void Tasks::MoveTask(void *arg) {
/**************************************************************************************/ /**************************************************************************************/
/* The task starts here */ /* The task starts here */
/**************************************************************************************/ /**************************************************************************************/
rt_task_set_periodic(NULL, TM_NOW, 1000000000); rt_task_set_periodic(NULL, TM_NOW, 100000000);
while (1) { while (1) {
rt_task_wait_period(NULL); rt_task_wait_period(NULL);