From 54c744b28b0e1ca90235ba8e18da32e162816e74 Mon Sep 17 00:00:00 2001 From: Raphael Date: Fri, 3 Apr 2020 15:48:21 +0200 Subject: [PATCH] Modified comments on master Raph --- software/raspberry/superviseur-robot/tasks.cpp | 1 + software/raspberry/superviseur-robot/tasks.h | 5 +---- 2 files changed, 2 insertions(+), 4 deletions(-) diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp index 88ad24d..77918d8 100644 --- a/software/raspberry/superviseur-robot/tasks.cpp +++ b/software/raspberry/superviseur-robot/tasks.cpp @@ -138,6 +138,7 @@ void Tasks::Init() { cerr << "Error semaphore create: " << strerror(-err) << endl << flush; exit(EXIT_FAILURE); } + if (err = rt_sem_create(&sem_startRobotWithoutWatchdog, NULL, 0, S_FIFO)) { cerr << "Error semaphore create: " << strerror(-err) << endl << flush; exit(EXIT_FAILURE); diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h index f5a23e5..4e47e24 100644 --- a/software/raspberry/superviseur-robot/tasks.h +++ b/software/raspberry/superviseur-robot/tasks.h @@ -66,7 +66,7 @@ private: ComRobot robot; int robotStarted = 0; int move = MESSAGE_ROBOT_STOP; - bool killBattery = 0; + bool killBattery = 0; //Used to kill the tasks start with or without watchdog bool killReceiveFromMon=0; bool killVision=0; bool searchArena=0; @@ -105,12 +105,9 @@ private: RT_MUTEX mutex_drawArena; RT_MUTEX mutex_getPosition; RT_MUTEX mutex_killSendMon; - RT_MUTEX mutex_killStartRobWD; RT_MUTEX mutex_killDetectLostSupRob; RT_MUTEX mutex_killStartRob; RT_MUTEX mutex_acquireImage; - - RT_MUTEX mutex_killOpenComRobot; /**********************************************************************/ /* Semaphores */ /**********************************************************************/