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@@ -404,7 +404,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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404
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404
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405
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405
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
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406
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406
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cout << "Command Start Robot with Watchdog Received" << endl << flush;
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407
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- rt_sem_v(&sem_startRobotWithoutWatchdog);
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407
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+ rt_sem_v(&sem_startRobotWithWatchdog);
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408
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408
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409
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409
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} else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
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410
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410
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cout << "Command Search Arena Received" << endl << flush;
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@@ -591,7 +591,9 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
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591
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591
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while (killBatteryOk==0) {
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592
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592
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cpt++;
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593
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593
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if(cpt==2){
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594
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+ rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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594
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595
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robot.Write(robot.ReloadWD());
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596
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+ rt_mutex_release(&mutex_robot);
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595
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597
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cpt=0;
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596
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598
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}
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597
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599
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rt_task_wait_period(NULL);
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@@ -656,8 +658,10 @@ void Tasks::AskBattery(void *arg){
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656
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658
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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657
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659
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p_mess_answer_battery = robot.Write(robot.GetBattery());
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658
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660
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rt_mutex_release(&mutex_robot);
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659
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- WriteInQueue(&q_messageToMon, p_mess_answer_battery);
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660
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- cout << endl << flush;
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661
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+ if(p_mess_answer_battery->GetID()==MESSAGE_ROBOT_BATTERY_LEVEL){
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662
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+ WriteInQueue(&q_messageToMon, p_mess_answer_battery);
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663
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+ cout << endl << flush;
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664
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+ }
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661
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665
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}
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662
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666
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}
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663
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667
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