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gestion message erroné dans askBattery et StartWithWatchdog fonctionnel

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This commit is contained in:
Romain Vitrat 2020-03-30 17:59:49 +02:00
parent be868ed6f4
commit 6ca9bf556a
1 changed files with 7 additions and 3 deletions
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6
software/raspberry/superviseur-robot/tasks.cpp
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@ -404,7 +404,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
cout << "Command Start Robot with Watchdog Received" << endl << flush;
rt_sem_v(&sem_startRobotWithoutWatchdog);
rt_sem_v(&sem_startRobotWithWatchdog);
} else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
cout << "Command Search Arena Received" << endl << flush;
@ -591,7 +591,9 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
while (killBatteryOk==0) {
cpt++;
if(cpt==2){
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
robot.Write(robot.ReloadWD());
rt_mutex_release(&mutex_robot);
cpt=0;
}
rt_task_wait_period(NULL);
@ -656,10 +658,12 @@ void Tasks::AskBattery(void *arg){
rt_mutex_acquire(&mutex_robot, TM_INFINITE);
p_mess_answer_battery = robot.Write(robot.GetBattery());
rt_mutex_release(&mutex_robot);
if(p_mess_answer_battery->GetID()==MESSAGE_ROBOT_BATTERY_LEVEL){
WriteInQueue(&q_messageToMon, p_mess_answer_battery);
cout << endl << flush;
}
}
}
//This task works on a difficult principle that fully make it controllable through