gestion message erroné dans askBattery et StartWithWatchdog fonctionnel
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1 changed files with 7 additions and 3 deletions
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@ -404,7 +404,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
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} else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
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cout << "Command Start Robot with Watchdog Received" << endl << flush;
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rt_sem_v(&sem_startRobotWithoutWatchdog);
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rt_sem_v(&sem_startRobotWithWatchdog);
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} else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
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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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while (killBatteryOk==0) {
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cpt++;
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if(cpt==2){
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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robot.Write(robot.ReloadWD());
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rt_mutex_release(&mutex_robot);
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cpt=0;
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}
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rt_task_wait_period(NULL);
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@ -656,10 +658,12 @@ void Tasks::AskBattery(void *arg){
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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p_mess_answer_battery = robot.Write(robot.GetBattery());
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rt_mutex_release(&mutex_robot);
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if(p_mess_answer_battery->GetID()==MESSAGE_ROBOT_BATTERY_LEVEL){
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WriteInQueue(&q_messageToMon, p_mess_answer_battery);
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cout << endl << flush;
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}
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}
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}
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//This task works on a difficult principle that fully make it controllable through
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