From 9adc001ccf9d37e1d5c661caeb1ab04519dbc432 Mon Sep 17 00:00:00 2001
From: Raphael <benistan@etud.insa-toulouse.fr>
Date: Sun, 29 Mar 2020 09:29:21 +0200
Subject: [PATCH] Start and Restart Server work

---
 .../raspberry/superviseur-robot/tasks.cpp     | 35 +++++++++----------
 1 file changed, 16 insertions(+), 19 deletions(-)

diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index 216ce59..9c20262 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -281,7 +281,8 @@ void Tasks::Join() {
     rt_sem_broadcast(&sem_barrier);
         
     //Initialization for some specific sem: Allow to run the first time
-    rt_sem_broadcast(&sem_restart);
+    //rt_sem_broadcast(&sem_restart);
+    
     pause();
 }
 
@@ -292,13 +293,10 @@ void Tasks::ServerTask(void *arg) {
     int status;
     
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
-    // Synchronization barrier (waiting that all tasks are started)
-    rt_sem_p(&sem_barrier, TM_INFINITE);
-
+    
     while(1){
-        
-        //First time it's okay after it's managed by receiveFromMon
-        //rt_sem_p(&sem_restart, TM_INFINITE);
+        // Synchronization barrier (waiting that all tasks are started)
+        rt_sem_p(&sem_barrier, TM_INFINITE);
 
         /**************************************************************************************/
         /* The task server starts here                                                        */
@@ -329,18 +327,17 @@ void Tasks::SendToMonTask(void* arg) {
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
     
-    while(1){
-        //rt_sem_p(&sem_restart, TM_INFINITE);
-
-        //Initialize the loop condition
-        rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
-            killSendMon=0; // The message is deleted with the Write
-        rt_mutex_release(&mutex_killSendMon);
+    //while(1){
 
         /**************************************************************************************/
         /* The task sendToMon starts here                                                     */
         /**************************************************************************************/
         rt_sem_p(&sem_serverOk, TM_INFINITE);
+        
+        //Initialize the loop condition
+        rt_mutex_acquire(&mutex_killSendMon, TM_INFINITE);
+            killSendMon=0; // The message is deleted with the Write
+        rt_mutex_release(&mutex_killSendMon);
 
         while (!kill_sendToMonOk) {
             cout << "wait msg to send" << endl << flush;
@@ -355,7 +352,7 @@ void Tasks::SendToMonTask(void* arg) {
             rt_mutex_release(&mutex_killSendMon);        
 
         }
-    }
+    //}
 }
 
 /**
@@ -369,7 +366,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
     
-    while(1){
+    //while(1){
     
         //rt_sem_p(&sem_restart,TM_INFINITE);
      
@@ -419,7 +416,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
 
                 //Restart all the process
                 Tasks::Join();
-                rt_sem_v(&sem_restart);
+                //rt_sem_v(&sem_restart);
 
                 //exit(-1);
 
@@ -513,7 +510,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
             rt_mutex_release(&mutex_killReceiveFromMon);
 
         }
-    }
+    //}
 }
 
 /**
@@ -522,7 +519,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
 void Tasks::OpenComRobot(void *arg) {
     int status;
     int err;
-    bool killOpenComRobotOk = 0;
+    //bool killOpenComRobotOk = 0;
 
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
     // Synchronization barrier (waiting that all tasks are starting)