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Robot doesn't wait for client 2

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This commit is contained in:
Raphael Benistant 2020-03-29 15:29:55 +02:00
parent 2805103953
commit 9e5c6003fc
1 changed files with 19 additions and 15 deletions
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30
software/raspberry/superviseur-robot/tasks.cpp
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@ -423,12 +423,6 @@ void Tasks::ReceiveFromMonTask(void *arg) {
//Wait every task to die //Wait every task to die
sleep(1); sleep(1);
//All closes
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Close();
rt_mutex_release(&mutex_monitor);
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
status=robot.Close(); status=robot.Close();
rt_mutex_release(&mutex_robot); rt_mutex_release(&mutex_robot);
@ -440,14 +434,13 @@ void Tasks::ReceiveFromMonTask(void *arg) {
cout << "Close Robot Success" << endl << flush; cout << "Close Robot Success" << endl << flush;
} }
//Tasks::Join(); //All closes
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
monitor.Close();
rt_mutex_release(&mutex_monitor);
//Release restarted tasks //Release restarted tasks
// cout << "End sleep" << endl << flush;
rt_sem_broadcast(&sem_barrier); rt_sem_broadcast(&sem_barrier);
// cout << "Mes couilles" << endl << flush;
//exit(-1);
} else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) { } else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
@ -761,8 +754,11 @@ void Tasks::DetectLostSupRob(void *arg){
rt_sem_p(&sem_detectLostSupRob, TM_INFINITE); rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
cout << "Start DetectLostSupRob" << endl << flush; cout << "Start DetectLostSupRob" << endl << flush;
kill_detectLostSupRobOk = 0; //Initialize counter to detect loss
cpt = 0;
//Initialize the variable for the loop condition //Initialize the variable for the loop condition
kill_detectLostSupRobOk = 0;
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE); rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
killDetectLostSupRob = 0; killDetectLostSupRob = 0;
rt_mutex_release(&mutex_killDetectLostSupRob); rt_mutex_release(&mutex_killDetectLostSupRob);
@ -784,16 +780,24 @@ void Tasks::DetectLostSupRob(void *arg){
cpt++; cpt++;
if(cpt==3){ if(cpt==3){
//acknowledge loss communication with robot
//WriteInQueue(&q_messageToMon, new Message(MESSAGE_MONITOR_LOST));
cout << "Restart Communication with Robot" << endl << flush;
//Trigger Kill of DetectLostSupRob //Trigger Kill of DetectLostSupRob
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE); rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
killDetectLostSupRob=1; killDetectLostSupRob=1;
rt_mutex_release(&mutex_killDetectLostSupRob); rt_mutex_release(&mutex_killDetectLostSupRob);
//Trigger Kill of the Battery acquisition //Trigger Kill of the Battery acquisition and therefore Robot with or without WD
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE); rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=1; killBattery=1;
rt_mutex_release(&mutex_killBattery); rt_mutex_release(&mutex_killBattery);
rt_sem_v(&sem_openComRobot);
} }
} }