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Restart detectLostSupMon ok but ping doesn't work after restart

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This commit is contained in:
Raphael Benistant 2020-03-29 12:34:28 +02:00
parent 153fc3a049
commit e479fec3eb
1 changed files with 50 additions and 42 deletions
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12
software/raspberry/superviseur-robot/tasks.cpp
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@ -731,16 +731,21 @@ void Tasks::DetectLostSupRob(void *arg){
bool kill_detectLostSupRobOk=0; bool kill_detectLostSupRobOk=0;
Message* msgSend; Message* msgSend;
//Period = 1s
rt_task_set_periodic(NULL, TM_NOW, 1000000000);
while(1){
//Wait the Communication with the Robot to be Set //Wait the Communication with the Robot to be Set
rt_sem_p(&sem_detectLostSupRob, TM_INFINITE); rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
cout << "Start DetectLostSupRob" << endl << flush;
kill_detectLostSupRobOk = 0;
//Initialize the variable for the loop condition //Initialize the variable for the loop condition
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);
//Period = 1s
rt_task_set_periodic(NULL, TM_NOW, 1000000000);
while(!kill_detectLostSupRobOk){ while(!kill_detectLostSupRobOk){
rt_task_wait_period(NULL); rt_task_wait_period(NULL);
@ -749,6 +754,8 @@ void Tasks::DetectLostSupRob(void *arg){
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
msgSend = robot.Write(robot.Ping()); msgSend = robot.Write(robot.Ping());
rt_mutex_release(&mutex_robot); rt_mutex_release(&mutex_robot);
cout << "J'écris un message" << endl << flush;
if(msgSend->GetID() == MESSAGE_ANSWER_COM_ERROR || msgSend->GetID() == MESSAGE_ANSWER_ROBOT_TIMEOUT){ if(msgSend->GetID() == MESSAGE_ANSWER_COM_ERROR || msgSend->GetID() == MESSAGE_ANSWER_ROBOT_TIMEOUT){
@ -779,6 +786,7 @@ void Tasks::DetectLostSupRob(void *arg){
} }
cout << "DetectLostSupRob dies"; cout << "DetectLostSupRob dies";
} }
}
/** /**
* Write a message in a given queue * Write a message in a given queue