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Stop Receive From Monitor ok

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This commit is contained in:
Raphael Benistant 2020-03-29 10:25:23 +02:00
parent 15772bb420
commit e4f00f6816
1 changed files with 21 additions and 19 deletions
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28
software/raspberry/superviseur-robot/tasks.cpp
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@ -367,11 +367,12 @@ void Tasks::ReceiveFromMonTask(void *arg) {
bool killReceiveFromMonOk=0;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
// 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);
//Reinitialize control boolean
@ -420,16 +421,6 @@ void Tasks::ReceiveFromMonTask(void *arg) {
acquireImage=0;
rt_mutex_release(&mutex_acquireImage);
//close Monitor
monitor.Close();
robot.Close();
sleep(2);
//Restart all the process
Tasks::Join();
//rt_sem_v(&sem_restart);
//exit(-1);
@ -517,12 +508,23 @@ void Tasks::ReceiveFromMonTask(void *arg) {
delete(msgRcv); // must be deleted manually, no consumer
//Update loop condition
//cout << "J'arrive la" << endl << flush;
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMonOk = killReceiveFromMon;
rt_mutex_release(&mutex_killReceiveFromMon);
cout << "Kill Receive From Mon Ok = " << killReceiveFromMonOk << endl << flush;
}
monitor.Close();
robot.Close();
cout << "ReceiveFromMon dies" << endl << flush;
//Restart all the process
Tasks::Join();
}
//}
}
/**