benistan/real_time
1
0
Fork 0
Code Issues Pull requests Releases Wiki Activity

Restart receiveFromMon doesn't work

Browse source
This commit is contained in:
Raphael Benistant 2020-03-29 11:26:13 +02:00
parent e4f00f6816
commit e912211b00
1 changed files with 26 additions and 22 deletions
Show stats Download patch file Download diff file Expand all files Collapse all files

48
software/raspberry/superviseur-robot/tasks.cpp
View file

@ -19,11 +19,11 @@
#include <stdexcept> #include <stdexcept>
// Déclaration des priorités des taches // Déclaration des priorités des taches
#define PRIORITY_TSERVER 30 #define PRIORITY_TSERVER 10
#define PRIORITY_TOPENCOMROBOT 50 #define PRIORITY_TOPENCOMROBOT 50
#define PRIORITY_TMOVE 20 #define PRIORITY_TMOVE 20
#define PRIORITY_TSENDTOMON 22 #define PRIORITY_TSENDTOMON 22
#define PRIORITY_TRECEIVEFROMMON 25 #define PRIORITY_TRECEIVEFROMMON 50
#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 22 #define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 22
#define PRIORITY_TSTARTROBOTWITHWATCHDOG 22 #define PRIORITY_TSTARTROBOTWITHWATCHDOG 22
#define PRIORITY_TCAMERA 21 #define PRIORITY_TCAMERA 21
@ -366,15 +366,14 @@ void Tasks::ReceiveFromMonTask(void *arg) {
Message *msgRcv; Message *msgRcv;
bool killReceiveFromMonOk=0; bool killReceiveFromMonOk=0;
cout << "Start " << __PRETTY_FUNCTION__ << endl << flush; cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
while(1){
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
while(1){
//rt_sem_p(&sem_restart,TM_INFINITE); //rt_sem_p(&sem_restart,TM_INFINITE);
//Reinitialize control boolean //Reinitialize control boolean
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE); rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMon=0; killReceiveFromMon=0;
@ -393,7 +392,6 @@ void Tasks::ReceiveFromMonTask(void *arg) {
if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) { if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
delete(msgRcv); delete(msgRcv);
cout << "Connection to monitor lost" << endl; cout << "Connection to monitor lost" << endl;
monitor.Close();
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE); rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMon=1; killReceiveFromMon=1;
@ -421,6 +419,17 @@ void Tasks::ReceiveFromMonTask(void *arg) {
acquireImage=0; acquireImage=0;
rt_mutex_release(&mutex_acquireImage); rt_mutex_release(&mutex_acquireImage);
sleep(1);
monitor.Close();
robot.Close();
//Tasks::Join();
cout << "End sleep" << endl << flush;
rt_sem_broadcast(&sem_barrier);
cout << "Mes couilles" << endl << flush;
//exit(-1); //exit(-1);
@ -508,29 +517,24 @@ void Tasks::ReceiveFromMonTask(void *arg) {
delete(msgRcv); // must be deleted manually, no consumer delete(msgRcv); // must be deleted manually, no consumer
//Update loop condition //Update loop condition
//cout << "J'arrive la" << endl << flush; cout << "J'arrive la" << endl << flush;
rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE); rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
killReceiveFromMonOk = killReceiveFromMon; killReceiveFromMonOk = killReceiveFromMon;
rt_mutex_release(&mutex_killReceiveFromMon); rt_mutex_release(&mutex_killReceiveFromMon);
cout << "Kill Receive From Mon Ok = " << killReceiveFromMonOk << endl << flush; cout << "Kill Receive From Mon Ok = " << killReceiveFromMonOk << endl << flush;
} }
monitor.Close();
robot.Close();
cout << "ReceiveFromMon dies" << endl << flush; cout << "ReceiveFromMon dies" << endl << flush;
//Restart all the process
Tasks::Join();
} }
} }
/** /**
* @brief Thread opening communication with the robot. * @brief Thread opening communication with the robot.
*/ */
void Tasks::OpenComRobot(void *arg) { void Tasks::OpenComRobot(void *arg) { //PAS DE SOUCIS AU REDEMARAGE
int status; int status;
int err; int err;
//bool killOpenComRobotOk = 0; //bool killOpenComRobotOk = 0;
@ -543,7 +547,6 @@ void Tasks::OpenComRobot(void *arg) {
/* The task openComRobot starts here */ /* The task openComRobot starts here */
/**************************************************************************************/ /**************************************************************************************/
while (1) { while (1) {
rt_sem_p(&sem_openComRobot, TM_INFINITE); rt_sem_p(&sem_openComRobot, TM_INFINITE);
cout << "Open serial com ("; cout << "Open serial com (";
rt_mutex_acquire(&mutex_robot, TM_INFINITE); rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@ -758,12 +761,12 @@ void Tasks::DetectLostSupRob(void *arg){
if(cpt==3){ if(cpt==3){
//Trigger Kill of DetectLostSupRob //Trigger Kill of DetectLostSupRob
rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE); rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
killDetectLostSupRob=0; killDetectLostSupRob=1;
rt_mutex_release(&mutex_killDetectLostSupRob); rt_mutex_release(&mutex_killDetectLostSupRob);
//Trigger Kill of the Battery acquisition //Trigger Kill of the Battery acquisition
rt_mutex_acquire(&mutex_killBattery, TM_INFINITE); rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
killBattery=0; killBattery=1;
rt_mutex_release(&mutex_killBattery); rt_mutex_release(&mutex_killBattery);
} }
@ -777,6 +780,7 @@ void Tasks::DetectLostSupRob(void *arg){
kill_detectLostSupRobOk=killDetectLostSupRob; kill_detectLostSupRobOk=killDetectLostSupRob;
rt_mutex_release(&mutex_killDetectLostSupRob); rt_mutex_release(&mutex_killDetectLostSupRob);
} }
cout << "DetectLostSupRob dies";
} }
/** /**