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251b123a6b
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2deabff76f
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2deabff76f | |||
54c744b28b |
2 changed files with 22 additions and 21 deletions
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@ -138,6 +138,7 @@ void Tasks::Init() {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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}
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if (err = rt_sem_create(&sem_startRobotWithoutWatchdog, NULL, 0, S_FIFO)) {
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cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
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exit(EXIT_FAILURE);
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@ -555,14 +556,14 @@ void Tasks::OpenComRobot(void *arg) { //PAS DE SOUCIS AU REDEMARAGE
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int err;
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//bool killOpenComRobotOk = 0;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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while (1) { //Is used to restart process
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************/
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/* The task openComRobot starts here */
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/**************************************************************************************/
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while (1) { //Is used to restart process
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rt_sem_p(&sem_openComRobot, TM_INFINITE);
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cout << "Open serial com (";
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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@ -644,7 +645,7 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
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*/
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void Tasks::StartRobotTaskWithWatchdog(void *arg) {
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int killBatteryOk;
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int killBatteryOk=0;
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int cpt=1;
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Message * msgSend;
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@ -659,7 +660,6 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
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//Boolean to get the battery
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killBatteryOk = 0;
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rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
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killBattery=0;
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rt_mutex_release(&mutex_killBattery);
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@ -710,16 +710,16 @@ void Tasks::MoveTask(void *arg) {
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int rs;
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int cpMove;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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rt_task_set_periodic(NULL, TM_NOW, 100000000);
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while (1) {
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************/
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/* The task starts here */
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/**************************************************************************************/
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rt_task_set_periodic(NULL, TM_NOW, 100000000);
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while (1) {
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rt_task_wait_period(NULL);
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cout << "Periodic movement update";
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rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
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@ -752,6 +752,10 @@ void Tasks::DetectLostSupRob(void *arg){
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while(1){//Used to restart process
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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//Wait the Communication with the Robot to be Set
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rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
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cout << "Start DetectLostSupRob" << endl << flush;
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@ -821,15 +825,15 @@ void Tasks::DetectLostSupRob(void *arg){
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void Tasks::AskBattery(void *arg){
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Message* p_mess_answer_battery;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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while(1){
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Message* p_mess_answer_battery;
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cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
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// Synchronization barrier (waiting that all tasks are starting)
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rt_sem_p(&sem_barrier, TM_INFINITE);
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/**************************************************************************************/
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/* The task starts here */
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/**************************************************************************************/
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while(1){
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rt_sem_p(&sem_askBattery, TM_INFINITE);
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rt_mutex_acquire(&mutex_robot, TM_INFINITE);
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p_mess_answer_battery = robot.Write(robot.GetBattery());
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@ -66,7 +66,7 @@ private:
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ComRobot robot;
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int robotStarted = 0;
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int move = MESSAGE_ROBOT_STOP;
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bool killBattery = 0;
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bool killBattery = 0; //Used to kill the tasks start with or without watchdog
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bool killReceiveFromMon=0;
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bool killVision=0;
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bool searchArena=0;
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@ -105,12 +105,9 @@ private:
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RT_MUTEX mutex_drawArena;
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RT_MUTEX mutex_getPosition;
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RT_MUTEX mutex_killSendMon;
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RT_MUTEX mutex_killStartRobWD;
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RT_MUTEX mutex_killDetectLostSupRob;
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RT_MUTEX mutex_killStartRob;
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RT_MUTEX mutex_acquireImage;
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RT_MUTEX mutex_killOpenComRobot;
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/**********************************************************************/
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/* Semaphores */
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/**********************************************************************/
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