Final Version

software/raspberry/superviseur-robot/tasks.cpp

@@ -138,7 +138,6 @@ void Tasks::Init() {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    
     if (err = rt_sem_create(&sem_startRobotWithoutWatchdog, NULL, 0, S_FIFO)) {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
@@ -556,7 +555,6 @@ void Tasks::OpenComRobot(void *arg) { //PAS DE SOUCIS AU REDEMARAGE
     int err;
     //bool killOpenComRobotOk = 0;
 
-    while (1) { //Is used to restart process
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
@@ -564,6 +562,7 @@ void Tasks::OpenComRobot(void *arg) { //PAS DE SOUCIS AU REDEMARAGE
         /**************************************************************************************/
         /* The task openComRobot starts here                                                  */
         /**************************************************************************************/
+        while (1) { //Is used to restart process
             rt_sem_p(&sem_openComRobot, TM_INFINITE);    
             cout << "Open serial com (";
             rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@@ -645,7 +644,7 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
  */
 void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     
-    int killBatteryOk=0;
+    int killBatteryOk;
     int cpt=1;
     Message * msgSend;
     
@@ -660,6 +659,7 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
 
 
         //Boolean to get the battery
+        killBatteryOk = 0;
         rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
         killBattery=0;
         rt_mutex_release(&mutex_killBattery);
@@ -710,9 +710,6 @@ void Tasks::MoveTask(void *arg) {
     int rs;
     int cpMove;
     
-    rt_task_set_periodic(NULL, TM_NOW, 100000000);
-
-    while (1) {
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
@@ -720,6 +717,9 @@ void Tasks::MoveTask(void *arg) {
     /**************************************************************************************/
     /* The task starts here                                                               */
     /**************************************************************************************/
+    rt_task_set_periodic(NULL, TM_NOW, 100000000);
+
+    while (1) {
         rt_task_wait_period(NULL);
         cout << "Periodic movement update";
         rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
@@ -752,10 +752,6 @@ void Tasks::DetectLostSupRob(void *arg){
 
     while(1){//Used to restart process
     
-        cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
-        // Synchronization barrier (waiting that all tasks are starting)
-        rt_sem_p(&sem_barrier, TM_INFINITE);
-        
         //Wait the Communication with the Robot to be Set
         rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
         cout << "Start DetectLostSupRob" << endl << flush;
@@ -825,7 +821,6 @@ void Tasks::DetectLostSupRob(void *arg){
 
         
 void Tasks::AskBattery(void *arg){
-    while(1){
     Message* p_mess_answer_battery;
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
     // Synchronization barrier (waiting that all tasks are starting)
@@ -834,6 +829,7 @@ void Tasks::AskBattery(void *arg){
     /**************************************************************************************/
     /* The task starts here                                                               */
     /**************************************************************************************/
+    while(1){
         rt_sem_p(&sem_askBattery, TM_INFINITE);
         rt_mutex_acquire(&mutex_robot, TM_INFINITE);
         p_mess_answer_battery = robot.Write(robot.GetBattery());

software/raspberry/superviseur-robot/tasks.h

@@ -66,7 +66,7 @@ private:
     ComRobot robot;
     int robotStarted = 0;
     int move = MESSAGE_ROBOT_STOP;
-    bool killBattery = 0; //Used to kill the tasks start with or without watchdog
+    bool killBattery = 0;
     bool killReceiveFromMon=0;
     bool killVision=0;
     bool searchArena=0;
@@ -105,9 +105,12 @@ private:
     RT_MUTEX mutex_drawArena;
     RT_MUTEX mutex_getPosition;
     RT_MUTEX mutex_killSendMon;
+    RT_MUTEX mutex_killStartRobWD;
     RT_MUTEX mutex_killDetectLostSupRob;
     RT_MUTEX mutex_killStartRob;
     RT_MUTEX mutex_acquireImage;
+    
+    RT_MUTEX mutex_killOpenComRobot;
     /**********************************************************************/
     /* Semaphores                                                         */
     /**********************************************************************/