Restart detectLostSupMon ok but ping doesn't work after restart

software/raspberry/superviseur-robot/tasks.cpp

@@ -368,15 +368,16 @@ void Tasks::ReceiveFromMonTask(void *arg) {
     
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
         
-    while(1){
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
     
+    while(1){
         //rt_sem_p(&sem_restart,TM_INFINITE);
 
         //Reinitialize control boolean
+        killReceiveFromMonOk = 0;
         rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
-            killReceiveFromMon=0;
+            killReceiveFromMon = 0;
         rt_mutex_release(&mutex_killReceiveFromMon);
 
         /**************************************************************************************/
@@ -390,7 +391,6 @@ void Tasks::ReceiveFromMonTask(void *arg) {
             cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
 
             if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
-                delete(msgRcv);
                 cout << "Connection to monitor lost" << endl;
 
                 rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
@@ -419,16 +419,19 @@ void Tasks::ReceiveFromMonTask(void *arg) {
                     acquireImage=0;
                 rt_mutex_release(&mutex_acquireImage);
 
+                //Wait every task to die
                 sleep(1);
                 
+                //All closes
                 monitor.Close();
                 robot.Close();
 
                 //Tasks::Join();
                 
-                cout << "End sleep" << endl << flush;
+                //Release restarted tasks
+//                cout << "End sleep" << endl << flush;
                 rt_sem_broadcast(&sem_barrier);             
-                cout << "Mes couilles" << endl << flush;
+//                cout << "Mes couilles" << endl << flush;
 
                 //exit(-1);
 
@@ -518,13 +521,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
 
             //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;
         }
 
         cout << "ReceiveFromMon dies" << endl << flush;
@@ -643,8 +642,6 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     
     while(1){
         
-        rt_sem_p(&sem_restart, TM_INFINITE);
-        
         rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
         cout << "Start robot with watchdog (";
         rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@@ -734,17 +731,22 @@ void Tasks::DetectLostSupRob(void *arg){
     bool kill_detectLostSupRobOk=0;
     Message* msgSend;
     
-    //Wait the Communication with the Robot to be Set
-    rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
-    
-    //Initialize the variable for the loop condition
-    rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
-        killDetectLostSupRob=0;
-    rt_mutex_release(&mutex_killDetectLostSupRob);
-    
     //Period = 1s
     rt_task_set_periodic(NULL, TM_NOW, 1000000000);
 
+    while(1){
+    
+        //Wait the Communication with the Robot to be Set
+        rt_sem_p(&sem_detectLostSupRob, TM_INFINITE);
+        cout << "Start DetectLostSupRob" << endl << flush;
+
+        kill_detectLostSupRobOk = 0;
+        //Initialize the variable for the loop condition
+        rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
+            killDetectLostSupRob = 0;
+        rt_mutex_release(&mutex_killDetectLostSupRob);
+
+
         while(!kill_detectLostSupRobOk){
             rt_task_wait_period(NULL);
 
@@ -752,6 +754,8 @@ void Tasks::DetectLostSupRob(void *arg){
             rt_mutex_acquire(&mutex_robot, TM_INFINITE);
                 msgSend = robot.Write(robot.Ping());
             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){
 
@@ -781,6 +785,7 @@ void Tasks::DetectLostSupRob(void *arg){
             rt_mutex_release(&mutex_killDetectLostSupRob);        
         }
         cout << "DetectLostSupRob dies";
+    }
 }
 
 /**