From 5368f14d9ffb171cadb45d69dc587c4082e498e0 Mon Sep 17 00:00:00 2001
From: conceica <conceica@etud.insa-toulouse.fr>
Date: Wed, 8 Apr 2020 16:46:27 +0200
Subject: [PATCH] Version_officielle

---
 .../superviseur-robot/nbproject/private/private.xml   |  2 +-
 software/raspberry/superviseur-robot/tasks.cpp        | 11 +++++++++++
 software/raspberry/superviseur-robot/tasks.h          |  1 +
 3 files changed, 13 insertions(+), 1 deletion(-)

diff --git a/software/raspberry/superviseur-robot/nbproject/private/private.xml b/software/raspberry/superviseur-robot/nbproject/private/private.xml
index 87ac888..0ffd21c 100644
--- a/software/raspberry/superviseur-robot/nbproject/private/private.xml
+++ b/software/raspberry/superviseur-robot/nbproject/private/private.xml
@@ -9,7 +9,7 @@
             <url>tasks.cpp</url>
             <bookmark id="1">
                 <name/>
-                <line>471</line>
+                <line>447</line>
                 <key/>
             </bookmark>
         </file>
diff --git a/software/raspberry/superviseur-robot/tasks.cpp b/software/raspberry/superviseur-robot/tasks.cpp
index ab809fe..431575a 100644
--- a/software/raspberry/superviseur-robot/tasks.cpp
+++ b/software/raspberry/superviseur-robot/tasks.cpp
@@ -76,6 +76,10 @@ void Tasks::Init() {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
+    if (err = rt_mutex_create(&mutex_compteurGestionCom, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }
     cout << "Mutexes created successfully" << endl << flush;
 
     /**************************************************************************************/
@@ -364,6 +368,7 @@ void Tasks::OpenComRobot(void *arg) {
         WriteInQueue(&q_messageToMon, msgSend); // msgSend will be deleted by sendToMon
     }
 }
+
 /**
  * @brief Thread starting the communication with the robot.
  */
@@ -399,9 +404,13 @@ void Tasks::StartRobotTask(void *arg) {
             if ((MessageID) cpStart == MESSAGE_ROBOT_START_WITH_WD) {
                 rt_sem_v(&sem_startReloadWD);
             }
+        } else {
+            WriteInQueue(&q_messageToMon, new Message(MESSAGE_ANSWER_ACK));
         }
+
     }
 }
+
 /**
  * @brief Thread managing the Robot's coms
  */
@@ -478,7 +487,9 @@ void Tasks::MoveTask(void *arg) {
             msgRcv = robot.Write(new Message((MessageID) cpMove));
             rt_mutex_release(&mutex_robot);
             if (msgRcv->CompareID(MESSAGE_ANSWER_ACK)) {
+                rt_mutex_acquire(&mutex_compteurGestionCom,TM_INFINITE);
                 compteur_gestionCom = 0;
+                rt_mutex_release (&mutex_compteurGestionCom);
             } else {
                 compteur_gestionCom += 1;
 
diff --git a/software/raspberry/superviseur-robot/tasks.h b/software/raspberry/superviseur-robot/tasks.h
index 75bbac3..10f6d3b 100644
--- a/software/raspberry/superviseur-robot/tasks.h
+++ b/software/raspberry/superviseur-robot/tasks.h
@@ -91,6 +91,7 @@ private:
     RT_MUTEX mutex_robot;
     RT_MUTEX mutex_robotStarted;
     RT_MUTEX mutex_move;
+    RT_MUTEX mutex_compteurGestionCom;
 
     /**********************************************************************/
     /* Semaphores                                                         */