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This commit is contained in:
Arnaud Vergnet 2021-03-03 08:34:12 +01:00
parent cff9e149b6
commit d4e6ba4042
1 changed files with 21 additions and 21 deletions
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42
software/raspberry/superviseur-robot/tasks.cpp
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@ -97,9 +97,9 @@ void Tasks::Init() {
}
cout << "Semaphores created successfully" << endl << flush;
/**************************************************************************************/
/* Tasks creation */
/**************************************************************************************/
/**************************************************************************************
* Tasks creation
**************************************************************************************/
if ((err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0))) {
cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
@ -126,9 +126,9 @@ void Tasks::Init() {
}
cout << "Tasks created successfully" << endl << flush;
/**************************************************************************************/
/* Message queues creation */
/**************************************************************************************/
/**************************************************************************************
* Message queues creation
**************************************************************************************/
if ((err = rt_queue_create(&q_messageToMon, "q_messageToMon", sizeof (Message*)*50, Q_UNLIMITED, Q_FIFO)) < 0) {
cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE);
@ -198,9 +198,9 @@ void Tasks::ServerTask(void *arg) {
// Synchronization barrier (waiting that all tasks are started)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task server starts here */
/**************************************************************************************/
/***************************************************************************************
* The task server starts here
**************************************************************************************/
rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
status = monitor.Open(SERVER_PORT);
rt_mutex_release(&mutex_monitor);
@ -225,9 +225,9 @@ void Tasks::ServerTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task sendToMon starts here */
/**************************************************************************************/
/**************************************************************************************
* The task sendToMon starts here
**************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE);
while (true) {
@ -250,9 +250,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task receiveFromMon starts here */
/**************************************************************************************/
/**************************************************************************************
* The task receiveFromMon starts here
**************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE);
cout << "Received message from monitor activated" << endl << flush;
@ -292,9 +292,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task openComRobot starts here */
/**************************************************************************************/
/**************************************************************************************
* The task openComRobot starts here
**************************************************************************************/
while (true) {
rt_sem_p(&sem_openComRobot, TM_INFINITE);
cout << "Open serial com (";
@ -322,9 +322,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/
/* The task startRobot starts here */
/**************************************************************************************/
/**************************************************************************************
* The task startRobot starts here
**************************************************************************************/
while (true) {
Message * msgSend;
rt_sem_p(&sem_startRobot, TM_INFINITE);