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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; cout << "Semaphores created successfully" << endl << flush;
/**************************************************************************************/ /**************************************************************************************
/* Tasks creation */ * Tasks creation
/**************************************************************************************/ **************************************************************************************/
if ((err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0))) { if ((err = rt_task_create(&th_server, "th_server", 0, PRIORITY_TSERVER, 0))) {
cerr << "Error task create: " << strerror(-err) << endl << flush; cerr << "Error task create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
@ -126,9 +126,9 @@ void Tasks::Init() {
} }
cout << "Tasks created successfully" << endl << flush; 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) { 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; cerr << "Error msg queue create: " << strerror(-err) << endl << flush;
exit(EXIT_FAILURE); exit(EXIT_FAILURE);
@ -198,9 +198,9 @@ void Tasks::ServerTask(void *arg) {
// Synchronization barrier (waiting that all tasks are started) // Synchronization barrier (waiting that all tasks are started)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/ /***************************************************************************************
/* The task server starts here */ * The task server starts here
/**************************************************************************************/ **************************************************************************************/
rt_mutex_acquire(&mutex_monitor, TM_INFINITE); rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
status = monitor.Open(SERVER_PORT); status = monitor.Open(SERVER_PORT);
rt_mutex_release(&mutex_monitor); rt_mutex_release(&mutex_monitor);
@ -225,9 +225,9 @@ void Tasks::ServerTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/ /**************************************************************************************
/* The task sendToMon starts here */ * The task sendToMon starts here
/**************************************************************************************/ **************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE); rt_sem_p(&sem_serverOk, TM_INFINITE);
while (true) { while (true) {
@ -250,9 +250,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/ /**************************************************************************************
/* The task receiveFromMon starts here */ * The task receiveFromMon starts here
/**************************************************************************************/ **************************************************************************************/
rt_sem_p(&sem_serverOk, TM_INFINITE); rt_sem_p(&sem_serverOk, TM_INFINITE);
cout << "Received message from monitor activated" << endl << flush; 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) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/ /**************************************************************************************
/* The task openComRobot starts here */ * The task openComRobot starts here
/**************************************************************************************/ **************************************************************************************/
while (true) { while (true) {
rt_sem_p(&sem_openComRobot, TM_INFINITE); rt_sem_p(&sem_openComRobot, TM_INFINITE);
cout << "Open serial com ("; cout << "Open serial com (";
@ -322,9 +322,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
// Synchronization barrier (waiting that all tasks are starting) // Synchronization barrier (waiting that all tasks are starting)
rt_sem_p(&sem_barrier, TM_INFINITE); rt_sem_p(&sem_barrier, TM_INFINITE);
/**************************************************************************************/ /**************************************************************************************
/* The task startRobot starts here */ * The task startRobot starts here
/**************************************************************************************/ **************************************************************************************/
while (true) { while (true) {
Message * msgSend; Message * msgSend;
rt_sem_p(&sem_startRobot, TM_INFINITE); rt_sem_p(&sem_startRobot, TM_INFINITE);