echec global

software/raspberry/superviseur-robot/lib/commonitor.cpp

@@ -135,7 +135,7 @@ int ComMonitor::AcceptClient() {
  * Send a message to monitor
  * 
  * @param msg Message to send to monitor
- * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
+    * @attention Message given in parameter will be destroyed (delete) after being sent. No need for user to delete message after that.
  * @warning Write is not thread safe : check that multiple tasks can't access this method simultaneously  
  */
 void ComMonitor::Write(Message *msg) {

software/raspberry/superviseur-robot/nbproject/private/private.xml

@@ -7,7 +7,13 @@
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
         <group>
+            <file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/camera.cpp</file>
+            <file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/comrobot.cpp</file>
             <file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/tasks.h</file>
+            <file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/img.cpp</file>
+            <file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/img.h</file>
+            <file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home/romainv/Documents/temps_reel/dumber1/software/raspberry/superviseur-robot/lib/commonitor.cpp</file>
         </group>
     </open-files>
 </project-private>

software/raspberry/superviseur-robot/tasks.cpp

@@ -24,8 +24,8 @@
 #define PRIORITY_TMOVE 20
 #define PRIORITY_TSENDTOMON 22
 #define PRIORITY_TRECEIVEFROMMON 25
-#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 22
+#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 19
-#define PRIORITY_TSTARTROBOTWITHWATCHDOG 22
+#define PRIORITY_TSTARTROBOTWITHWATCHDOG 19
 #define PRIORITY_TCAMERA 21
 
 
@@ -358,7 +358,7 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
     rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
     cout << "Start robot without watchdog (";
     
-    //Boolean to get the battery
+    //Boolean to kill the loop and stop the robot and battery acquisition
     rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
     killBatteryBool=0;
     rt_mutex_release(&mutex_kill_battery);
@@ -383,7 +383,7 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
             rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
             monitor.Write(p_mess_answer_battery);
             rt_mutex_release(&mutex_monitor);
-            //cout << endl << flush;
+            cout << endl << flush;
             rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
             killBattery=killBatteryBool;
             rt_mutex_release(&mutex_kill_battery);
@@ -408,8 +408,9 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     /**************************************************************************************/
     Message* p_mess_answer_battery;
     Message * msgSend;
-    int cpt=1;
+    int cpt=0;
-    int err;
+    int killBattery=0;
+    
     rt_sem_p(&sem_startRobotWithWatchdog, TM_INFINITE);
     cout << "Start robot with watchdog (";
     rt_mutex_acquire(&mutex_robot, TM_INFINITE);
@@ -423,31 +424,38 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     
     cout << msgSend->GetID();
     cout << ")" << endl;
-        
+    
     cout << "Movement answer: " << msgSend->ToString() << endl << flush;
     WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
-
+    
+    //si réussite :
     if (msgSend->GetID() == MESSAGE_ANSWER_ACK) {
-            
+        
         rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
         robotStarted = 1;
         rt_mutex_release(&mutex_robotStarted);
         rt_task_set_periodic(NULL, TM_NOW, 500000000);
-        while (1) {
+        while (!killBattery) {
+            rt_task_wait_period(NULL);
             cpt++;
             if(cpt%2==0){
                 rt_mutex_acquire(&mutex_robot, TM_INFINITE);
                 robot.Write(robot.ReloadWD());
                 rt_mutex_release(&mutex_robot);
             }
-            rt_task_wait_period(NULL);
             rt_mutex_acquire(&mutex_robot, TM_INFINITE);
             p_mess_answer_battery = robot.Write(robot.GetBattery());
             rt_mutex_release(&mutex_robot);
+            
             rt_mutex_acquire(&mutex_monitor, TM_INFINITE);
             monitor.Write(p_mess_answer_battery);
             rt_mutex_release(&mutex_monitor);
             cout << endl << flush;
+            
+            //mise à jour de la variable d'acquisition de la batterie
+            rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
+            killBattery=killBatteryBool;
+            rt_mutex_release(&mutex_kill_battery);
         }
     }
 }

software/raspberry/superviseur-robot/tasks.h

@@ -66,7 +66,6 @@ private:
     ComRobot robot;
     int robotStarted = 0;
     int killBatteryBool = 0;
-    int killRobotWithoutWd = 0;
     int move = MESSAGE_ROBOT_STOP;
     
     /**********************************************************************/

software/simulateur/nbproject/private/private.xml

@@ -6,6 +6,8 @@
     </data>
     <editor-bookmarks xmlns="http://www.netbeans.org/ns/editor-bookmarks/2" lastBookmarkId="0"/>
     <open-files xmlns="http://www.netbeans.org/ns/projectui-open-files/2">
-        <group/>
+        <group>
+            <file>file:/home/romainv/Documents/temps_reel/dumber1/software/simulateur/main.cpp</file>
+        </group>
     </open-files>
 </project-private>