changement reload toutes les 1 seconde

software/raspberry/superviseur-robot/tasks.cpp

@@ -75,7 +75,10 @@ void Tasks::Init() {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    
+    /*if (err = rt_mutex_create(&mutex_robot_on, NULL)) {
+        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
+        exit(EXIT_FAILURE);
+    }*/
     
     
     cout << "Mutexes created successfully" << endl << flush;
@@ -279,6 +282,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
 
         if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
             delete(msgRcv);
+            cout << "Connection to monitor lost" << endl;
+            monitor.Close();
             //exit(-1);
             
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
@@ -344,21 +349,24 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
     // Synchronization barrier (waiting that all tasks are starting)
     rt_sem_p(&sem_barrier, TM_INFINITE);
-    
+    int killBattery=0;
     /**************************************************************************************/
     /* The task startRobot starts here                                                    */
     /**************************************************************************************/
-    while (1) {
     Message* p_mess_answer_battery;
     Message * msgSend;
     rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
     cout << "Start robot without watchdog (";
+    
+    //Boolean to get the battery
+    rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
+    killBatteryBool=0;
+    rt_mutex_release(&mutex_kill_battery);
     rt_mutex_acquire(&mutex_robot, TM_INFINITE);
     msgSend = robot.Write(robot.StartWithoutWD());
     rt_mutex_release(&mutex_robot);
     cout << msgSend->GetID();
     cout << ")" << endl;  
-        
     cout << "Movement answer: " << msgSend->ToString() << endl << flush;
     WriteInQueue(&q_messageToMon, msgSend);  // msgSend will be deleted by sendToMon
 
@@ -366,8 +374,8 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
         rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
         robotStarted = 1;
         rt_mutex_release(&mutex_robotStarted);
-            rt_task_set_periodic(NULL, TM_NOW, 3000000000);
+        rt_task_set_periodic(NULL, TM_NOW, 500000000);
-            while (1) {
+        while (killBattery==0) {
             rt_task_wait_period(NULL);
             rt_mutex_acquire(&mutex_robot, TM_INFINITE);
             p_mess_answer_battery = robot.Write(robot.GetBattery());
@@ -375,8 +383,10 @@ 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);
         }
     }
 }
@@ -396,7 +406,6 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     /**************************************************************************************/
     /* The task startRobot starts here                                                    */
     /**************************************************************************************/
-    while (1) {
     Message* p_mess_answer_battery;
     Message * msgSend;
     int cpt=1;
@@ -406,6 +415,12 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     rt_mutex_acquire(&mutex_robot, TM_INFINITE);
     msgSend = robot.Write(robot.StartWithWD());
     rt_mutex_release(&mutex_robot);
+    
+    //boolean to ask battery
+    rt_mutex_acquire(&mutex_kill_battery, TM_INFINITE);
+    killBatteryBool=0;
+    rt_mutex_release(&mutex_kill_battery);
+    
     cout << msgSend->GetID();
     cout << ")" << endl;
         
@@ -417,14 +432,15 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
         rt_mutex_acquire(&mutex_robotStarted, TM_INFINITE);
         robotStarted = 1;
         rt_mutex_release(&mutex_robotStarted);
-            rt_task_set_periodic(NULL, TM_NOW, 300000000);
+        rt_task_set_periodic(NULL, TM_NOW, 500000000);
         while (1) {
             cpt++;
-                rt_task_wait_period(NULL);
+            if(cpt%2==0){
                 rt_mutex_acquire(&mutex_robot, TM_INFINITE);
                 robot.Write(robot.ReloadWD());
                 rt_mutex_release(&mutex_robot);
-                if(cpt%10==0){
+            }
+            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);
@@ -434,8 +450,6 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
             cout << endl << flush;
         }
     }
-        }
-    }
 }
 
 

software/raspberry/superviseur-robot/tasks.h

@@ -65,6 +65,8 @@ private:
     ComMonitor monitor;
     ComRobot robot;
     int robotStarted = 0;
+    int killBatteryBool = 0;
+    int killRobotWithoutWd = 0;
     int move = MESSAGE_ROBOT_STOP;
     
     /**********************************************************************/
@@ -85,6 +87,7 @@ private:
     RT_MUTEX mutex_robot;
     RT_MUTEX mutex_robotStarted;
     RT_MUTEX mutex_move;
+    RT_MUTEX mutex_kill_battery;
 
     /**********************************************************************/
     /* Semaphores                                                         */