suppression fonction batterie et chgt priorités startrobot

software/raspberry/superviseur-robot/tasks.cpp

@@ -24,10 +24,9 @@
 #define PRIORITY_TMOVE 20
 #define PRIORITY_TSENDTOMON 22
 #define PRIORITY_TRECEIVEFROMMON 25
-#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 20
+#define PRIORITY_TSTARTROBOTWITHOUTWATCHDOG 22
-#define PRIORITY_TSTARTROBOTWITHWATCHDOG 20
+#define PRIORITY_TSTARTROBOTWITHWATCHDOG 22
 #define PRIORITY_TCAMERA 21
-#define PRIORITY_TBATTERY 31
 
 
 /*
@@ -104,10 +103,6 @@ void Tasks::Init() {
         cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_sem_create(&sem_askBattery, NULL, 0, S_FIFO)) {
-        cerr << "Error semaphore create: " << strerror(-err) << endl << flush;
-        exit(EXIT_FAILURE);
-    }
     cout << "Semaphores created successfully" << endl << flush;
 
     /**************************************************************************************/
@@ -141,10 +136,7 @@ void Tasks::Init() {
         cerr << "Error task create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_create(&th_askBattery, "th_askBattery", 0, PRIORITY_TBATTERY, 0)) {
+    
-        cerr << "Error task create: " << strerror(-err) << endl << flush;
-        exit(EXIT_FAILURE);
-    }
     cout << "Tasks created successfully" << endl << flush;
 
     /**************************************************************************************/
@@ -193,10 +185,6 @@ void Tasks::Run() {
         cerr << "Error task start: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     }
-    if (err = rt_task_start(&th_askBattery, (void(*)(void*)) & Tasks::Ask_Battery, this)) {
-        cerr << "Error battery start: " << strerror(-err) << endl << flush;
-        exit(EXIT_FAILURE);
-    }
 
     cout << "Tasks launched" << endl << flush;
 }
@@ -291,7 +279,8 @@ void Tasks::ReceiveFromMonTask(void *arg) {
 
         if (msgRcv->CompareID(MESSAGE_MONITOR_LOST)) {
             delete(msgRcv);
-            exit(-1);
+            //exit(-1);
+            
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
             rt_sem_v(&sem_openComRobot);
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
@@ -360,7 +349,7 @@ void Tasks::StartRobotTaskWithoutWatchdog(void *arg) {
     /* The task startRobot starts here                                                    */
     /**************************************************************************************/
     while (1) {
-        int err;
+        Message* p_mess_answer_battery;
         Message * msgSend;
         rt_sem_p(&sem_startRobotWithoutWatchdog, TM_INFINITE);
         cout << "Start robot without watchdog (";
@@ -377,11 +366,16 @@ 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, 5000000000);
+            rt_task_set_periodic(NULL, TM_NOW, 3000000000);
             while (1) {
                 rt_task_wait_period(NULL);
-                rt_sem_v(&sem_askBattery);
+                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;
             }
         }
     }
@@ -403,6 +397,7 @@ void Tasks::StartRobotTaskWithWatchdog(void *arg) {
     /* The task startRobot starts here                                                    */
     /**************************************************************************************/
     while (1) {
+        Message* p_mess_answer_battery;
         Message * msgSend;
         int cpt=1;
         int err;
@@ -422,13 +417,21 @@ 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, 5000000000);
+            rt_task_set_periodic(NULL, TM_NOW, 300000000);
             while (1) {
                 cpt++;
                 rt_task_wait_period(NULL);
+                rt_mutex_acquire(&mutex_robot, TM_INFINITE);
                 robot.Write(robot.ReloadWD()); 
+                rt_mutex_release(&mutex_robot);
                 if(cpt%10==0){
-                    rt_sem_v(&sem_askBattery);
+                    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;
                 }
             }
         }
@@ -476,29 +479,6 @@ void Tasks::MoveTask(void *arg) {
 }
 
 
-void Tasks::Ask_Battery(void *arg){
-    Message* p_mess_answer_battery;
-    cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
-    // Synchronization barrier (waiting that all tasks are starting)
-    rt_sem_p(&sem_barrier, TM_INFINITE);
-    
-    /**************************************************************************************/
-    /* The task starts here                                                               */
-    /**************************************************************************************/
-    while(1){
-        rt_sem_p(&sem_askBattery, TM_INFINITE);
-        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;
-    }
-}
-
-
-
 /**
  * Write a message in a given queue
  * @param queue Queue identifier

software/raspberry/superviseur-robot/tasks.h

@@ -77,7 +77,6 @@ private:
     RT_TASK th_startRobotWithoutWatchdog;
     RT_TASK th_startRobotWithWatchdog;
     RT_TASK th_move;
-    RT_TASK th_askBattery;
     
     /**********************************************************************/
     /* Mutex                                                              */
@@ -86,7 +85,6 @@ private:
     RT_MUTEX mutex_robot;
     RT_MUTEX mutex_robotStarted;
     RT_MUTEX mutex_move;
-    RT_MUTEX mutex_askBattery;
 
     /**********************************************************************/
     /* Semaphores                                                         */
@@ -96,7 +94,6 @@ private:
     RT_SEM sem_serverOk;
     RT_SEM sem_startRobotWithoutWatchdog;
     RT_SEM sem_startRobotWithWatchdog;
-    RT_SEM sem_askBattery;
 
     /**********************************************************************/
     /* Message queues                                                     */
@@ -144,9 +141,6 @@ private:
     
 
     
-    void Ask_Battery(void *arg);
-    
-    
     /**********************************************************************/
     /* Queue services                                                     */
     /**********************************************************************/

software/simulateur/nbproject/private/private.xml

@@ -6,8 +6,6 @@
     </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/etud/dumber/software/simulateur/main.cpp</file>
-        </group>
     </open-files>
 </project-private>