Modified Received From Mon (killBattery)

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

@@ -7,7 +7,10 @@
     <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/tasks.h</file>
+            <file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/tasks.cpp</file>
+            <file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/tasks.h</file>
+            <file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/lib/img.h</file>
+            <file>file:/home/raphael/Documents/real_time/software/raspberry/superviseur-robot/lib/messages.h</file>
         </group>
     </open-files>
 </project-private>

software/raspberry/superviseur-robot/tasks.cpp

@@ -105,21 +105,11 @@ void Tasks::Init() {
         exit(EXIT_FAILURE);
     }    
 
-    if (err = rt_mutex_create(&mutex_killStartRobWD, NULL)) {
-        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
-        exit(EXIT_FAILURE);
-    }    
-
     if (err = rt_mutex_create(&mutex_killDetectLostSupRob, NULL)) {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
     } 
     
-    if (err = rt_mutex_create(&mutex_killStartRob, NULL)) {
-        cerr << "Error mutex create: " << strerror(-err) << endl << flush;
-        exit(EXIT_FAILURE);
-    }
-    
     if (err = rt_mutex_create(&mutex_acquireImage, NULL)) {
         cerr << "Error mutex create: " << strerror(-err) << endl << flush;
         exit(EXIT_FAILURE);
@@ -328,7 +318,7 @@ void Tasks::SendToMonTask(void* arg) {
  */
 void Tasks::ReceiveFromMonTask(void *arg) {
     Message *msgRcv;
-    bool Ok=1;
+    bool killReceiveFromMonOk=0;
     
     cout << "Start " << __PRETTY_FUNCTION__ << endl << flush;
     // Synchronization barrier (waiting that all tasks are starting)
@@ -347,8 +337,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
     /**************************************************************************************/
     rt_sem_p(&sem_serverOk, TM_INFINITE);
     cout << "Received message from monitor activated" << endl << flush;
-
-    while (Ok) {
+    while (!killReceiveFromMonOk) {
         msgRcv = monitor.Read();
         cout << "Rcv <= " << msgRcv->ToString() << endl << flush;
 
@@ -369,13 +358,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
                 killSendMon=1;
             rt_mutex_release(&mutex_killSendMon);           
              
-            rt_mutex_acquire(&mutex_killStartRobWD, TM_INFINITE);
-                killStartRobWD=1;
-            rt_mutex_release(&mutex_killStartRobWD);            
-             
-            rt_mutex_acquire(&mutex_killStartRob, TM_INFINITE);
-                killStartRob=1;
-            rt_mutex_release(&mutex_killStartRob);
+            rt_mutex_acquire(&mutex_killBattery, TM_INFINITE);
+                killBattery=1;
+            rt_mutex_release(&mutex_killBattery);
 
             rt_mutex_acquire(&mutex_killDetectLostSupRob, TM_INFINITE);
                 killDetectlostSupRob=1;
@@ -389,33 +374,41 @@ void Tasks::ReceiveFromMonTask(void *arg) {
         
         
         } else if (msgRcv->CompareID(MESSAGE_CAM_OPEN)) {
+            cout << "Command Open Camera Received" << endl << flush;
             //start task Vision
             
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_COM_OPEN)) {
+            cout << "Command Open Communication with Robot Received" << endl << flush;
             rt_sem_v(&sem_openComRobot);
             
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITHOUT_WD)) {
+            cout << "Command Start Robot without Watchdog Received" << endl << flush;
             rt_sem_v(&sem_startRobotWithoutWatchdog);
             
         } else if (msgRcv->CompareID(MESSAGE_ROBOT_START_WITH_WD)) {
+            cout << "Command Start Robot with Watchdog Received" << endl << flush;
             //start task robot with watchdog 
 
         } else if (msgRcv->CompareID(MESSAGE_CAM_ASK_ARENA)) {
+            cout << "Command Search Arena Received" << endl << flush;
             rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
                 searchArena=1;
             rt_mutex_release(&mutex_searchArena);
             
         } else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_START)) {
+            cout << "Command Get Root Position Received" << endl << flush;
             rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
                 getPosition=1;
             rt_mutex_release(&mutex_getPosition);            
 
         } else if (msgRcv->CompareID(MESSAGE_CAM_POSITION_COMPUTE_STOP)) {
+            cout << "Command Stop Getting Robot Position Received" << endl << flush;
             rt_mutex_acquire(&mutex_getPosition, TM_INFINITE);
                 getPosition=0;
             rt_mutex_release(&mutex_getPosition); 
 
         } else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_CONFIRM)) {
+            cout << "Command Confirm Arena Received" << endl << flush;
             rt_mutex_acquire(&mutex_drawArena, TM_INFINITE);
                 drawArena=1;
             rt_mutex_release(&mutex_drawArena);
@@ -429,6 +422,7 @@ void Tasks::ReceiveFromMonTask(void *arg) {
             rt_mutex_release(&mutex_acquireImage);            
  
         } else if (msgRcv->CompareID(MESSAGE_CAM_ARENA_INFIRM)) {
+            cout << "Command Infirm Arena Received" << endl << flush;
             rt_mutex_acquire(&mutex_searchArena, TM_INFINITE);
                 searchArena=0;
             rt_mutex_release(&mutex_searchArena);
@@ -449,8 +443,9 @@ void Tasks::ReceiveFromMonTask(void *arg) {
         }
         delete(msgRcv); // must be deleted manually, no consumer
         
+        //Update loop condition
         rt_mutex_acquire(&mutex_killReceiveFromMon, TM_INFINITE);
-        Ok=!killReceiveFromMon;
+        killReceiveFromMonOk=killReceiveFromMon;
         rt_mutex_release(&mutex_killReceiveFromMon);
         
     }

software/raspberry/superviseur-robot/tasks.h

@@ -78,7 +78,6 @@ private:
     
     
     
-    /**********************************************************************/
     /* Tasks                                                              */
     /**********************************************************************/
     RT_TASK th_server;