void communiquer(void *arg) {
DMessage *msg = d_new_message();
int var1 = 1;
int num_msg = 0;
rt_printf("tserver : Début de l'exécution de serveur\n");
serveur->open(serveur, "8000");
rt_printf("tserver : Connexion\n");
rt_mutex_acquire(&mutexEtat, TM_INFINITE);
etatCommMoniteur = 0;
rt_mutex_release(&mutexEtat);
while (var1 > 0) {
rt_printf("tserver : Attente d'un message\n");
var1 = serveur->receive(serveur, msg);
num_msg++;
if (var1 > 0) {
switch (msg->get_type(msg)) {
case MESSAGE_TYPE_ACTION:
rt_printf("tserver : Le message %d reçu est une action\n",
num_msg);
DAction *action = d_new_action();
action->from_message(action, msg);
switch (action->get_order(action)) {
case ACTION_CONNECT_ROBOT:
rt_printf("tserver : Action connecter robot\n");
rt_sem_v(&semConnecterRobot);
break;
}
break;
case MESSAGE_TYPE_MOVEMENT:
rt_printf("tserver : Le message reçu %d est un mouvement\n",
num_msg);
rt_mutex_acquire(&mutexMove, TM_INFINITE);
move->from_message(move, msg);
move->print(move);
rt_mutex_release(&mutexMove);
break;
}
}
}
}
void communiquer(void *arg) {
DMessage *msg = d_new_message();
DMessage *to_send = d_new_message();
DAction *action = d_new_action();
int var1 = 1;
int num_msg = 0;
while (1) {
rt_printf("tserver : Début de l'exécution de serveur\n");
serveur->open(serveur, "8000");
rt_printf("tserver : Connexion\n");
rt_mutex_acquire(&mutexEtat, TM_INFINITE);
etatCommMoniteur = 0;
rt_mutex_release(&mutexEtat);
while (var1 > 0) {
//rt_printf("tserver : Attente d'un message\n");
var1 = serveur->receive(serveur, msg);
num_msg++;
if (var1 > 0) {
switch (msg->get_type(msg)) {
case MESSAGE_TYPE_ACTION:
rt_printf("tserver : Le message %d reçu est une action\n", num_msg);
action->from_message(action, msg);
switch (action->get_order(action)) {
case ACTION_CONNECT_ROBOT:
rt_printf("tserver : Action connecter robot\n");
rt_sem_v(&semConnecterRobot);
break;
case ACTION_FIND_ARENA:
rt_printf("tserver : Demande de detection de l'arene\n");
rt_mutex_acquire(&mutexEtatCamera, TM_INFINITE);
if (etat_camera == 2) etat_camera = 3;
else etat_camera = 1;
rt_mutex_release(&mutexEtatCamera);
break;
case ACTION_COMPUTE_CONTINUOUSLY_POSITION:
rt_printf("tserver : Demande de detection du robot\n");
rt_mutex_acquire(&mutexEtatCamera, TM_INFINITE);
if (etat_camera == 1) etat_camera = 3;
else etat_camera = 2;
rt_mutex_release(&mutexEtatCamera);
break;
case ACTION_STOP_COMPUTE_POSITION:
rt_printf("tserver : Fin de detection\n");
rt_mutex_acquire(&mutexEtatCamera, TM_INFINITE);
etat_camera = 0;
rt_mutex_release(&mutexEtatCamera);
break;
}
break;
case MESSAGE_TYPE_MOVEMENT:
rt_printf("tserver : Le message reçu %d est un mouvement\n", num_msg);
rt_mutex_acquire(&mutexMove, TM_INFINITE);
move->from_message(move, msg);
//move->print(move);
rt_mutex_release(&mutexMove);
break;
case MESSAGE_TYPE_MISSION:
rt_printf("tserver : Nouvelle mission\n", num_msg);
mission_s->from_message(mission_s, msg);
mission_s->print(mission_s);
mission_s->get_position(mission_s, position_dest);
position_dest->print(position_dest);
mission_s->print(mission_s);
rt_sem_v(&semMissionLancee);
break;
case MISSION_TYPE_STOP:
to_send->mission_terminate(to_send, mission_s->get_id(mission_s));
serveur->send(serveur, to_send);
//rt_sem_p(&semMissionLancee, TM_INFINITE);
break;
}
} else {
rt_printf("tserver : Perte de communication avec le moniteur\n");
serveur->close(serveur);
rt_mutex_acquire(&mutexEtat, TM_INFINITE);
etatCommMoniteur = 1;
rt_mutex_release(&mutexEtat);
}
}
}
}
