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Dependencies:   NaturalTinyShell_ice libmDot-12Sept mbed-rtos mbed

Fork of ICE by Erick

src/ControlTask/ControlTask.cpp@157:0d79678ed00f, 2016-09-30 (annotated)

Committer:
jmarkel44
Date:
Fri Sep 30 13:57:45 2016 +0000
Revision:
157:0d79678ed00f
Parent:
156:44f87c5a83ae
Child:
164:7cecd731882e
new timer control algorithms

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmarkel44 20:653923c2f37a 1 #include "ControlTask.h"
jmarkel44 20:653923c2f37a 2 #include <stdio.h>
jmarkel44 20:653923c2f37a 3 #include "rtos.h"
jmarkel44 46:4cb96ab2d1c8 4 #include "ConfigurationHandler.h"
jmarkel44 46:4cb96ab2d1c8 5 #include "MTSLog.h"
jmarkel44 20:653923c2f37a 6
jmarkel44 46:4cb96ab2d1c8 7 /*****************************************************************************
jmarkel44 46:4cb96ab2d1c8 8 * Function: ControlTask()
jmarkel44 131:a290a3934132 9 * Description: This task will loop through all of the configured
jmarkel44 131:a290a3934132 10 * controls
jmarkel44 46:4cb96ab2d1c8 11 *
jmarkel44 46:4cb96ab2d1c8 12 * @param msg
jmarkel44 46:4cb96ab2d1c8 13 * @return none
jmarkel44 46:4cb96ab2d1c8 14 *****************************************************************************/
jmarkel44 20:653923c2f37a 15 void ControlTask(void const *args)
jmarkel44 20:653923c2f37a 16 {
jmarkel44 20:653923c2f37a 17 printf("\r%s has started...\n", __func__);
jmarkel44 20:653923c2f37a 18
jmarkel44 20:653923c2f37a 19 while ( true ) {
jmarkel44 97:5cf6ab71dcd0 20
jmarkel44 97:5cf6ab71dcd0 21 // service the manual controls
jmarkel44 97:5cf6ab71dcd0 22 if ( !manualTable.empty() ) {
jmarkel44 97:5cf6ab71dcd0 23 StringManualMap::iterator pos;
jmarkel44 97:5cf6ab71dcd0 24 for ( pos = manualTable.begin(); pos != manualTable.end(); ++pos ) {
jmarkel44 97:5cf6ab71dcd0 25 pos->second->update();
jmarkel44 97:5cf6ab71dcd0 26 }
jmarkel44 97:5cf6ab71dcd0 27 }
jmarkel44 46:4cb96ab2d1c8 28 // service the setpoint controls
jmarkel44 46:4cb96ab2d1c8 29 if ( !setpointTable.empty() ) {
jmarkel44 46:4cb96ab2d1c8 30 StringSetpointMap::iterator pos;
jmarkel44 46:4cb96ab2d1c8 31 for ( pos = setpointTable.begin(); pos != setpointTable.end(); ++pos ) {
jmarkel44 51:66b820f203a5 32 pos->second->update();
jmarkel44 46:4cb96ab2d1c8 33 }
jmarkel44 46:4cb96ab2d1c8 34 }
jmarkel44 46:4cb96ab2d1c8 35 // service the timer controls
jmarkel44 46:4cb96ab2d1c8 36 if ( !timerTable.empty() ) {
jmarkel44 156:44f87c5a83ae 37 StringVectorTimerMap::iterator pos;
jmarkel44 46:4cb96ab2d1c8 38 for ( pos = timerTable.begin(); pos != timerTable.end(); ++pos ) {
jmarkel44 156:44f87c5a83ae 39 // the timer vector is sorted by starttime, so we only need
jmarkel44 156:44f87c5a83ae 40 // to service the first timer
jmarkel44 157:0d79678ed00f 41 TimerError_t rc = pos->second.front()->update();
jmarkel44 157:0d79678ed00f 42 if ( rc == TIMER_CONTROL_DESTROY ) {
jmarkel44 157:0d79678ed00f 43 pos->second.erase(pos->second.begin());
jmarkel44 157:0d79678ed00f 44 }
jmarkel44 46:4cb96ab2d1c8 45 }
jmarkel44 46:4cb96ab2d1c8 46 }
jmarkel44 51:66b820f203a5 47
jmarkel44 156:44f87c5a83ae 48 // service the composite controls
jmarkel44 156:44f87c5a83ae 49
jmarkel44 132:45821e189dd0 50 Thread::wait(1000); // do we need to wait?
jmarkel44 20:653923c2f37a 51 }
jmarkel44 51:66b820f203a5 52 }