Erick / Mbed 2 deprecated ICE_BLE_TEST

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Dependencies:   NaturalTinyShell_ice libmDot-12Sept mbed-rtos mbed

Fork of ICE by Erick

src/ControlTask/ControlTask.cpp@269:97243a7f56ba, 2016-10-26 (annotated)

Committer:
jmarkel44
Date:
Wed Oct 26 18:30:08 2016 +0000
Revision:
269:97243a7f56ba
Parent:
252:3c9863f951b7 
general sensor error state added to failsafes

Who changed what in which revision?

UserRevisionLine numberNew contents of line
jmarkel44 218:e0c05b4f470b 1 /******************************************************************************
jmarkel44 218:e0c05b4f470b 2 *
jmarkel44 218:e0c05b4f470b 3 * File: ControlTask.cpp
jmarkel44 218:e0c05b4f470b 4 * Desciption: source for the ICE Control task
jmarkel44 218:e0c05b4f470b 5 *
jmarkel44 218:e0c05b4f470b 6 *****************************************************************************/
jmarkel44 218:e0c05b4f470b 7
jmarkel44 20:653923c2f37a 8 #include "ControlTask.h"
jmarkel44 20:653923c2f37a 9 #include <stdio.h>
jmarkel44 20:653923c2f37a 10 #include "rtos.h"
jmarkel44 46:4cb96ab2d1c8 11 #include "ConfigurationHandler.h"
jmarkel44 46:4cb96ab2d1c8 12 #include "MTSLog.h"
jmarkel44 196:78397baf0802 13 #include "global.h"
jmarkel44 20:653923c2f37a 14
jmarkel44 218:e0c05b4f470b 15 // control functions
jmarkel44 170:f9406996ff5b 16 static void serviceManualControls(void);
jmarkel44 170:f9406996ff5b 17 static void serviceTimerControls(void);
jmarkel44 170:f9406996ff5b 18 static void serviceSetpointControls(void);
jmarkel44 218:e0c05b4f470b 19 static void serviceCompositeControls(void);
jmarkel44 252:3c9863f951b7 20 static void serviceFailsafeControls(void);
jmarkel44 170:f9406996ff5b 21
jmarkel44 46:4cb96ab2d1c8 22 /*****************************************************************************
jmarkel44 46:4cb96ab2d1c8 23 * Function: ControlTask()
jmarkel44 131:a290a3934132 24 * Description: This task will loop through all of the configured
jmarkel44 131:a290a3934132 25 * controls
jmarkel44 46:4cb96ab2d1c8 26 *
jmarkel44 46:4cb96ab2d1c8 27 * @param msg
jmarkel44 46:4cb96ab2d1c8 28 * @return none
jmarkel44 46:4cb96ab2d1c8 29 *****************************************************************************/
jmarkel44 20:653923c2f37a 30 void ControlTask(void const *args)
jmarkel44 20:653923c2f37a 31 {
jmarkel44 20:653923c2f37a 32 printf("\r%s has started...\n", __func__);
jmarkel44 20:653923c2f37a 33
jmarkel44 20:653923c2f37a 34 while ( true ) {
jmarkel44 170:f9406996ff5b 35 serviceManualControls();
jmarkel44 170:f9406996ff5b 36
jmarkel44 170:f9406996ff5b 37 serviceTimerControls();
jmarkel44 170:f9406996ff5b 38
jmarkel44 170:f9406996ff5b 39 serviceSetpointControls();
jmarkel44 170:f9406996ff5b 40
jmarkel44 218:e0c05b4f470b 41 serviceCompositeControls();
jmarkel44 252:3c9863f951b7 42
jmarkel44 252:3c9863f951b7 43 serviceFailsafeControls();
jmarkel44 170:f9406996ff5b 44
jmarkel44 170:f9406996ff5b 45 Thread::wait(1000); // do we need to wait?
jmarkel44 170:f9406996ff5b 46 }
jmarkel44 170:f9406996ff5b 47 }
jmarkel44 170:f9406996ff5b 48
jmarkel44 170:f9406996ff5b 49 /*****************************************************************************
jmarkel44 170:f9406996ff5b 50 * Function: serviceManualControls()
jmarkel44 170:f9406996ff5b 51 * Description: service the manual controls
jmarkel44 170:f9406996ff5b 52 * controls
jmarkel44 170:f9406996ff5b 53 *
jmarkel44 170:f9406996ff5b 54 * @param none
jmarkel44 170:f9406996ff5b 55 * @return none
jmarkel44 170:f9406996ff5b 56 *****************************************************************************/
jmarkel44 170:f9406996ff5b 57 static void serviceManualControls(void)
jmarkel44 170:f9406996ff5b 58 {
jmarkel44 170:f9406996ff5b 59 // service the manual controls
jmarkel44 170:f9406996ff5b 60 if ( !manualTable.empty() ) {
jmarkel44 170:f9406996ff5b 61 StringManualMap::iterator pos;
jmarkel44 170:f9406996ff5b 62 for ( pos = manualTable.begin(); pos != manualTable.end(); ++pos ) {
jmarkel44 170:f9406996ff5b 63 pos->second->update();
jmarkel44 97:5cf6ab71dcd0 64 }
jmarkel44 170:f9406996ff5b 65 }
jmarkel44 170:f9406996ff5b 66 }
jmarkel44 170:f9406996ff5b 67
jmarkel44 170:f9406996ff5b 68 /*****************************************************************************
jmarkel44 170:f9406996ff5b 69 * Function: serviceSetpointControls()
jmarkel44 170:f9406996ff5b 70 * Description: service the setpoint controls
jmarkel44 170:f9406996ff5b 71 * controls
jmarkel44 170:f9406996ff5b 72 *
jmarkel44 170:f9406996ff5b 73 * @param none
jmarkel44 170:f9406996ff5b 74 * @return none
jmarkel44 170:f9406996ff5b 75 *****************************************************************************/
jmarkel44 170:f9406996ff5b 76 static void serviceSetpointControls(void)
jmarkel44 170:f9406996ff5b 77 {
jmarkel44 170:f9406996ff5b 78 // service the setpoint controls
jmarkel44 170:f9406996ff5b 79 if ( !setpointTable.empty() ) {
jmarkel44 170:f9406996ff5b 80 StringSetpointMap::iterator pos;
jmarkel44 170:f9406996ff5b 81 for ( pos = setpointTable.begin(); pos != setpointTable.end(); ++pos ) {
jmarkel44 170:f9406996ff5b 82 pos->second->update();
jmarkel44 170:f9406996ff5b 83 }
jmarkel44 170:f9406996ff5b 84 }
jmarkel44 170:f9406996ff5b 85 }
jmarkel44 170:f9406996ff5b 86
jmarkel44 170:f9406996ff5b 87 /*****************************************************************************
jmarkel44 170:f9406996ff5b 88 * Function: serviceTimerControls()
jmarkel44 170:f9406996ff5b 89 * Description: service the timer controls
jmarkel44 170:f9406996ff5b 90 * controls
jmarkel44 170:f9406996ff5b 91 *
jmarkel44 170:f9406996ff5b 92 * @param none
jmarkel44 170:f9406996ff5b 93 * @return none
jmarkel44 170:f9406996ff5b 94 *****************************************************************************/
jmarkel44 170:f9406996ff5b 95 static void serviceTimerControls(void)
jmarkel44 170:f9406996ff5b 96 {
jmarkel44 170:f9406996ff5b 97 // service the timer controls
jmarkel44 170:f9406996ff5b 98 if ( !timerTable.empty() ) {
jmarkel44 170:f9406996ff5b 99 StringVectorTimerMap::iterator pos;
jmarkel44 170:f9406996ff5b 100 for ( pos = timerTable.begin(); pos != timerTable.end(); ++pos ) {
jmarkel44 170:f9406996ff5b 101 // the timer vector is sorted by starttime, so we only need
jmarkel44 170:f9406996ff5b 102 // to service the first timer
jmarkel44 170:f9406996ff5b 103 TimerError_t rc = pos->second.front()->update();
jmarkel44 170:f9406996ff5b 104 if ( rc == TIMER_CONTROL_DESTROY ) {
jmarkel44 196:78397baf0802 105 GLOBAL_mdot->deleteUserFile(pos->second.front()->getControlFile().c_str());
jmarkel44 196:78397baf0802 106 logInfo("%s: deleted %s", __func__, pos->second.front()->getControlFile().c_str());
jmarkel44 170:f9406996ff5b 107 // free the memory
jmarkel44 170:f9406996ff5b 108 delete pos->second.front();
jmarkel44 170:f9406996ff5b 109 pos->second.erase(pos->second.begin());
jmarkel44 46:4cb96ab2d1c8 110 }
jmarkel44 46:4cb96ab2d1c8 111 }
jmarkel44 20:653923c2f37a 112 }
jmarkel44 170:f9406996ff5b 113
jmarkel44 218:e0c05b4f470b 114 }
jmarkel44 218:e0c05b4f470b 115
jmarkel44 218:e0c05b4f470b 116 /*****************************************************************************
jmarkel44 218:e0c05b4f470b 117 * Function: serviceCompositeControls()
jmarkel44 218:e0c05b4f470b 118 * Description: service the composite controls
jmarkel44 218:e0c05b4f470b 119 * controls
jmarkel44 218:e0c05b4f470b 120 *
jmarkel44 218:e0c05b4f470b 121 * @param none
jmarkel44 218:e0c05b4f470b 122 * @return none
jmarkel44 218:e0c05b4f470b 123 *****************************************************************************/
jmarkel44 218:e0c05b4f470b 124 static void serviceCompositeControls(void)
jmarkel44 218:e0c05b4f470b 125 {
jmarkel44 221:2a5e9902003c 126 // service the setpoint controls
jmarkel44 221:2a5e9902003c 127 if ( !compositeTable.empty() ) {
jmarkel44 221:2a5e9902003c 128 StringCompositeMap::iterator pos;
jmarkel44 221:2a5e9902003c 129 for ( pos = compositeTable.begin(); pos != compositeTable.end(); ++pos ) {
jmarkel44 221:2a5e9902003c 130 pos->second->update();
jmarkel44 221:2a5e9902003c 131 }
jmarkel44 221:2a5e9902003c 132 }
jmarkel44 252:3c9863f951b7 133 }
jmarkel44 252:3c9863f951b7 134
jmarkel44 252:3c9863f951b7 135 /*****************************************************************************
jmarkel44 269:97243a7f56ba 136 * Function: serviceFailsafeControls()
jmarkel44 269:97243a7f56ba 137 * Description: service the failsafe controls
jmarkel44 252:3c9863f951b7 138 * controls
jmarkel44 252:3c9863f951b7 139 *
jmarkel44 269:97243a7f56ba 140 * @param[in] none
jmarkel44 252:3c9863f951b7 141 * @return none
jmarkel44 252:3c9863f951b7 142 *****************************************************************************/
jmarkel44 252:3c9863f951b7 143 static void serviceFailsafeControls(void)
jmarkel44 252:3c9863f951b7 144 {
jmarkel44 252:3c9863f951b7 145 // service the setpoint controls
jmarkel44 252:3c9863f951b7 146 if ( !failsafeTable.empty() ) {
jmarkel44 252:3c9863f951b7 147 StringFailsafeMap::iterator pos;
jmarkel44 252:3c9863f951b7 148 for ( pos = failsafeTable.begin(); pos != failsafeTable.end(); ++pos ) {
jmarkel44 252:3c9863f951b7 149 pos->second->update();
jmarkel44 252:3c9863f951b7 150 }
jmarkel44 252:3c9863f951b7 151 }
jmarkel44 51:66b820f203a5 152 }