Diff: main.cpp

Revision:

2:3dcb6f86ed22

Parent:

1:4a5586eb1765

Child:

4:eb5a51640b43

--- a/main.cpp	Thu Dec 04 08:04:55 2014 +0000
+++ b/main.cpp	Thu Aug 06 12:27:21 2015 +0000
@@ -1,23 +1,106 @@
 #include "mbed.h"
 #include "ultrasonic.h"
 
- void dist(int distance)
+
+//#define USE_THREAD
+#ifdef USE_THREAD
+#include "rtos.h"
+#endif
+
+int sum_dist[3] = {0,}; //ryuhs74@20150712 - 
+int avg_dist = 0; //ryuhs74@20150712 - 
+int index_dist = 0; //ryuhs74@20150712 - 
+
+Serial pc(USBTX, USBRX); // tx, rx
+
+#ifdef USE_THREAD
+int isRun_thread = 0;
+Thread *pThread = NULL;
+
+void camera_thread( void const* args)
+{
+    isRun_thread = 1;
+    
+    while(isRun_thread){
+        //ryuhs74@20150713 START - TEST code 
+        for(int i = 0; i<100;i++){
+            wait(1);
+        }        
+        break;
+        //ryuhs74@20150713 - TEST code END       
+    }
+    
+    if( pThread != NULL ){
+        pThread->terminate();
+        pThread = NULL;
+    }
+    isRun_thread = 0;
+    return;
+}
+#endif
+
+void dist(int distance)
 {
     //put code here to happen when the distance is changed
-    printf("Distance changed to %dmm\r\n", distance);
+    pc.printf("Distance changed to %d mm\r\n", distance);
 }
 
+#define TEST_ULTRASONIC
+#ifdef TEST_ULTRASONIC
 ultrasonic mu(D8, D9, .1, 1, &dist);    //Set the trigger pin to D8 and the echo pin to D9
-                                        //have updates every .1 seconds and a timeout after 1
-                                        //second, and call dist when the distance changes
+//have updates every .1 seconds and a timeout after 1
+//second, and call dist when the distance changes
+#endif
 
 int main()
 {
+    pc.printf("Start ----> \n");
+    
+#ifdef TEST_ULTRASONIC
     mu.startUpdates();//start mesuring the distance
-    while(1)
-    {
+#endif
+
+    while(1) {
+#ifdef TEST_ULTRASONIC
+        pc.printf("Before mu.checkDistance();\n");
         //Do something else here
         mu.checkDistance();     //call checkDistance() as much as possible, as this is where
-                                //the class checks if dist needs to be called.
+        //the class checks if dist needs to be called.
+        pc.printf("After mu.checkDistance();\n");
+               
+       //ryuhs74@20150712 START - 
+        if( index_dist < 3){
+            pc.printf("Before mu.getCurrentDistance();\n");
+            sum_dist[index_dist] = mu.getCurrentDistance();
+            pc.printf("sum_dist[index_dist(%d)] = %d\n", index_dist, sum_dist[index_dist]);
+            index_dist ++;
+        } else {
+            pc.printf("Before index_dist( %d ) ", index_dist);
+            index_dist = 0;
+            pc.printf("After index_dist( %d )\n", index_dist);
+            
+            for(int i =0; i<3;i++){
+                avg_dist += sum_dist[i];
+            }
+            
+            //avg_dist /= avg_dist;
+            
+            if( avg_dist <= 1 ){
+                #ifdef USE_THREAD
+                if( isRun_thread == 0 ){
+                    Thread thread(camera_thread);
+                    
+                    if( pThread == NULL)
+                        pThread = (Thread*)&thread;
+                    
+                }
+                #endif
+                
+            }
+        }
+#endif
+        pc.printf("wait(1)\n");
+        //ryuhs74@20150712 - END        
+        wait(1); //ryuhs7474@20150713 - 초당 한번씩 딜레이를 준다          
     }
 }