main.cpp

00001 #include "mbed.h"
00002 
00003 //#define TEST_ULTRASONIC
00004 #ifdef TEST_ULTRASONIC   
00005 #include "ultrasonic.h"
00006 #else
00007 #include "hcsr04.h"
00008 #endif
00009 
00010 
00011 //#define USE_THREAD
00012 #ifdef USE_THREAD
00013 #include "rtos.h"
00014 #endif
00015 
00016 #define  CHECK_DISTANCE 1000
00017 
00018 int sum_dist[3] = {0,}; //ryuhs74@20150712 - 
00019 int avg_dist = 0; //ryuhs74@20150712 - 
00020 int index_dist = 0; //ryuhs74@20150712 - 
00021 
00022 Serial pc(USBTX, USBRX); // tx, rx
00023 
00024 #ifdef USE_THREAD
00025 int isRun_thread = 0;
00026 Thread *pThread = NULL;
00027 
00028 void camera_thread( void const* args)
00029 {
00030     isRun_thread = 1;
00031     
00032     while(isRun_thread){
00033         //ryuhs74@20150713 START - TEST code 
00034         for(int i = 0; i<100;i++){
00035             wait(1);
00036         }        
00037         break;
00038         //ryuhs74@20150713 - TEST code END       
00039     }
00040     
00041     if( pThread != NULL ){
00042         pThread->terminate();
00043         pThread = NULL;
00044     }
00045     isRun_thread = 0;
00046     return;
00047 }
00048 #endif
00049 
00050 void dist(int distance)
00051 {
00052     //put code here to happen when the distance is changed
00053     pc.printf("Distance changed to %d mm\r\n", distance);
00054 }
00055 
00056 
00057 #ifdef TEST_ULTRASONIC
00058 ultrasonic mu(D8, D9, .1, 1, &dist);    //Set the trigger pin to D8 and the echo pin to D9
00059 //have updates every .1 seconds and a timeout after 1
00060 //second, and call dist when the distance changes
00061 #else
00062 HCSR04 sensor(D12, D11); 
00063 #endif
00064 
00065 int main()
00066 {
00067 #ifdef TEST_ULTRASONIC
00068     pc.printf("Start ----> TEST_ULTRASONIC\n");
00069 #else
00070     pc.printf("Start ----> HCSR04\n");
00071 #endif
00072     
00073 #ifdef TEST_ULTRASONIC
00074     mu.startUpdates();//start mesuring the distance
00075 #endif
00076 
00077     while(1) {
00078 
00079         pc.printf("Before mu.checkDistance();\n");
00080         //Do something else here
00081 #ifdef TEST_ULTRASONIC
00082         mu.checkDistance();     //call checkDistance() as much as possible, as this is where
00083 #else
00084         long distance = sensor.distance(); 
00085 #endif
00086         //the class checks if dist needs to be called.
00087         pc.printf("After mu.checkDistance();\n");
00088                
00089        //ryuhs74@20150712 START - 
00090         if( index_dist < 3){
00091             pc.printf("Before mu.getCurrentDistance();\n");
00092 #ifdef TEST_ULTRASONIC
00093             sum_dist[index_dist] = mu.getCurrentDistance();
00094 #else
00095             sum_dist[index_dist] = distance;
00096 #endif
00097             pc.printf("sum_dist[index_dist(%d)] = %d\n", index_dist, sum_dist[index_dist]);
00098             index_dist ++;
00099         } else {
00100             pc.printf("Before index_dist( %d ) ", index_dist);
00101             index_dist = 0;
00102             pc.printf("After index_dist( %d )\n", index_dist);
00103             
00104             for(int i =0; i<3;i++){
00105                 avg_dist += sum_dist[i];
00106             }
00107             
00108             //avg_dist /= avg_dist;
00109             
00110             if( avg_dist <= CHECK_DISTANCE ){
00111                 #ifdef USE_THREAD
00112                 if( isRun_thread == 0 ){
00113                     Thread thread(camera_thread);
00114                     
00115                     if( pThread == NULL)
00116                         pThread = (Thread*)&thread;
00117                     
00118                 }
00119                 #else
00120                 #endif
00121                 
00122             }
00123         }
00124         pc.printf("wait(1)\n");
00125         //ryuhs74@20150712 - END        
00126         wait(1.0); //ryuhs7474@20150713 - 초당 한번씩 딜레이를 준다          
00127     }
00128 }