Saltware / Mbed 2 deprecated Water Play

Program for the water play project for the course Software Testing Practical 2016 given at the VU University

Dependencies:   mbed DRV88255 TextLCD Ping mbed-rtos

main.cpp@74:05f2188cfc0b, 2016-06-22 (annotated)

Committer:
sbouber1
Date:
Wed Jun 22 11:16:00 2016 +0000
Revision:
74:05f2188cfc0b
Parent:
72:f8c4f731f0fe
Child:
75:763f3f0a311c
update

Who changed what in which revision?

UserRevisionLine numberNew contents of line
sbouber1 10:fd4670ec0806 1 #include <vector>
sbouber1 10:fd4670ec0806 2 #include <iostream>
sbouber1 10:fd4670ec0806 3
6366295 0:dab140a197e0 4 #include "SalinityController.h"
6366295 0:dab140a197e0 5 #include "TemperatureController.h"
joran 6:067e999b9c6e 6 #include "LCDController.h"
sbouber1 9:b3674516729d 7 #include "ProximityController.h"
sbouber1 57:8dc3192ff150 8 #include "SensorAlarmController.h"
sbouber1 28:f4a4ee58d57e 9 #include "PIDController.h"
sbouber1 55:ee80f248919d 10 #include "settings.h"
sbouber1 74:05f2188cfc0b 11 #include "testing.h"
sbouber1 74:05f2188cfc0b 12 #include "MockSensorController.h"
6366295 0:dab140a197e0 13 #include "mbed.h"
sbouber1 9:b3674516729d 14
sbouber1 57:8dc3192ff150 15 extern int testMain();
sbouber1 57:8dc3192ff150 16 int realMain();
sbouber1 13:1323e2c0b697 17
sbouber1 13:1323e2c0b697 18 int main() {
sbouber1 55:ee80f248919d 19 // Either test_main() or real_main() depending on TEST_MODE define in settings.h
sbouber1 13:1323e2c0b697 20 return MAIN();
sbouber1 13:1323e2c0b697 21 }
sbouber1 13:1323e2c0b697 22
sbouber1 74:05f2188cfc0b 23 MOCK(salinity_mock, 3.0f);
sbouber1 13:1323e2c0b697 24
sbouber1 57:8dc3192ff150 25 int realMain() {
sbouber1 55:ee80f248919d 26
sbouber1 71:38bb6bf09933 27
sbouber1 57:8dc3192ff150 28 // Collection of all controllers updated in the main loop, updated in the order they were added
sbouber1 10:fd4670ec0806 29 std::vector<void *> controllers;
6366295 0:dab140a197e0 30
sbouber1 10:fd4670ec0806 31 // -----------------------------------------------------------------------------
sbouber1 10:fd4670ec0806 32 /* THE FOLLOWING CONTROLLERS CAN BE THREADED BY SETTING THE FIRST ARG TO TRUE */
sbouber1 10:fd4670ec0806 33 /* THE SECOND ARG SPECIFIES THE DELAY AFTER EACH UPDATE, ONLY WHEN THREADED */
sbouber1 10:fd4670ec0806 34 // -----------------------------------------------------------------------------
sbouber1 12:c51f3aba84fe 35
sbouber1 57:8dc3192ff150 36 TemperatureController temperature(false, 0);
sbouber1 10:fd4670ec0806 37 controllers.push_back((void*)&temperature);
sbouber1 9:b3674516729d 38
sbouber1 57:8dc3192ff150 39 ProximityController proximity(false, 0);
sbouber1 10:fd4670ec0806 40 controllers.push_back((void*)&proximity);
sbouber1 9:b3674516729d 41
sbouber1 74:05f2188cfc0b 42 //SalinityController salt(false, 0);
sbouber1 74:05f2188cfc0b 43 MockSensorController salt(false,0,salinity_mock);
sbouber1 57:8dc3192ff150 44 controllers.push_back((void *)&salt);
sbouber1 10:fd4670ec0806 45
sbouber1 57:8dc3192ff150 46 // Add alarms to monitor sensor values
sbouber1 72:f8c4f731f0fe 47 /*SensorAlarmController temp_alarm = SensorAlarmController(false, 0, &temperature,
sbouber1 57:8dc3192ff150 48 TEMP_MIN_CRIT, TEMP_MIN_UNDESIRED, TEMP_MAX_CRIT, TEMP_MAX_UNDESIRED);
sbouber1 64:735009c4c8aa 49 temp_alarm.setUndesiredErrorMsg("Temp undes!");
sbouber1 64:735009c4c8aa 50 temp_alarm.setCriticalErrorMsg("Temp crit!");
sbouber1 57:8dc3192ff150 51 controllers.push_back((void *)&temp_alarm);
sbouber1 57:8dc3192ff150 52
sbouber1 57:8dc3192ff150 53 SensorAlarmController salt_alarm = SensorAlarmController(false, 0, &salt,
sbouber1 57:8dc3192ff150 54 SALT_MIN_CRIT, SALT_MIN_UNDESIRED, SALT_MAX_CRIT, SALT_MAX_UNDESIRED);
sbouber1 64:735009c4c8aa 55 salt_alarm.setUndesiredErrorMsg("Salt undes!");
sbouber1 64:735009c4c8aa 56 salt_alarm.setCriticalErrorMsg("Salt crit!");
sbouber1 57:8dc3192ff150 57 controllers.push_back((void *)&salt_alarm);
sbouber1 72:f8c4f731f0fe 58 */
joran 40:1668630544c7 59
sbouber1 57:8dc3192ff150 60 SensorAlarmController prox_alarm = SensorAlarmController(false, 0, &proximity,
sbouber1 57:8dc3192ff150 61 VOLUME_MIN_CRIT, VOLUME_MIN_UNDESIRED, VOLUME_MAX_CRIT, VOLUME_MAX_UNDESIRED);
sbouber1 64:735009c4c8aa 62 prox_alarm.setUndesiredErrorMsg("Vol undes!");
sbouber1 64:735009c4c8aa 63 prox_alarm.setCriticalErrorMsg("Vol crit!");
sbouber1 57:8dc3192ff150 64 controllers.push_back((void *)&prox_alarm);
sbouber1 71:38bb6bf09933 65
sbouber1 57:8dc3192ff150 66 // PIDController last, as alarms should update first
sbouber1 57:8dc3192ff150 67 PIDController pidc(false, 0, &temperature,&salt,&proximity);
sbouber1 55:ee80f248919d 68
sbouber1 10:fd4670ec0806 69 // -----------------------------------------------------------------------------
sbouber1 9:b3674516729d 70
sbouber1 9:b3674516729d 71
sbouber1 71:38bb6bf09933 72 // TESTING STUFF
sbouber1 71:38bb6bf09933 73 //Thread::wait(5000);
sbouber1 71:38bb6bf09933 74 //while(1)
sbouber1 71:38bb6bf09933 75 // pidc.doTestingStuff(35);
sbouber1 71:38bb6bf09933 76
sbouber1 55:ee80f248919d 77 // Show the splash screen indicating the system is starting up
sbouber1 55:ee80f248919d 78 LCDController::splash();
sbouber1 10:fd4670ec0806 79
sbouber1 55:ee80f248919d 80 int i = 0;
sbouber1 9:b3674516729d 81
sbouber1 55:ee80f248919d 82 // Loop forever, only breaks when an alarm triggers
sbouber1 9:b3674516729d 83 while(1) {
sbouber1 10:fd4670ec0806 84
sbouber1 55:ee80f248919d 85 // Wait for a specified amount of time after each iteration
sbouber1 11:1a0a8fd74bc0 86 Thread::wait(MAIN_THREAD_DELAY_MS);
sbouber1 10:fd4670ec0806 87
sbouber1 55:ee80f248919d 88 // Iterate over all available Controllers
sbouber1 10:fd4670ec0806 89 vector<void *>::iterator v = controllers.begin();
sbouber1 10:fd4670ec0806 90 while(v != controllers.end()) {
sbouber1 11:1a0a8fd74bc0 91
sbouber1 11:1a0a8fd74bc0 92 // Get the next controller
sbouber1 10:fd4670ec0806 93 Controller *c = ((Controller *)*v);
sbouber1 11:1a0a8fd74bc0 94
sbouber1 61:6b5c2ddcea0c 95 if(!c->isThreaded())
sbouber1 61:6b5c2ddcea0c 96 cout << "Running " << c->getName() << " from main loop" << "\r\n";
sbouber1 11:1a0a8fd74bc0 97
sbouber1 11:1a0a8fd74bc0 98 // The controller only updates here if it's not threaded
sbouber1 10:fd4670ec0806 99 c->run();
sbouber1 11:1a0a8fd74bc0 100
sbouber1 11:1a0a8fd74bc0 101 // Advance to the next controller
sbouber1 10:fd4670ec0806 102 v++;
sbouber1 10:fd4670ec0806 103 }
sbouber1 10:fd4670ec0806 104
sbouber1 55:ee80f248919d 105 // If the alarm controller detected a dangerous situation then update lcd and possibly exit
sbouber1 72:f8c4f731f0fe 106 /*if(temp_alarm.isError() || salt_alarm.isError() || prox_alarm.isError()) {
sbouber1 59:614f713fb48b 107
sbouber1 72:f8c4f731f0fe 108 /*if(temp_alarm.isError())
sbouber1 64:735009c4c8aa 109 LCDController::showError(temp_alarm.getErrorMessage().c_str());
sbouber1 59:614f713fb48b 110 else if(salt_alarm.isError())
sbouber1 64:735009c4c8aa 111 LCDController::showError(salt_alarm.getErrorMessage().c_str());
sbouber1 72:f8c4f731f0fe 112 else*/
sbouber1 72:f8c4f731f0fe 113
sbouber1 72:f8c4f731f0fe 114 if(prox_alarm.isError()) {
sbouber1 64:735009c4c8aa 115 LCDController::showError(prox_alarm.getErrorMessage().c_str());
sbouber1 59:614f713fb48b 116
sbouber1 55:ee80f248919d 117 #ifdef HALT_ON_ALARM
sbouber1 10:fd4670ec0806 118 break;
sbouber1 55:ee80f248919d 119 #endif
sbouber1 71:38bb6bf09933 120 }
sbouber1 72:f8c4f731f0fe 121
sbouber1 74:05f2188cfc0b 122 if(!prox_alarm.isActive()) {
sbouber1 74:05f2188cfc0b 123 printf("Running pidcontroller!\r\n");
sbouber1 72:f8c4f731f0fe 124 pidc.run();
sbouber1 74:05f2188cfc0b 125 } else {
sbouber1 74:05f2188cfc0b 126 printf("Not running pidcontroller, prox alarm is active!\r\n");
sbouber1 74:05f2188cfc0b 127 }
sbouber1 9:b3674516729d 128
sbouber1 9:b3674516729d 129
sbouber1 55:ee80f248919d 130 //Show temperature, salinity and volume of the water tank on the PC if connected through serial
sbouber1 55:ee80f248919d 131 cout << "Temperature value: " << temperature.getValue() << "\r\n";
sbouber1 55:ee80f248919d 132 cout << "Salinity value: " << salt.getValue() << "\r\n";
sbouber1 55:ee80f248919d 133 cout << "Volume value: " << proximity.getValue() << "\r\n";
sbouber1 55:ee80f248919d 134
sbouber1 11:1a0a8fd74bc0 135 // Show either temperature and salinity or the water level given by the proximity controller
sbouber1 10:fd4670ec0806 136 if(i++ % 2)
sbouber1 55:ee80f248919d 137 LCDController::updateScreen(temperature.getValue(), salt.getValue(), &pidc);
sbouber1 10:fd4670ec0806 138 else
sbouber1 55:ee80f248919d 139 LCDController::updateScreen(proximity.getValue());
sbouber1 9:b3674516729d 140
6366295 0:dab140a197e0 141 }
sbouber1 35:c9261391a995 142
sbouber1 35:c9261391a995 143 return 1;
6366295 0:dab140a197e0 144 }