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Dependencies:   mbed DRV88255 TextLCD Ping mbed-rtos

main.cpp@68:b769c0f23406, 2016-06-20 (annotated)

Committer:
sbouber1
Date:
Mon Jun 20 12:48:42 2016 +0000
Revision:
68:b769c0f23406
Parent:
64:735009c4c8aa
Child:
71:38bb6bf09933
prox sensor NC

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"
6366295 0:dab140a197e0 11
6366295 0:dab140a197e0 12 #include "mbed.h"
sbouber1 9:b3674516729d 13
sbouber1 57:8dc3192ff150 14 extern int testMain();
sbouber1 57:8dc3192ff150 15 int realMain();
sbouber1 13:1323e2c0b697 16
sbouber1 13:1323e2c0b697 17 int main() {
sbouber1 55:ee80f248919d 18 // Either test_main() or real_main() depending on TEST_MODE define in settings.h
sbouber1 13:1323e2c0b697 19 return MAIN();
sbouber1 13:1323e2c0b697 20 }
sbouber1 13:1323e2c0b697 21
sbouber1 13:1323e2c0b697 22
sbouber1 57:8dc3192ff150 23 int realMain() {
sbouber1 55:ee80f248919d 24
sbouber1 57:8dc3192ff150 25 // Collection of all controllers updated in the main loop, updated in the order they were added
sbouber1 10:fd4670ec0806 26 std::vector<void *> controllers;
6366295 0:dab140a197e0 27
sbouber1 10:fd4670ec0806 28 // -----------------------------------------------------------------------------
sbouber1 10:fd4670ec0806 29 /* THE FOLLOWING CONTROLLERS CAN BE THREADED BY SETTING THE FIRST ARG TO TRUE */
sbouber1 10:fd4670ec0806 30 /* THE SECOND ARG SPECIFIES THE DELAY AFTER EACH UPDATE, ONLY WHEN THREADED */
sbouber1 10:fd4670ec0806 31 // -----------------------------------------------------------------------------
sbouber1 12:c51f3aba84fe 32
sbouber1 57:8dc3192ff150 33 TemperatureController temperature(false, 0);
sbouber1 10:fd4670ec0806 34 controllers.push_back((void*)&temperature);
sbouber1 9:b3674516729d 35
sbouber1 57:8dc3192ff150 36 ProximityController proximity(false, 0);
sbouber1 10:fd4670ec0806 37 controllers.push_back((void*)&proximity);
sbouber1 9:b3674516729d 38
sbouber1 57:8dc3192ff150 39 SalinityController salt(false, 0);
sbouber1 57:8dc3192ff150 40 controllers.push_back((void *)&salt);
sbouber1 10:fd4670ec0806 41
sbouber1 57:8dc3192ff150 42 // Add alarms to monitor sensor values
sbouber1 68:b769c0f23406 43 /*SensorAlarmController temp_alarm = SensorAlarmController(false, 0, &temperature,
sbouber1 57:8dc3192ff150 44 TEMP_MIN_CRIT, TEMP_MIN_UNDESIRED, TEMP_MAX_CRIT, TEMP_MAX_UNDESIRED);
sbouber1 64:735009c4c8aa 45 temp_alarm.setUndesiredErrorMsg("Temp undes!");
sbouber1 64:735009c4c8aa 46 temp_alarm.setCriticalErrorMsg("Temp crit!");
sbouber1 57:8dc3192ff150 47 controllers.push_back((void *)&temp_alarm);
sbouber1 57:8dc3192ff150 48
sbouber1 57:8dc3192ff150 49 SensorAlarmController salt_alarm = SensorAlarmController(false, 0, &salt,
sbouber1 57:8dc3192ff150 50 SALT_MIN_CRIT, SALT_MIN_UNDESIRED, SALT_MAX_CRIT, SALT_MAX_UNDESIRED);
sbouber1 64:735009c4c8aa 51 salt_alarm.setUndesiredErrorMsg("Salt undes!");
sbouber1 64:735009c4c8aa 52 salt_alarm.setCriticalErrorMsg("Salt crit!");
sbouber1 57:8dc3192ff150 53 controllers.push_back((void *)&salt_alarm);
joran 40:1668630544c7 54
sbouber1 57:8dc3192ff150 55 SensorAlarmController prox_alarm = SensorAlarmController(false, 0, &proximity,
sbouber1 57:8dc3192ff150 56 VOLUME_MIN_CRIT, VOLUME_MIN_UNDESIRED, VOLUME_MAX_CRIT, VOLUME_MAX_UNDESIRED);
sbouber1 64:735009c4c8aa 57 prox_alarm.setUndesiredErrorMsg("Vol undes!");
sbouber1 64:735009c4c8aa 58 prox_alarm.setCriticalErrorMsg("Vol crit!");
sbouber1 57:8dc3192ff150 59 controllers.push_back((void *)&prox_alarm);
sbouber1 68:b769c0f23406 60 */
sbouber1 57:8dc3192ff150 61 // PIDController last, as alarms should update first
sbouber1 57:8dc3192ff150 62 PIDController pidc(false, 0, &temperature,&salt,&proximity);
sbouber1 57:8dc3192ff150 63 controllers.push_back((void *)&pidc);
sbouber1 55:ee80f248919d 64
sbouber1 10:fd4670ec0806 65 // -----------------------------------------------------------------------------
sbouber1 9:b3674516729d 66
sbouber1 9:b3674516729d 67
sbouber1 55:ee80f248919d 68 // Show the splash screen indicating the system is starting up
sbouber1 55:ee80f248919d 69 LCDController::splash();
sbouber1 10:fd4670ec0806 70
sbouber1 55:ee80f248919d 71 int i = 0;
sbouber1 9:b3674516729d 72
sbouber1 55:ee80f248919d 73 // Loop forever, only breaks when an alarm triggers
sbouber1 9:b3674516729d 74 while(1) {
sbouber1 10:fd4670ec0806 75
sbouber1 55:ee80f248919d 76 // Wait for a specified amount of time after each iteration
sbouber1 11:1a0a8fd74bc0 77 Thread::wait(MAIN_THREAD_DELAY_MS);
sbouber1 10:fd4670ec0806 78
sbouber1 55:ee80f248919d 79 // Iterate over all available Controllers
sbouber1 10:fd4670ec0806 80 vector<void *>::iterator v = controllers.begin();
sbouber1 10:fd4670ec0806 81 while(v != controllers.end()) {
sbouber1 11:1a0a8fd74bc0 82
sbouber1 11:1a0a8fd74bc0 83 // Get the next controller
sbouber1 10:fd4670ec0806 84 Controller *c = ((Controller *)*v);
sbouber1 11:1a0a8fd74bc0 85
sbouber1 61:6b5c2ddcea0c 86 if(!c->isThreaded())
sbouber1 61:6b5c2ddcea0c 87 cout << "Running " << c->getName() << " from main loop" << "\r\n";
sbouber1 11:1a0a8fd74bc0 88
sbouber1 11:1a0a8fd74bc0 89 // The controller only updates here if it's not threaded
sbouber1 10:fd4670ec0806 90 c->run();
sbouber1 11:1a0a8fd74bc0 91
sbouber1 11:1a0a8fd74bc0 92 // Advance to the next controller
sbouber1 10:fd4670ec0806 93 v++;
sbouber1 10:fd4670ec0806 94 }
sbouber1 10:fd4670ec0806 95
sbouber1 55:ee80f248919d 96 // If the alarm controller detected a dangerous situation then update lcd and possibly exit
sbouber1 57:8dc3192ff150 97 // TODO move LCD updating to alarm controller
sbouber1 68:b769c0f23406 98 /*if(temp_alarm.isError() || salt_alarm.isError() || prox_alarm.isError()) {
sbouber1 59:614f713fb48b 99
sbouber1 59:614f713fb48b 100 if(temp_alarm.isError())
sbouber1 64:735009c4c8aa 101 LCDController::showError(temp_alarm.getErrorMessage().c_str());
sbouber1 59:614f713fb48b 102 else if(salt_alarm.isError())
sbouber1 64:735009c4c8aa 103 LCDController::showError(salt_alarm.getErrorMessage().c_str());
sbouber1 59:614f713fb48b 104 else
sbouber1 64:735009c4c8aa 105 LCDController::showError(prox_alarm.getErrorMessage().c_str());
sbouber1 59:614f713fb48b 106
sbouber1 55:ee80f248919d 107 #ifdef HALT_ON_ALARM
sbouber1 10:fd4670ec0806 108 break;
sbouber1 55:ee80f248919d 109 #endif
sbouber1 68:b769c0f23406 110 }*/
sbouber1 9:b3674516729d 111
sbouber1 9:b3674516729d 112
sbouber1 55:ee80f248919d 113 //Show temperature, salinity and volume of the water tank on the PC if connected through serial
sbouber1 55:ee80f248919d 114 cout << "Temperature value: " << temperature.getValue() << "\r\n";
sbouber1 55:ee80f248919d 115 cout << "Salinity value: " << salt.getValue() << "\r\n";
sbouber1 55:ee80f248919d 116 cout << "Volume value: " << proximity.getValue() << "\r\n";
sbouber1 55:ee80f248919d 117
sbouber1 11:1a0a8fd74bc0 118 // Show either temperature and salinity or the water level given by the proximity controller
sbouber1 10:fd4670ec0806 119 if(i++ % 2)
sbouber1 55:ee80f248919d 120 LCDController::updateScreen(temperature.getValue(), salt.getValue(), &pidc);
sbouber1 10:fd4670ec0806 121 else
sbouber1 55:ee80f248919d 122 LCDController::updateScreen(proximity.getValue());
sbouber1 9:b3674516729d 123
6366295 0:dab140a197e0 124 }
sbouber1 35:c9261391a995 125
sbouber1 35:c9261391a995 126 return 1;
6366295 0:dab140a197e0 127 }