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Dependencies:   mbed DRV88255 TextLCD Ping mbed-rtos

main.cpp@19:ee89eabe1fa2, 2016-06-13 (annotated)

Committer:
sbouber1
Date:
Mon Jun 13 12:33:52 2016 +0000
Revision:
19:ee89eabe1fa2
Parent:
14:fcb625520e77
Child:
24:eeef4009640d
Child:
28:f4a4ee58d57e
first test case

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"
6366295 2:f6ebc225f232 6 #include "MotorController.h"
joran 6:067e999b9c6e 7 #include "LCDController.h"
sbouber1 9:b3674516729d 8 #include "ProximityController.h"
sbouber1 10:fd4670ec0806 9 #include "AlarmController.h"
sbouber1 12:c51f3aba84fe 10 #include "MockSensorController.h"
6366295 0:dab140a197e0 11
6366295 0:dab140a197e0 12 #include "mbed.h"
sbouber1 9:b3674516729d 13 #include "rtos.h"
sbouber1 13:1323e2c0b697 14 #include "testing.h"
sbouber1 9:b3674516729d 15
sbouber1 11:1a0a8fd74bc0 16 #define MAIN_THREAD_DELAY_MS 1000
6366295 0:dab140a197e0 17
sbouber1 13:1323e2c0b697 18 int main();
sbouber1 13:1323e2c0b697 19 int test_main();
sbouber1 13:1323e2c0b697 20 int real_main();
sbouber1 13:1323e2c0b697 21
sbouber1 13:1323e2c0b697 22
sbouber1 12:c51f3aba84fe 23
sbouber1 12:c51f3aba84fe 24
sbouber1 12:c51f3aba84fe 25 MOCK(temp_mock, 20.0+0.01*i)
sbouber1 12:c51f3aba84fe 26 MOCK(salt_mock, 3.0+0.001*i)
sbouber1 12:c51f3aba84fe 27 MOCK(prox_mock, 10.0f)
sbouber1 12:c51f3aba84fe 28
sbouber1 13:1323e2c0b697 29
sbouber1 13:1323e2c0b697 30 int main() {
sbouber1 13:1323e2c0b697 31 return MAIN();
sbouber1 13:1323e2c0b697 32 }
sbouber1 13:1323e2c0b697 33
sbouber1 19:ee89eabe1fa2 34 extern int test_main();
sbouber1 13:1323e2c0b697 35
sbouber1 13:1323e2c0b697 36 int real_main()
6366295 0:dab140a197e0 37 {
sbouber1 10:fd4670ec0806 38 std::vector<void *> controllers;
6366295 0:dab140a197e0 39
sbouber1 10:fd4670ec0806 40 // -----------------------------------------------------------------------------
sbouber1 10:fd4670ec0806 41 /* THE FOLLOWING CONTROLLERS CAN BE THREADED BY SETTING THE FIRST ARG TO TRUE */
sbouber1 10:fd4670ec0806 42 /* THE SECOND ARG SPECIFIES THE DELAY AFTER EACH UPDATE, ONLY WHEN THREADED */
sbouber1 10:fd4670ec0806 43 // -----------------------------------------------------------------------------
sbouber1 12:c51f3aba84fe 44
sbouber1 12:c51f3aba84fe 45 //TemperatureController temperature(false,0);
sbouber1 12:c51f3aba84fe 46 MockSensorController temperature(false,0,temp_mock);
sbouber1 10:fd4670ec0806 47 controllers.push_back((void*)&temperature);
sbouber1 9:b3674516729d 48
sbouber1 12:c51f3aba84fe 49 //ProximityController proximity(false,0);
sbouber1 12:c51f3aba84fe 50 MockSensorController proximity(false,0,prox_mock);
sbouber1 10:fd4670ec0806 51 controllers.push_back((void*)&proximity);
sbouber1 9:b3674516729d 52
sbouber1 12:c51f3aba84fe 53 //SalinityController salt(false,0);
sbouber1 12:c51f3aba84fe 54 MockSensorController salt(false,0,salt_mock);
sbouber1 10:fd4670ec0806 55 controllers.push_back((void *)&salt);
sbouber1 10:fd4670ec0806 56
sbouber1 10:fd4670ec0806 57 AlarmController alarm(false,0,&temperature,&salt,&proximity);
sbouber1 10:fd4670ec0806 58 controllers.push_back((void *)&alarm);
sbouber1 10:fd4670ec0806 59 // -----------------------------------------------------------------------------
sbouber1 9:b3674516729d 60
sbouber1 9:b3674516729d 61
6366295 2:f6ebc225f232 62 MotorController motor;
sbouber1 10:fd4670ec0806 63
sbouber1 10:fd4670ec0806 64 // Only the main thread calls the LCDController, it doesn't matter if there is a small delay
joran 6:067e999b9c6e 65 LCDController lcd;
sbouber1 10:fd4670ec0806 66 lcd.splash();
sbouber1 9:b3674516729d 67
sbouber1 9:b3674516729d 68 float s = 0.0;
sbouber1 9:b3674516729d 69 float t = 0.0;
sbouber1 10:fd4670ec0806 70 float d = 0.0;
sbouber1 10:fd4670ec0806 71
sbouber1 10:fd4670ec0806 72 int i = 0;
sbouber1 9:b3674516729d 73
sbouber1 9:b3674516729d 74 while(1) {
sbouber1 10:fd4670ec0806 75
sbouber1 11:1a0a8fd74bc0 76 Thread::wait(MAIN_THREAD_DELAY_MS);
sbouber1 10:fd4670ec0806 77
sbouber1 10:fd4670ec0806 78 vector<void *>::iterator v = controllers.begin();
sbouber1 10:fd4670ec0806 79 while(v != controllers.end()) {
sbouber1 11:1a0a8fd74bc0 80
sbouber1 11:1a0a8fd74bc0 81 // Get the next controller
sbouber1 10:fd4670ec0806 82 Controller *c = ((Controller *)*v);
sbouber1 11:1a0a8fd74bc0 83
sbouber1 10:fd4670ec0806 84 if(!c->is_threaded())
sbouber1 10:fd4670ec0806 85 cout << "Running " << c->get_name() << " from main loop" << "\r\n";
sbouber1 11:1a0a8fd74bc0 86
sbouber1 11:1a0a8fd74bc0 87 // The controller only updates here if it's not threaded
sbouber1 10:fd4670ec0806 88 c->run();
sbouber1 11:1a0a8fd74bc0 89
sbouber1 11:1a0a8fd74bc0 90 // Advance to the next controller
sbouber1 10:fd4670ec0806 91 v++;
sbouber1 10:fd4670ec0806 92 }
sbouber1 10:fd4670ec0806 93
sbouber1 11:1a0a8fd74bc0 94 // if the alarm controller detected a dangerous situation then update lcd and exit
sbouber1 11:1a0a8fd74bc0 95 // TODO maybe signal threads to terminate
sbouber1 10:fd4670ec0806 96 if(alarm.is_error()) {
sbouber1 11:1a0a8fd74bc0 97 lcd.error(alarm.get_error_message());
sbouber1 10:fd4670ec0806 98 break;
sbouber1 10:fd4670ec0806 99 }
sbouber1 9:b3674516729d 100
sbouber1 9:b3674516729d 101 t = temperature.getValue();
sbouber1 10:fd4670ec0806 102 d = proximity.getValue();
sbouber1 10:fd4670ec0806 103 s = salt.getValue();
sbouber1 9:b3674516729d 104
sbouber1 9:b3674516729d 105 printf("Grabbing temperature value from main thread: %f\r\n", t);
sbouber1 10:fd4670ec0806 106 printf("Grabbing salinity value from main thread: %f\r\n", s);
sbouber1 10:fd4670ec0806 107 printf("Grabbing distance value from main thread: %f\r\n", d);
sbouber1 10:fd4670ec0806 108
sbouber1 9:b3674516729d 109
sbouber1 11:1a0a8fd74bc0 110 // Show either temperature and salinity or the water level given by the proximity controller
sbouber1 10:fd4670ec0806 111 if(i++ % 2)
sbouber1 10:fd4670ec0806 112 lcd.updateScreen(t, s);
sbouber1 10:fd4670ec0806 113 else
sbouber1 10:fd4670ec0806 114 lcd.updateScreen(d);
sbouber1 9:b3674516729d 115
6366295 0:dab140a197e0 116 }
6366295 0:dab140a197e0 117 }