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@28:f4a4ee58d57e, 2016-06-14 (annotated)

Committer:
sbouber1
Date:
Tue Jun 14 09:46:31 2016 +0000
Revision:
28:f4a4ee58d57e
Parent:
19:ee89eabe1fa2
Child:
34:e2d7865063da
pid controller class

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"
sbouber1 28:f4a4ee58d57e 11 #include "PIDController.h"
6366295 0:dab140a197e0 12
6366295 0:dab140a197e0 13 #include "mbed.h"
sbouber1 9:b3674516729d 14 #include "rtos.h"
sbouber1 13:1323e2c0b697 15 #include "testing.h"
sbouber1 9:b3674516729d 16
sbouber1 11:1a0a8fd74bc0 17 #define MAIN_THREAD_DELAY_MS 1000
6366295 0:dab140a197e0 18
sbouber1 13:1323e2c0b697 19 int main();
sbouber1 13:1323e2c0b697 20 int test_main();
sbouber1 13:1323e2c0b697 21 int real_main();
sbouber1 13:1323e2c0b697 22
sbouber1 13:1323e2c0b697 23
sbouber1 12:c51f3aba84fe 24
sbouber1 12:c51f3aba84fe 25
sbouber1 12:c51f3aba84fe 26 MOCK(temp_mock, 20.0+0.01*i)
sbouber1 12:c51f3aba84fe 27 MOCK(salt_mock, 3.0+0.001*i)
sbouber1 12:c51f3aba84fe 28 MOCK(prox_mock, 10.0f)
sbouber1 12:c51f3aba84fe 29
sbouber1 13:1323e2c0b697 30
sbouber1 13:1323e2c0b697 31 int main() {
sbouber1 13:1323e2c0b697 32 return MAIN();
sbouber1 13:1323e2c0b697 33 }
sbouber1 13:1323e2c0b697 34
sbouber1 19:ee89eabe1fa2 35 extern int test_main();
sbouber1 13:1323e2c0b697 36
sbouber1 13:1323e2c0b697 37 int real_main()
6366295 0:dab140a197e0 38 {
sbouber1 10:fd4670ec0806 39 std::vector<void *> controllers;
6366295 0:dab140a197e0 40
sbouber1 10:fd4670ec0806 41 // -----------------------------------------------------------------------------
sbouber1 10:fd4670ec0806 42 /* THE FOLLOWING CONTROLLERS CAN BE THREADED BY SETTING THE FIRST ARG TO TRUE */
sbouber1 10:fd4670ec0806 43 /* THE SECOND ARG SPECIFIES THE DELAY AFTER EACH UPDATE, ONLY WHEN THREADED */
sbouber1 10:fd4670ec0806 44 // -----------------------------------------------------------------------------
sbouber1 12:c51f3aba84fe 45
sbouber1 12:c51f3aba84fe 46 //TemperatureController temperature(false,0);
sbouber1 12:c51f3aba84fe 47 MockSensorController temperature(false,0,temp_mock);
sbouber1 10:fd4670ec0806 48 controllers.push_back((void*)&temperature);
sbouber1 9:b3674516729d 49
sbouber1 12:c51f3aba84fe 50 //ProximityController proximity(false,0);
sbouber1 12:c51f3aba84fe 51 MockSensorController proximity(false,0,prox_mock);
sbouber1 10:fd4670ec0806 52 controllers.push_back((void*)&proximity);
sbouber1 9:b3674516729d 53
sbouber1 12:c51f3aba84fe 54 //SalinityController salt(false,0);
sbouber1 12:c51f3aba84fe 55 MockSensorController salt(false,0,salt_mock);
sbouber1 10:fd4670ec0806 56 controllers.push_back((void *)&salt);
sbouber1 10:fd4670ec0806 57
sbouber1 10:fd4670ec0806 58 AlarmController alarm(false,0,&temperature,&salt,&proximity);
sbouber1 10:fd4670ec0806 59 controllers.push_back((void *)&alarm);
sbouber1 28:f4a4ee58d57e 60
sbouber1 28:f4a4ee58d57e 61 PIDController pidc(false,0,&temperature,&salt,&proximity);
sbouber1 28:f4a4ee58d57e 62 controllers.push_back((void *)&pidc);
sbouber1 10:fd4670ec0806 63 // -----------------------------------------------------------------------------
sbouber1 9:b3674516729d 64
sbouber1 9:b3674516729d 65
6366295 2:f6ebc225f232 66 MotorController motor;
sbouber1 10:fd4670ec0806 67
sbouber1 10:fd4670ec0806 68 // Only the main thread calls the LCDController, it doesn't matter if there is a small delay
joran 6:067e999b9c6e 69 LCDController lcd;
sbouber1 10:fd4670ec0806 70 lcd.splash();
sbouber1 9:b3674516729d 71
sbouber1 9:b3674516729d 72 float s = 0.0;
sbouber1 9:b3674516729d 73 float t = 0.0;
sbouber1 10:fd4670ec0806 74 float d = 0.0;
sbouber1 10:fd4670ec0806 75
sbouber1 10:fd4670ec0806 76 int i = 0;
sbouber1 9:b3674516729d 77
sbouber1 9:b3674516729d 78 while(1) {
sbouber1 10:fd4670ec0806 79
sbouber1 11:1a0a8fd74bc0 80 Thread::wait(MAIN_THREAD_DELAY_MS);
sbouber1 10:fd4670ec0806 81
sbouber1 10:fd4670ec0806 82 vector<void *>::iterator v = controllers.begin();
sbouber1 10:fd4670ec0806 83 while(v != controllers.end()) {
sbouber1 11:1a0a8fd74bc0 84
sbouber1 11:1a0a8fd74bc0 85 // Get the next controller
sbouber1 10:fd4670ec0806 86 Controller *c = ((Controller *)*v);
sbouber1 11:1a0a8fd74bc0 87
sbouber1 10:fd4670ec0806 88 if(!c->is_threaded())
sbouber1 10:fd4670ec0806 89 cout << "Running " << c->get_name() << " from main loop" << "\r\n";
sbouber1 11:1a0a8fd74bc0 90
sbouber1 11:1a0a8fd74bc0 91 // The controller only updates here if it's not threaded
sbouber1 10:fd4670ec0806 92 c->run();
sbouber1 11:1a0a8fd74bc0 93
sbouber1 11:1a0a8fd74bc0 94 // Advance to the next controller
sbouber1 10:fd4670ec0806 95 v++;
sbouber1 10:fd4670ec0806 96 }
sbouber1 10:fd4670ec0806 97
sbouber1 11:1a0a8fd74bc0 98 // if the alarm controller detected a dangerous situation then update lcd and exit
sbouber1 11:1a0a8fd74bc0 99 // TODO maybe signal threads to terminate
sbouber1 10:fd4670ec0806 100 if(alarm.is_error()) {
sbouber1 11:1a0a8fd74bc0 101 lcd.error(alarm.get_error_message());
sbouber1 10:fd4670ec0806 102 break;
sbouber1 10:fd4670ec0806 103 }
sbouber1 9:b3674516729d 104
sbouber1 9:b3674516729d 105 t = temperature.getValue();
sbouber1 10:fd4670ec0806 106 d = proximity.getValue();
sbouber1 10:fd4670ec0806 107 s = salt.getValue();
sbouber1 9:b3674516729d 108
sbouber1 9:b3674516729d 109 printf("Grabbing temperature value from main thread: %f\r\n", t);
sbouber1 10:fd4670ec0806 110 printf("Grabbing salinity value from main thread: %f\r\n", s);
sbouber1 10:fd4670ec0806 111 printf("Grabbing distance value from main thread: %f\r\n", d);
sbouber1 10:fd4670ec0806 112
sbouber1 9:b3674516729d 113
sbouber1 11:1a0a8fd74bc0 114 // Show either temperature and salinity or the water level given by the proximity controller
sbouber1 10:fd4670ec0806 115 if(i++ % 2)
sbouber1 10:fd4670ec0806 116 lcd.updateScreen(t, s);
sbouber1 10:fd4670ec0806 117 else
sbouber1 10:fd4670ec0806 118 lcd.updateScreen(d);
sbouber1 9:b3674516729d 119
6366295 0:dab140a197e0 120 }
6366295 0:dab140a197e0 121 }