Diff: main.cpp

Revision:

57:8dc3192ff150

Parent:

55:ee80f248919d

Child:

59:614f713fb48b

--- a/main.cpp	Sun Jun 19 20:55:16 2016 +0000
+++ b/main.cpp	Sun Jun 19 22:21:08 2016 +0000
@@ -5,14 +5,14 @@
 #include "TemperatureController.h"
 #include "LCDController.h"
 #include "ProximityController.h"
-#include "AlarmController.h"
+#include "SensorAlarmController.h"
 #include "PIDController.h"
 #include "settings.h"
 
 #include "mbed.h"
 
-extern int test_main();
-int real_main();
+extern int testMain();
+int realMain();
 
 int main() {
     // Either test_main() or real_main() depending on TEST_MODE define in settings.h
@@ -20,8 +20,9 @@
 }
 
 
-int real_main() {
+int realMain() {
     
+    // Collection of all controllers updated in the main loop, updated in the order they were added
     std::vector<void *> controllers;
 
     // -----------------------------------------------------------------------------
@@ -29,20 +30,31 @@
     /* THE SECOND ARG SPECIFIES THE DELAY AFTER EACH UPDATE, ONLY WHEN THREADED   */
     // -----------------------------------------------------------------------------
     
-    TemperatureController temperature(false,0);
+    TemperatureController temperature(false, 0);
     controllers.push_back((void*)&temperature);
     
-    ProximityController proximity(false,0);
+    ProximityController proximity(false, 0);
     controllers.push_back((void*)&proximity);
     
-    SalinityController salt(false,0);
-    controllers.push_back((void *)&salt);
+    SalinityController salt(false, 0);
+    controllers.push_back((void *)&salt);    
     
-    PIDController pidc(false,0,&temperature,&salt,&proximity);
-    controllers.push_back((void *)&pidc);
+    // Add alarms to monitor sensor values
+    SensorAlarmController temp_alarm = SensorAlarmController(false, 0, &temperature,
+        TEMP_MIN_CRIT, TEMP_MIN_UNDESIRED, TEMP_MAX_CRIT, TEMP_MAX_UNDESIRED);
+    controllers.push_back((void *)&temp_alarm);
+
+    SensorAlarmController salt_alarm = SensorAlarmController(false, 0, &salt,
+        SALT_MIN_CRIT, SALT_MIN_UNDESIRED, SALT_MAX_CRIT, SALT_MAX_UNDESIRED);
+    controllers.push_back((void *)&salt_alarm);
     
-    AlarmController alarm(false,0,&temperature,&salt,&proximity);
-    controllers.push_back((void *)&alarm);
+    SensorAlarmController prox_alarm = SensorAlarmController(false, 0, &proximity,
+        VOLUME_MIN_CRIT, VOLUME_MIN_UNDESIRED, VOLUME_MAX_CRIT, VOLUME_MAX_UNDESIRED);
+    controllers.push_back((void *)&prox_alarm);
+    
+    // PIDController last, as alarms should update first
+    PIDController pidc(false, 0, &temperature,&salt,&proximity);
+    controllers.push_back((void *)&pidc);
      
     // -----------------------------------------------------------------------------
     
@@ -76,8 +88,9 @@
         }
         
         // If the alarm controller detected a dangerous situation then update lcd and possibly exit
-        if(alarm.is_error()) {
-            LCDController::error(alarm.get_error_message());    
+        // TODO move LCD updating to alarm controller
+        if(temp_alarm.isError() || salt_alarm.isError() || prox_alarm.isError()) {
+            //LCDController::error(alarm.get_error_message());    
             #ifdef HALT_ON_ALARM
             break;
             #endif