Diff: main.cpp

Revision:

10:fd4670ec0806

Parent:

9:b3674516729d

Child:

11:1a0a8fd74bc0

--- a/main.cpp	Fri Jun 10 12:56:53 2016 +0000
+++ b/main.cpp	Fri Jun 10 22:21:04 2016 +0000
@@ -1,88 +1,83 @@
+#include <vector>
+#include <iostream>
+
 #include "SalinityController.h"
 #include "TemperatureController.h"
 #include "MotorController.h"
 #include "LCDController.h"
 #include "ProximityController.h"
+#include "AlarmController.h"
 
 #include "mbed.h"
 #include "rtos.h"
 
-typedef struct Controllers {
-    TemperatureController *temperature;
-    SalinityController *salinity;
-    ProximityController *proximity;
-    LCDController *lcd;
-    
-} Controllers;
-
-
-
-/*
-    Continuously update controller every 100 ms
-*/
-void controller_thread(void const *args) {
-    Controller *controller = (Controller*)args;
-    
-    while(1) {
-        controller->update();
-        Thread::wait(100);
-    }
-    
-}
-
 
 int main() 
 {
-    int count;
+    std::vector<void *> controllers;
 
-    TemperatureController temperature;
-    Thread t1(controller_thread, (Controller*)&temperature);
+    // -----------------------------------------------------------------------------
+    /* THE FOLLOWING CONTROLLERS CAN BE THREADED BY SETTING THE FIRST ARG TO TRUE */
+    /* THE SECOND ARG SPECIFIES THE DELAY AFTER EACH UPDATE, ONLY WHEN THREADED   */
+    // -----------------------------------------------------------------------------
+    TemperatureController temperature(false,0);
+    controllers.push_back((void*)&temperature);
     
-    //SalinityController salt;
-    //Thread t2(controller_thread, (Controller*)&salt);
+    ProximityController proximity(false,0);
+    controllers.push_back((void*)&proximity);
     
+    SalinityController salt(false,0);
+    controllers.push_back((void *)&salt);
+    
+    AlarmController alarm(false,0,&temperature,&salt,&proximity);
+    controllers.push_back((void *)&alarm);
+    // -----------------------------------------------------------------------------
     
     
     MotorController motor;
-    // Keep LCD controller outside thread
+    
+    // Only the main thread calls the LCDController, it doesn't matter if there is a small delay
     LCDController lcd;
-    
-//    for(int i = 0; i < 20; i++)
-//    {
-//        motor.test();
-//        motor.test2();
-//    }
-    //lcd.splash();
-    //while(1) {        
-       // printf("%d> ", count);
-        
-       // salt.displayPPT();
-        
-        //temperature.displayTemperature();
-        
-      //  temperature.controlHeater();
-        
-     //   lcd.updateScreen(temperature.getTemperature(),salt.getVoltage());
-     //   count++;
-        
-     //   wait(0.5);
-    //}
+    lcd.splash();
     
     float s = 0.0;
     float t = 0.0;
+    float d = 0.0;
+    
+    int i = 0;
     
     while(1) {
-        lcd.splash();
+        
         Thread::wait(1000);
+        
+        vector<void *>::iterator v = controllers.begin();
+        while(v != controllers.end()) {
+            Controller *c = ((Controller *)*v);
+            if(!c->is_threaded())
+                cout << "Running " << c->get_name() << " from main loop" << "\r\n";
+            c->run();
+            v++;
+        }
+        
+        // if alarm then update lcd and exit
+        if(alarm.is_error()) {
+            lcd.error(alarm.get_error_string());    
+            break;
+        }        
 
         t = temperature.getValue();
-        // s=... 
+        d = proximity.getValue();
+        s = salt.getValue(); 
 
         printf("Grabbing temperature value from main thread: %f\r\n", t);
-        //printf("Grabbing salinity value from main thread: %f\n", salt.getValue());
+        printf("Grabbing salinity value from main thread: %f\r\n", s);
+        printf("Grabbing distance value from main thread: %f\r\n", d);
+        
         
-        lcd.updateScreen(t, s);     
+        if(i++ % 2)
+            lcd.updateScreen(t, s);
+        else
+            lcd.updateScreen(d);
         
-        motor.test();
     }
 }
\ No newline at end of file