File content as of revision 55:ee80f248919d:

#include <vector>
#include <iostream>

#include "SalinityController.h"
#include "TemperatureController.h"
#include "LCDController.h"
#include "ProximityController.h"
#include "AlarmController.h"
#include "PIDController.h"
#include "settings.h"

#include "mbed.h"

extern int test_main();
int real_main();

int main() {
    // Either test_main() or real_main() depending on TEST_MODE define in settings.h
    return MAIN();    
}


int real_main() {
    
    std::vector<void *> controllers;

    // -----------------------------------------------------------------------------
    /* 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);
    
    ProximityController proximity(false,0);
    controllers.push_back((void*)&proximity);
    
    SalinityController salt(false,0);
    controllers.push_back((void *)&salt);
    
    PIDController pidc(false,0,&temperature,&salt,&proximity);
    controllers.push_back((void *)&pidc);
    
    AlarmController alarm(false,0,&temperature,&salt,&proximity);
    controllers.push_back((void *)&alarm);
     
    // -----------------------------------------------------------------------------
    
    
    // Show the splash screen indicating the system is starting up
    LCDController::splash(); 
    
    int i = 0;   
    
    // Loop forever, only breaks when an alarm triggers
    while(1) {
        
        // Wait for a specified amount of time after each iteration
        Thread::wait(MAIN_THREAD_DELAY_MS);
        
        // Iterate over all available Controllers
        vector<void *>::iterator v = controllers.begin();
        while(v != controllers.end()) {
            
            // Get the next controller
            Controller *c = ((Controller *)*v);
            
            if(!c->is_threaded())
                cout << "Running " << c->get_name() << " from main loop" << "\r\n";
            
            // The controller only updates here if it's not threaded
            c->run();
            
            // Advance to the next controller
            v++;
        }
        
        // If the alarm controller detected a dangerous situation then update lcd and possibly exit
        if(alarm.is_error()) {
            LCDController::error(alarm.get_error_message());    
            #ifdef HALT_ON_ALARM
            break;
            #endif
        }


        //Show temperature, salinity and volume of the water tank on the PC if connected through serial
        cout << "Temperature value: " <<  temperature.getValue() << "\r\n";
        cout << "Salinity value: " << salt.getValue() << "\r\n";
        cout << "Volume value: " << proximity.getValue() << "\r\n";

        // Show either temperature and salinity or the water level given by the proximity controller
        if(i++ % 2)
            LCDController::updateScreen(temperature.getValue(), salt.getValue(), &pidc);
        else
            LCDController::updateScreen(proximity.getValue());
        
    }
    
    return 1;
}