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Dependencies:   mbed DRV88255 TextLCD Ping mbed-rtos

main.cpp@11:1a0a8fd74bc0, 2016-06-10 (annotated)

Committer:
sbouber1
Date:
Fri Jun 10 22:34:57 2016 +0000
Revision:
11:1a0a8fd74bc0
Parent:
10:fd4670ec0806
Child:
12:c51f3aba84fe
start of AlarmController

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