Diff: main.cpp

Revision:

55:ee80f248919d

Parent:

46:7e4c1f2ab76c

Child:

57:8dc3192ff150

diff -r 2710f0b92766 -r ee80f248919d main.cpp
--- a/main.cpp	Fri Jun 17 12:10:08 2016 +0000
+++ b/main.cpp	Fri Jun 17 19:10:15 2016 +0000
@@ -6,35 +6,22 @@
 #include "LCDController.h"
 #include "ProximityController.h"
 #include "AlarmController.h"
-#include "MockSensorController.h"
 #include "PIDController.h"
+#include "settings.h"
 
 #include "mbed.h"
-#include "rtos.h"
-#include "testing.h"
 
-#define MAIN_THREAD_DELAY_MS 1000
-
-int main();
-int test_main();
+extern int test_main();
 int real_main();
 
-
-
-
-MOCK(temp_mock, 20.0+0.01*i)
-MOCK(salt_mock, 3.0+0.001*i)
-MOCK(prox_mock, 10.0f)
-
-
 int main() {
+    // Either test_main() or real_main() depending on TEST_MODE define in settings.h
     return MAIN();    
 }
 
-extern int test_main();
 
-int real_main() 
-{
+int real_main() {
+    
     std::vector<void *> controllers;
 
     // -----------------------------------------------------------------------------
@@ -43,48 +30,35 @@
     // -----------------------------------------------------------------------------
     
     TemperatureController temperature(false,0);
-    //MockSensorController temperature(false,0,temp_mock);
     controllers.push_back((void*)&temperature);
     
     ProximityController proximity(false,0);
-    //MockSensorController proximity(false,0,prox_mock);
     controllers.push_back((void*)&proximity);
     
     SalinityController salt(false,0);
-    //MockSensorController salt(false,0,salt_mock);
     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);
-    
-    
+    controllers.push_back((void *)&alarm);
+     
     // -----------------------------------------------------------------------------
     
     
-    // Only the main thread calls the LCDController, it doesn't matter if there is a small delay
-    LCDController lcd;
-    lcd.splash();
-    
-    float s = 0.0;
-    float t = 0.0;
-    float d = 0.0;
+    // Show the splash screen indicating the system is starting up
+    LCDController::splash(); 
     
-    int i = 0;
+    int i = 0;   
     
-    /* UNCOMMENT TO TEST MOTORS
-        while(1)
-            pidc.doTestingStuff(10);
-    */
-    
-    
-    
+    // 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()) {
             
@@ -101,27 +75,25 @@
             v++;
         }
         
-        // if the alarm controller detected a dangerous situation then update lcd and exit
-        // TODO maybe signal threads to terminate
+        // If the alarm controller detected a dangerous situation then update lcd and possibly exit
         if(alarm.is_error()) {
-            lcd.error(alarm.get_error_message());    
+            LCDController::error(alarm.get_error_message());    
+            #ifdef HALT_ON_ALARM
             break;
-        }        
+            #endif
+        }
 
-        t = temperature.getValue();
-        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\r\n", s);
-        printf("Grabbing distance value from main thread: %f\r\n", d);
-        
-        
+        //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)
-            lcd.updateScreen(t, s, &pidc);
+            LCDController::updateScreen(temperature.getValue(), salt.getValue(), &pidc);
         else
-            lcd.updateScreen(d);
+            LCDController::updateScreen(proximity.getValue());
         
     }