Diff: main.cpp

Revision:

9:d1fc0805ec7d

Parent:

8:ca92cb674004

Child:

10:0a4bf8c82493

--- a/main.cpp	Tue Oct 13 13:10:21 2015 +0000
+++ b/main.cpp	Wed Oct 14 13:44:32 2015 +0000
@@ -1,5 +1,4 @@
-//@todo trimのパラメータをpcから設定，csvファイルに追加
-//@todo initをクラス化
+//@todo ソフトウェアシリアルの確認
 
 //@todo androidとの通信
 //@todo xbeeとの通信
@@ -9,6 +8,7 @@
 #include "mbed.h"
 #include "rtos.h"
 #include "Global.h"
+#include "Init.h"
 #include "ServoManager.h"
 #include "ControllerManager.h"
 #include "Trim.h"
@@ -17,13 +17,9 @@
 #include "Altitude.h"
 #include "Display.h"
 #include "XBee.h"
-#include <string>
-#include <iostream>
 
-#define BUFMAX 20
 
 RawSerial pc(USBTX, USBRX);
-Queue<char, BUFMAX> queue;
 
 
 Display display(p9, p10);
@@ -37,138 +33,19 @@
 
 void pc_rx(){
     while(pc.readable()==1){
-        char buf = pc.getc();
-        queue.put((char*)buf);
+        char buf = (char)pc.getc();
+        Global::queue.put((char*)buf);
     }
 }
 
 
-void initializeTask(void const *pvParametersd){
-    std::string strbuf;
-    
+
+void initializeTask(void const *pvParameters){
     while(1){
-        osEvent evt = queue.get();
-        if(evt.status == osEventMessage){
-            char temp = evt.value.v;
-            strbuf.push_back(temp);
-            if(temp == '\n'){    
-                std::string::size_type spaceIndex = strbuf.find(" ");
-                
-                if (spaceIndex != std::string::npos) {//数値データがあるコマンド（" "がある場合）
-                    char *gomi;
-                    std::string command = strbuf.substr(0, spaceIndex);
-                    double num = strtod(strbuf.substr(spaceIndex+1, strbuf.size()-2).c_str(), &gomi);//strbuf.size()-1には'\n'が入っている
-                    
-                    pc.printf("coms=%s, num=%f\n", command.c_str(), num);
-
-                    if(command == "eleneu"){
-                        Global::setneutralpitch(num);
-                    }else if(command == "elemax"){
-                        Global::setmaxpitch(num);
-                    }else if(command == "elemin"){
-                        Global::setminpitch(num);
-                    }else if(command == "rudneu"){
-                        Global::setneutralyaw(num);
-                    }else if(command == "rudmax"){
-                        Global::setmaxyaw(num);
-                    }else if(command == "rudmin"){
-                        Global::setminyaw(num);
-                        
-                    }else if(command == "eleneudeg"){
-                        Global::setneutralpitchdegree(num);
-                    }else if(command == "elemaxdeg"){
-                        Global::setmaxpitchdegree(num);
-                    }else if(command == "elemindeg"){
-                        Global::setminpitchdegree(num);
-                    }else if(command == "rudneudeg"){
-                        Global::setneutralyawdegree(num);
-                    }else if(command == "rudmaxdeg"){
-                        Global::setmaxyawdegree(num);
-                    }else if(command == "rudmindeg"){
-                        Global::setminyawdegree(num);
-                    
-                    }else if(command == "elemaxplay"){
-                        Global::setmaxpitchplayratio(num);
-                    }else if(command == "eleminplay"){
-                        Global::setminpitchplayratio(num);                        
-                    }else if(command == "rudmaxplay"){
-                        Global::setmaxyawplayratio(num);
-                    }else if(command == "rudminplay"){
-                        Global::setminyawplayratio(num);
-                        
-                    }else{
-                        pc.printf("Invalid Input\n");
-                    }
-                    
-                }else{//数値データがないコマンド（" "がない場合）
-                
-                    std::string command = strbuf.substr(0,strbuf.size()-2);
-                    if(command == "eleneu"){
-                        Global::setneutralpitch(Global::getpitch());
-                    }else if(command == "elemax"){
-                        Global::setmaxpitch(Global::getpitch());
-                    }else if(command == "elemin"){
-                        Global::setminpitch(Global::getpitch());
-                    }else if(command == "rudneu"){
-                        Global::setneutralyaw(Global::getyaw());
-                    }else if(command == "rudmax"){
-                        Global::setmaxyaw(Global::getyaw());
-                    }else if(command == "rudmin"){
-                        Global::setminyaw(Global::getyaw());
-                        
-                    }else if(command == "eleneudeg"){
-                        Global::setneutralpitchdegree(Global::getpitchdegree());
-                    }else if(command == "elemaxdeg"){
-                        Global::setmaxpitchdegree(Global::getpitchdegree());
-                    }else if(command == "elemindeg"){
-                        Global::setminpitchdegree(Global::getpitchdegree());
-                    }else if(command == "rudneudeg"){
-                        Global::setneutralyawdegree(Global::getyawdegree());
-                    }else if(command == "rudmaxdeg"){
-                        Global::setmaxyawdegree(Global::getyawdegree());
-                    }else if(command == "rudmindeg"){
-                        Global::setminyawdegree(Global::getyawdegree());
-                        
-                    }else if(command == "show"){
-                        pc.printf("------Servo Parameter------\n");
-                        pc.printf("elevatorNeutral = %f\n", Global::getneutralpitch());
-                        pc.printf("elevatorMax     = %f\n", Global::getmaxpitch());
-                        pc.printf("elevatorMin     = %f\n", Global::getminpitch());
-                        pc.printf("rudderNeutral   = %f\n", Global::getneutralyaw());
-                        pc.printf("rudderMax       = %f\n", Global::getmaxyaw());
-                        pc.printf("rudderMin       = %f\n", Global::getminyaw());
-                        pc.printf("----Controller Parameter----\n");
-                        pc.printf("elevatorNeutral = %f\n", Global::getneutralpitchdegree());
-                        pc.printf("elevatorMax     = %f\n", Global::getmaxpitchdegree());
-                        pc.printf("elevatorMin     = %f\n", Global::getminpitchdegree());
-                        pc.printf("rudderNeutral   = %f\n", Global::getneutralyawdegree());
-                        pc.printf("rudderMax       = %f\n", Global::getmaxyawdegree());
-                        pc.printf("rudderMin       = %f\n", Global::getminyawdegree());
-                        pc.printf("------Controller Play------\n");
-                        pc.printf("elevatorMaxPlay = %f\n", Global::getmaxpitchplayratio());
-                        pc.printf("elevatorMinPlay = %f\n", Global::getminpitchplayratio());
-                        pc.printf("rudderMaxPlay   = %f\n", Global::getmaxyawplayratio());
-                        pc.printf("rudderMinPlay   = %f\n", Global::getminyawplayratio());
-                        
-                    }else{
-                        pc.printf("Invalid Input\n");
-                    }
-                    //ここで，ニュートラル情報をLocalFileに保存
-                    Global::filewrite();    
-                }
-                strbuf.clear();
-            }
-            Thread::wait(10);
-            if(strbuf.size() >= BUFMAX){
-                pc.printf("\nInput Error ... ");
-                strbuf.clear();
-                pc.printf("Buffer clear\n");
-            }
-        }
+        Init::getSerial();
     }
 }
 
-
 void controlTask(void const *pvParameters){
     while(1){
         trim.update();
@@ -181,28 +58,28 @@
 void airspeedTask(void const *pvParameters){
     while(1){
         airspeed.update();
-        Thread::wait(200);
+        Thread::wait(500);
     }
 }
     
 void cadenceTask(void const *pvParameters){
     while(1){
         cadence.update();
-        Thread::wait(200);
+        Thread::wait(500);
     }
 }
 
 void displayTask(void const *pvParameters){
     while(1){
         display.update();
-        Thread::wait(50);
+        Thread::wait(500);
     }   
 }
 
 void xbeeTask(void const *pvParameters){
     while(1){
         xbee.update();
-        Thread::wait(50);
+        Thread::wait(500);
     }
 }
 
@@ -214,7 +91,7 @@
 
     Global::initialize();
     Thread InitializeTask(initializeTask);
-    Thread ControlTask(controlTask);
+    Thread ControlTask(controlTask, NULL, osPriorityRealtime);
     Thread AirspeedTask(airspeedTask);
     Thread CadenceTask(cadenceTask);
     Thread DisplayTask(displayTask);