Diff: ArmController.cpp

Revision:

15:4bd10f531cdc

Parent:

14:570c8071f577

Child:

17:0dbcbd8587fd

--- a/ArmController.cpp	Fri Jan 15 23:10:30 2016 +0000
+++ b/ArmController.cpp	Tue Jan 19 19:50:07 2016 +0000
@@ -157,7 +157,6 @@
     NextSendMs = (int)IdleTimer.read_ms() + SEND_STATUS_TO;
     
     MainState = MS_Running;
-    NodeMeasure nextMetric = NM_Temperature;
     
     while( true )
     {
@@ -198,8 +197,6 @@
                 curseq = NULL;
                 robotArm.MoveArmPositionsEnd();
                 MainState = MS_Running;
-                // avoid next poll delay
-                NextPollMs = now;
                 break;
                 
             case MS_CancelAll:
@@ -210,15 +207,11 @@
                     if (evt.status != osEventMessage)
                         break;
                 }
-                // avoid next poll delay
-                NextPollMs = now;
                 MainState = MS_Running;
                 break;
                 
             case MS_Resuming:
                 robotArm.MoveArmPositionsResume();
-                // avoid next poll delay
-                NextPollMs = now;
                 MainState = MS_Running;
                 break;
                 
@@ -303,9 +296,10 @@
         bool sendAlert = MainState != MS_Error;
         
         // get measurements and test thresholds
-        // Reading all values takes too long, 
-        // so we read the load and 1 other value each time
         int rc = 0;
+        // call start to clear cached values
+        robotArm.ArmMeasuresTestStart();
+        
         rc = robotArm.ArmMeasuresTest(NM_Load);
         if (rc == -1 && sendAlert)
         {
@@ -313,43 +307,27 @@
             MainState = MS_Error;
         }
         
-        switch (nextMetric)
+        rc = robotArm.ArmMeasuresTest(NM_Temperature);
+        if (rc == -1 && sendAlert)
+        {
+            PushTemperatureAlert(robotArm);
+            MainState = MS_Error;
+        }
+
+        rc = robotArm.ArmMeasuresTest(NM_Voltage);
+        if (rc == -1 && sendAlert)
         {
-            case NM_Temperature:
-                rc = robotArm.ArmMeasuresTest(NM_Temperature);
-                if (rc == -1 && sendAlert)
-                {
-                    PushTemperatureAlert(robotArm);
-                    MainState = MS_Error;
-                }
-                nextMetric = NM_Voltage;
-                break;
-                
-            case NM_Voltage:
-                rc = robotArm.ArmMeasuresTest(NM_Voltage);
-                if (rc == -1 && sendAlert)
-                {
-                    PushVoltageAlert(robotArm);
-                    MainState = MS_Error;
-                }
-                nextMetric = NM_Degrees;
-                break;
-                
-               
-            case NM_Degrees:
-                rc = robotArm.ArmMeasuresTest(NM_Degrees);
-                if (rc == -1 && sendAlert)
-                {
-                    PushPositionAlert(robotArm);
-                    MainState = MS_Error;
-                }
-                nextMetric = NM_Temperature;
-                break;
+            PushVoltageAlert(robotArm);
+            MainState = MS_Error;
+        }
 
-            default:
-                nextMetric = NM_Temperature;
-                break;
+        rc = robotArm.ArmMeasuresTest(NM_Degrees);
+        if (rc == -1 && sendAlert)
+        {
+            PushPositionAlert(robotArm);
+            MainState = MS_Error;
         }
+
         if (rc == -2 && sendAlert)
         {
             int partix = robotArm.GetLastErrorPart();