semin ahn / Mbed OS zeta_stm_kinetic

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Dependencies:   BufferedSerial

src/initFunction.hpp@2:0de4854743f7, 2021-06-10 (annotated)

Committer:
_seminahn
Date:
Thu Jun 10 01:23:00 2021 +0000
Revision:
2:0de4854743f7
Parent:
1:2594a70c1ddd
Child:
3:a4677501ae87
v1.1.0 change ssr logic

Who changed what in which revision?

UserRevisionLine numberNew contents of line
_seminahn 0:4ff8aeb3e4d1 1 #ifndef ZETA_STM_KINETIC_INITFUNCTION_H_
_seminahn 0:4ff8aeb3e4d1 2 #define ZETA_STM_KINETIC_INITFUNCTION_H_
_seminahn 0:4ff8aeb3e4d1 3 #include "mbed.h"
_seminahn 0:4ff8aeb3e4d1 4 #include "threadDeclaration.hpp"
_seminahn 0:4ff8aeb3e4d1 5 #include "instanceHeader.hpp"
_seminahn 0:4ff8aeb3e4d1 6 #include "rosHeader.hpp"
_seminahn 0:4ff8aeb3e4d1 7
_seminahn 0:4ff8aeb3e4d1 8 void initThread() {
_seminahn 0:4ff8aeb3e4d1 9 gThread[0].start(IMU_thread);
_seminahn 0:4ff8aeb3e4d1 10 gThread[1].start(bt_thread);
_seminahn 0:4ff8aeb3e4d1 11 gThread[2].start(sonar_thread);
_seminahn 1:2594a70c1ddd 12 #ifdef NO_ROS
_seminahn 0:4ff8aeb3e4d1 13 gThread[3].start(print_thread);
_seminahn 0:4ff8aeb3e4d1 14 #else
_seminahn 1:2594a70c1ddd 15 //gThread[3].start(module_thread);
_seminahn 1:2594a70c1ddd 16 gThread[3].start(imu_pub_thread);
_seminahn 1:2594a70c1ddd 17 gThread[4].start(sonar_pub_thread);
_seminahn 1:2594a70c1ddd 18 gThread[5].start(estop_pub_thread);
_seminahn 0:4ff8aeb3e4d1 19 gThread[7].start(bt_pub_thread);
_seminahn 0:4ff8aeb3e4d1 20 #endif
_seminahn 1:2594a70c1ddd 21 //gThread[8].start(test_thread);
_seminahn 0:4ff8aeb3e4d1 22 }
_seminahn 0:4ff8aeb3e4d1 23
_seminahn 0:4ff8aeb3e4d1 24 void initBT() {
_seminahn 0:4ff8aeb3e4d1 25 bt.baud(9600);
_seminahn 0:4ff8aeb3e4d1 26 bt_data.rec = '\0';
_seminahn 0:4ff8aeb3e4d1 27 bt_data.sen = '\0';
_seminahn 0:4ff8aeb3e4d1 28 }
_seminahn 0:4ff8aeb3e4d1 29
_seminahn 1:2594a70c1ddd 30 #ifdef NO_ROS
_seminahn 0:4ff8aeb3e4d1 31 void initSerial() {
_seminahn 0:4ff8aeb3e4d1 32 pc.baud(115200);
_seminahn 0:4ff8aeb3e4d1 33 }
_seminahn 0:4ff8aeb3e4d1 34 #else
_seminahn 0:4ff8aeb3e4d1 35 void initROS() {
_seminahn 2:0de4854743f7 36 const char version[] = "stm_board\t1.1.0";
_seminahn 0:4ff8aeb3e4d1 37 nh.getHardware()->setBaud(460800);
_seminahn 0:4ff8aeb3e4d1 38 nh.initNode();
_seminahn 0:4ff8aeb3e4d1 39 nh.advertise(IMU_publisher);
_seminahn 0:4ff8aeb3e4d1 40 nh.advertise(EStop_publisher);
_seminahn 0:4ff8aeb3e4d1 41 nh.advertise(Bumper_publisher);
_seminahn 0:4ff8aeb3e4d1 42 nh.advertise(US_publisher);
_seminahn 0:4ff8aeb3e4d1 43 nh.advertise(Bluetooth_publisher);
_seminahn 1:2594a70c1ddd 44 //nh.subscribe(ModuleControl_subscriber);
_seminahn 1:2594a70c1ddd 45 //nh.subscribe(UVCcontrol_subscriber);
_seminahn 0:4ff8aeb3e4d1 46 nh.subscribe(Bluetooth_subscriber);
_seminahn 1:2594a70c1ddd 47 //UVCcontrolMsg.data = false;
_seminahn 0:4ff8aeb3e4d1 48 while(!nh.connected()) nh.spinOnce();
_seminahn 0:4ff8aeb3e4d1 49 waitTmr.start();
_seminahn 2:0de4854743f7 50 nh.loginfo(version);
_seminahn 0:4ff8aeb3e4d1 51 }
_seminahn 0:4ff8aeb3e4d1 52 #endif
_seminahn 0:4ff8aeb3e4d1 53
_seminahn 2:0de4854743f7 54 #endif