semin ahn / Mbed OS zeta_stm_kinetic

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Dependencies:   BufferedSerial

src/initFunction.hpp

Committer:
_seminahn
Date:
2021-04-02
Revision:
0:4ff8aeb3e4d1
Child:
1:2594a70c1ddd

File content as of revision 0:4ff8aeb3e4d1:

#ifndef ZETA_STM_KINETIC_INITFUNCTION_H_
#define ZETA_STM_KINETIC_INITFUNCTION_H_
#include "mbed.h"
#include "threadDeclaration.hpp"
#include "instanceHeader.hpp"
#include "rosHeader.hpp"

void initThread() {
    gThread[0].start(IMU_thread);
    gThread[1].start(bt_thread);
    gThread[2].start(sonar_thread);
    #if (NO_ROS)
    gThread[3].start(print_thread);
    #else
    gThread[3].start(module_thread);
    gThread[4].start(imu_pub_thread);
    gThread[5].start(sonar_pub_thread);
    gThread[6].start(estop_pub_thread);
    gThread[7].start(bt_pub_thread);
    #endif
    gThread[8].start(test_thread);
}

void initBT() {
    bt.baud(9600);
    bt_data.rec = '\0';
    bt_data.sen = '\0';
}

    #if (NO_ROS)
void initSerial() {
    pc.baud(115200);
}
    #else
void initROS() {
    nh.getHardware()->setBaud(460800);
    nh.initNode();
    nh.advertise(IMU_publisher);
    nh.advertise(EStop_publisher);
    nh.advertise(Bumper_publisher);
    nh.advertise(US_publisher);
    nh.advertise(Bluetooth_publisher);
    nh.subscribe(ModuleControl_subscriber);
    nh.subscribe(Bluetooth_subscriber);
    memset(moduleControlMsg.module_power,false,sizeof(moduleControlMsg.module_power));
    moduleControlMsg.pulifier = 0U;
    while(!nh.connected()) nh.spinOnce();
    waitTmr.start();
    nh.loginfo("zeta module and sonar controller is initialized!!!");
    nh.loginfo("==================================================");
}
    #endif

#endif