Diff: assignment3tasks.cpp

Revision:

14:25241ed5b056

Parent:

13:822b0e56ea68

Child:

15:2a0cadb9b9dc

--- a/assignment3tasks.cpp	Wed Mar 27 16:05:51 2019 +0000
+++ b/assignment3tasks.cpp	Wed Apr 03 02:49:34 2019 +0000
@@ -43,7 +43,11 @@
 extern Mutex simuXS;
 extern Mutex speedXS;
 extern Mutex carstateXS;
-//
+
+//Mail 
+extern Mail<SIMU_DATA, 16> mail_box;
+
+
 
 //serial port 
 Serial PC(USBTX, USBRX);
@@ -215,7 +219,7 @@
 
 
         
-        Thread::wait(500);
+        Thread::wait(delay);
         
         
         }
@@ -312,10 +316,10 @@
        rightind = rightsw;
        
        if (leftsw == 1 && rightsw == 1){
-        carstateXS.lock();
-        leftind = 0;
-        rightind = 0; // current issue :just stopping here 
-        carstateXS.unlock();
+            carstateXS.lock();
+            leftind = 0;
+            rightind = 0; // current issue :just stopping here 
+            carstateXS.unlock();
         }
         if (count == 2||count == 4){ // flash indicators every second
                     carstateXS.lock();
@@ -344,30 +348,67 @@
 {
     while(true)
     {
-    speedXS.lock();
-    
-    PC.printf("SPEED: %.1f\r\n",speed.rawspeed);
-    PC.printf("BRAKE: %.1f\r\n",speed.brakevalue);
-    PC.printf("ACCELEROMETER: %.1f\r\n",speed.accelvalue);
-    
-    speedXS.unlock();
-    
-    carstateXS.lock();  
-    
-    PC.printf("LEFT INDICATOR  : %.1f\r\n",info.leftind);
-    PC.printf("RIGHT INDICATOR : %.1f\r\n",info.rightind);
-    
-    carstateXS.unlock();
-    
-    float delay = 1000/ TASKFREQX;
-    Thread:: wait((int)delay);
+        speedXS.lock();
+        
+        PC.printf("SPEED: %.1f\r\n",speed.rawspeed);
+        PC.printf("BRAKE: %.1f\r\n",speed.brakevalue);
+        PC.printf("ACCELEROMETER: %.1f\r\n",speed.accelvalue);
+        
+        speedXS.unlock();
+        
+        carstateXS.lock();  
+        
+        PC.printf("LEFT INDICATOR  : %.1f\r\n",info.leftind);
+        PC.printf("RIGHT INDICATOR : %.1f\r\n",info.rightind);
+        
+        carstateXS.unlock();
+        
+        float delay = 1000/ TASKFREQX;
+        Thread:: wait((int)delay);
       
     }
 
 
 
 } 
+
+
+//mail queue
+void send_thread (void) {
+    
+    while (true) {
+        
+        SIMU_DATA *mail = mail_box.alloc();
+        
+        speedXS.lock();
+        mail->brakevalue = speed.brakevalue; 
+        mail->accelvalue = speed.accelvalue;
+        mail->rawspeed   = speed.rawspeed;
+        speedXS.unlock();
+        
+        carstateXS.lock();
+        mail->odometer   = info.odometer;
+        carstateXS.unlock();
+        
+        mail_box.put(mail);
+        
+        //float delay = 1000/ MailQueue;
+        Thread::wait(1000);
+    }
+}
+
 ////////////////////////////////////
+
+
+
+
+
+
+
+
+
+
+
 /*void IndicatorsCheck(){
     LeftIndicatorLight = LeftIndicatorSwitch;
     RightIndicatorLight = RightIndicatorSwitch;