Diff: assignment3tasks.cpp

Revision:

16:b66cb760fb3b

Parent:

15:2a0cadb9b9dc

--- a/assignment3tasks.cpp	Wed Apr 03 12:02:46 2019 +0000
+++ b/assignment3tasks.cpp	Wed Apr 03 12:31:56 2019 +0000
@@ -43,11 +43,7 @@
 extern Mutex simuXS;
 extern Mutex speedXS;
 extern Mutex carstateXS;
-
-//Mail 
-extern Mail<SIMU_DATA, 16> mail_box;
-
-
+//
 
 //serial port 
 Serial PC(USBTX, USBRX);
@@ -219,7 +215,7 @@
 
 
         
-        Thread::wait(delay);
+        Thread::wait(500);
         
         
         }
@@ -316,10 +312,10 @@
        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();
@@ -348,67 +344,30 @@
 {
     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/ MailQueuet;
-        Thread::wait((int)delay);
-    }
-}
-
 ////////////////////////////////////
-
-
-
-
-
-
-
-
-
-
-
 /*void IndicatorsCheck(){
     LeftIndicatorLight = LeftIndicatorSwitch;
     RightIndicatorLight = RightIndicatorSwitch;