Diff: demo.cpp

Revision:

0:260ca1f1cba7

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/demo.cpp	Wed May 30 15:10:20 2018 +0000
@@ -0,0 +1,58 @@
+#include "demo.h"
+
+Demo::Demo() {}
+Demo::Demo(Drive* drive, Lights* lights) {
+    this->drive = drive;
+    this->lights = lights;
+
+    demoThread = 0;
+    // initialize flags
+    f_run = false;
+    printf("Demo created\n");
+}
+
+Demo::~Demo() {
+    delete demoThread;
+}
+
+void Demo::demoThread_main(void const *argument) {
+    Demo* self = (Demo*)argument;
+    printf("Demo thread started\n");
+    
+    Thread::wait(10000);
+    self->lights->headLightOn();
+    Thread::wait(1000);
+        self->drive->forward();
+        Thread::wait(500);
+    while(true) {
+    while(self->f_run) {
+        self->drive->forward();
+        self->drive->steerLeft();
+        Thread::wait(1000);
+        self->drive->stop();
+        Thread::wait(500);
+        self->drive->steerRight();
+        self->drive->backward();
+        Thread::wait(1500);
+        self->drive->stop();
+        Thread::wait(500);
+    }
+        printf("Demo thread paused\n");
+        Thread::wait(1000);
+    }
+}
+
+void Demo::playPause() {
+    f_run = !f_run;
+    if(demoThread == 0) {
+        printf("Launch Demo thread\n");
+        demoThread = new Thread(demoThread_main, this);    
+    }
+}
+
+void Demo::reset() {
+    delete demoThread;
+    f_run = false;
+    printf("Demo thread terminated\n");
+    lights->headLightOff();
+}