Diff: main.cpp

Revision:

0:e5ee05ce9e0c

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Wed May 30 15:10:48 2018 +0000
@@ -0,0 +1,162 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "commandhandler.h"
+#include "robotkocsi/drive.h"
+#include "robotkocsi/lights.h"
+#include "robotkocsi/sensors.h"
+#include "robotkocsi/demo.h"
+
+
+DigitalOut heartbeatLED(LED_GREEN);
+DigitalOut cmdExecLED(LED_RED);
+
+Lights* lights;
+Drive* drive;
+Sensors* sensors;
+Demo* demo;
+
+Serial BT(PTC15, PTC14);  // Bluetooth module header
+
+Thread *hbThread;  // heartbeat thread
+//Thread *nw_thread;  // responsible for ethernet network
+extern Thread* cmdHandlerThread;
+
+void execCommand(char *cmd, int argc, simplestr *args) {
+    if(!strcmp(cmd, "forward")) {
+        drive->forward();// lights->reversingLightOff();
+    }
+    else if(!strcmp(cmd, "backward")) {
+        drive->backward();// lights->reversingLightOn();
+    }
+    else if(!strcmp(cmd, "halt")) {
+        drive->stop();// lights->reversingLightOff();
+    }
+    else if(!strcmp(cmd, "left")) {
+        drive->steerLeft();// lights->indexLeft();
+    }
+    else if(!strcmp(cmd, "right")) {
+        drive->steerRight();// lights->indexRight();
+    }
+    else if(!strcmp(cmd, "straight")) {
+        drive->steerStraight();// lights->indexOff();
+    }
+    else if(!strcmp(cmd, "index_left")) {
+        lights->indexLeft();
+    }
+    else if(!strcmp(cmd, "index_right")) {
+        lights->indexRight();
+    }
+    else if(!strcmp(cmd, "index_off")) {
+        lights->indexOff();
+    }
+    else if(!strcmp(cmd, "lights")) {
+        lights->headLightToggle();
+    }
+    else if(!strcmp(cmd, "high_beam")) {
+        lights->highBeamToggle();
+    }
+    else if(!strcmp(cmd, "demo_play")) {
+        demo->playPause();
+    }
+    else if(!strcmp(cmd, "demo_reset")) {
+        demo->reset();
+    }
+    else if(!strcmp(cmd, "readSensor")) {
+        Sensor *s = sensors->getSensor(args[0]);
+        if(s != NULL) {
+            BT.printf("%s: %f %s\n", s->getName(), s->readValue(), s->getMetric());
+        }
+    }
+    else {
+        lights->hazardLightsOn();  // ignore invalid command, put emergency indicator on
+    }
+    printf("%s %d; %s, %s, %s, %s\n", cmd, argc, args[0], args[1], args[2], args[3]);
+}
+
+/**
+ * Heartbeat thread main loop
+ */
+void hbThreadMain(void const *argument) {
+    while (true) {
+        heartbeatLED = 0;
+        Thread::wait(100);
+        heartbeatLED = 1;
+        Thread::wait(1900);
+    }
+}
+
+
+/**
+ * Network thread main loop
+ */
+/*void nw_thread_main(void const *argument) {
+    EthernetInterface eth;
+    eth.init(); //Use DHCP
+    eth.connect();
+    printf("IP Address is %s\n", eth.getIPAddress());
+    
+    TCPSocketConnection sock;
+    sock.connect("mbed.org", 80);
+    
+    char http_cmd[] = "GET /media/uploads/mbed_official/hello.txt HTTP/1.0\n\n";
+    sock.send_all(http_cmd, sizeof(http_cmd)-1);
+    
+    char buffer[300];
+    int ret;
+    while (true) {
+        ret = sock.receive(buffer, sizeof(buffer)-1);
+        if (ret <= 0)
+            break;
+        buffer[ret] = '\0';
+        printf("Received %d chars from server:\n%s\n", ret, buffer);
+    }
+      
+    sock.close();
+    
+    eth.disconnect();
+}*/
+
+int main() {
+    printf("OS Started\n");
+
+    // Init peripherals
+    heartbeatLED = 1;
+    cmdExecLED = 1;
+
+    BT.baud(9600); // HC-05 module works at this rate by default
+    BT.attach(&gotChar); // register interrupt handler
+
+    // index bal: PTA1 / D3
+    // index jobb: PTB9 / D2
+    // nappali fény: PTC3 / D7
+    // reflektor: PTC2 / D6
+    // tolatólámpa: PTB23 / D4
+    // féklámpa: PTA2 / D5
+    lights = new Lights(PTA1, PTB9, PTC3, PTC2, PTB23, PTA2);
+
+    // előre: PTD0 / D10
+    // hátra: PTD1 / D13
+    // balra: PTD2 / D11
+    // jobbra: PTD3 / D12
+    // passing lights, thus turning on automatic index and reversing lights
+    drive = new Drive(PTD0, PTD1, PTD2, PTD3, lights);
+
+    // simple demo of autonomous operation (currently sensorless, timing based)
+    demo = new Demo(drive, lights);
+
+    // sensor objects can be obtained from this object
+    sensors = new Sensors();
+    
+    printf("Starting threads\n");
+    
+    hbThread = new Thread(hbThreadMain);
+//    nw_thread = new Thread(nw_thread_main);
+    cmdHandlerThread = new Thread(cmdHandlerMain);
+    
+    // main control loop
+    while(1) {
+        // Currently not doing anything here        
+        Thread::wait(2000);
+    }
+    printf("End of main (never should be executed)\n");
+}