Revision 7:36b690644500, committed 2020-03-20

Comitter:

ex19397

Date:

Fri Mar 20 09:27:56 2020 +0000

Parent:

6:71ef35e456ab

Commit message:

final

Changed in this revision

diff -r 71ef35e456ab -r 36b690644500 main.cpp
--- a/main.cpp	Thu Feb 20 11:28:36 2020 +0000
+++ b/main.cpp	Fri Mar 20 09:27:56 2020 +0000
@@ -10,44 +10,137 @@
 Serial pc(USBTX, USBRX); // tx, rx
 DigitalOut redLED(LED_RED);
 DigitalOut greenLED(LED_GREEN);
+DigitalOut blueLED(LED_BLUE);
 TSISensor tsi;
 
+
 Thread redThread ; // thread for red LED
 Thread greenThread ; // thread for green LED
+Thread blueThread;
+Thread whiteThread;
 
-# define REDFLAG 0x01   
-# define GREENFLAG 0x02
-EventFlags signals;  // event flags for signalling; 2 used
+
+
+# define FLAG1 0x01   
+# define FLAG2 0x02
+# define FLAG3 0x04   
+# define FLAG4 0x08
+EventFlags signals;  // event flags for signalling; 4 used
  
-void red_thread() {  // method to run in thread
+void red_thread()    // method to run in thread
+{
+redLED = true ; // turn off 
+greenLED = true ; // turn off 
+blueLED = true;
+    enum state {ON, OFF} lev ;
+    lev = OFF;
     while (true) {
-        signals.wait_any(REDFLAG);
-        redLED = false ; // turn on
-        ThisThread::sleep_for(5000) ; // wait(5.0);
-        redLED = true ; // turn off 
-        signals.clear(REDFLAG) ;
-          // Signal are automatically cleared by wait_any but
-          // the signal might have been set again while LED on 
+        switch (lev) {
+            case ON:
+                signals.wait_any(FLAG1);
+                redLED = true ; // turn off
+                //signals.clear(FLAG1) ;
+                lev= OFF;
+                break ;
+            case OFF:
+                signals.wait_any(FLAG1);
+                redLED = false ; // turn off
+                lev = ON;
+                break ;
+                //signals.clear(FLAG1) ;
+                // Signal are automatically cleared by wait_any but
+        }   // the signal might have been set again while LED on
     }
 }
 
-void green_thread() {  // method to run in thread
+void green_thread()    // method to run in thread
+{
+    redLED = true ; // turn off
+    greenLED = true ; // turn off
+    blueLED = true;
+    enum state {ON, OFF} lev ;
+    lev = OFF;
+    while (true) {
+        switch (lev) {
+            case ON:
+                signals.wait_any(FLAG2);
+                greenLED = true ; // turn off
+                lev = OFF;
+                break ;
+            //signals.clear(FLAG2) ;
+            case OFF:
+                signals.wait_any(FLAG2);
+                greenLED = false ; // turn off
+                lev = ON;
+                break ;
+                
+                //signals.clear(FLAG2) ;
+                // Signal are automatically cleared by wait_any but
+                // the signal might have been set again while LED on
+        }
+    }
+}
+void blue_thread()    // method to run in thread
+{
+redLED = true ; // turn off 
+greenLED = true ; // turn off 
+blueLED = true;
+    enum state {ON, OFF} lev ;
+    lev = OFF;
     while (true) {
-        signals.wait_any(GREENFLAG);
-        greenLED = false ; // turn on 
-        ThisThread::sleep_for(5000) ; // wait(5.0);
-        greenLED = true ; // turn off 
-        signals.clear(GREENFLAG) ;
+        switch (lev) {
+            case ON:
+                signals.wait_any(FLAG3);
+                blueLED = true ; // turn off
+                lev = OFF ;
+                break ;
+            //signals.clear(FLAG3) ;
+            case OFF:
+                signals.wait_any(FLAG3);
+                blueLED = false ; // turn off
+                lev = ON ;
+                break ;
+                //signals.clear(FLAG3) ;
+                // Signal are automatically cleared by wait_any but
+                // the signal might have been set again while LED on
+        }
+    }
+}
+void white_thread() {  // method to run in thread
+redLED = true ; // turn off 
+greenLED = true ; // turn off 
+blueLED = true;
+enum state {ON, OFF} lev ;
+    lev = OFF;
+    while (true) {
+      switch (lev){
+      case ON:
+        signals.wait_any(FLAG4);
+                break ;
+                lev = OFF;
+      case OFF:
+        signals.wait_any(FLAG4);
+                break ;
+                lev = ON;
+        //signals.clear(FLAG4) ;
           // Signal are automatically cleared by wait_any but
           // the signal might have been set again while LED on 
+        }
     }
 }
 
 int main(void) {
-    redLED = true ; // turn off 
-    greenLED = true ; // turn off 
+    //redLED = true ; // turn off 
+    //greenLED = true ; // turn off 
+    //blueLED = true;
+    
     redThread.start(red_thread) ; // start the red thread
     greenThread.start(green_thread) ; // start the green thread
+    blueThread.start(blue_thread) ; // start the red thread
+    whiteThread.start(white_thread) ; // start the green thread
+    
+    enum position { none, leftout, leftin, rightin, rightout,} pos;
+    pos = none;
     
     while (true) {
         uint8_t d = tsi.readDistance() ;  // Distance is between 0 and 39
@@ -55,9 +148,62 @@
                                           // Left --> low value  Right --> high value
         pc.printf("%d", d) ;  
         pc.putc(' ') ;
-        if (d == 10) signals.set(REDFLAG) ;
-        if (d == 20) signals.set(GREENFLAG) ;
+        switch (pos) {
+
+            case none:
+                if ((d > 3)&& (d<9))  {
+                    pos = leftout;
+                    signals.set(FLAG1);
+                    pc.printf("Case Leftout \n\r", d);
+                }
+                if ((d > 13)&&(d<19))  {
+                    pos = leftin;
+                    signals.set(FLAG2);
+                    pc.printf("Case Leftin \n\r", d);
+                }
+                if ((d > 23)&&(d <29))  {
+                    pos = rightin;
+                    signals.set(FLAG3);
+                    pc.printf("Case Rightin \n\r", d);
+                }
+                if (d > 33) {
+                    pos = rightout;
+                    signals.set(FLAG4);
+                    pc.printf("Case Rightiout \n\r", d);
+                }
+                break;
+
+            case leftout:
+                if ((d < 3)||(d>9))  {
+                    pos = none;
+                    pc.printf("Case None \n\r", d);
+                }
+                break;
+
+            case leftin:
+                if ((d < 13)||(d>19))  {
+                    pos = none;
+                    pc.printf("Case None \n\r", d);
+                }
+                break;
+
+            case rightin:
+                if ((d < 23)||(d>29))  {
+                    pos = none;
+                    pc.printf("Case None \n\r", d);
+                }
+                break;
+            case rightout:
+                if (d < 33)  {
+                    pos = none;
+                    pc.printf("Case None \n\r", d);
+                }
+                break;
+        }
+
+        //if (d == 10) signals.set(REDFLAG) ;
+        //if (d == 20) signals.set(GREENFLAG) ;
         ThisThread::sleep_for(500) ; // This polling rate is too slow - increase it
-                    // The slower rate maks it easier to output on the terminal
+        // The slower rate maks it easier to output on the terminal
     }
 }
\ No newline at end of file

diff -r 71ef35e456ab -r 36b690644500 mbed_app.json
--- a/mbed_app.json	Thu Feb 20 11:28:36 2020 +0000
+++ b/mbed_app.json	Fri Mar 20 09:27:56 2020 +0000
@@ -2,6 +2,9 @@
     "config": {
         "main-stack-size": {
             "value": 2000
+        },
+        "thread-stack-size": {
+            "value": 1000
         }
     }
 }
\ No newline at end of file