Diff: EixoMonitoring.cpp

Revision:

0:7cedfb720712

Child:

1:ef18c260ce02

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/EixoMonitoring.cpp	Wed Jun 07 13:31:02 2017 +0000
@@ -0,0 +1,145 @@
+#include "EixoMonitoring.h" 
+
+bool EixoMonitoring::stopAll                = false; 
+bool EixoMonitoring::isCalibrated   = false;
+
+
+EixoMonitoring::EixoMonitoring(PinName pinOrigin, PinName pinEnd) { 
+        
+        this->stopMoviment   = false;
+        this->stopMonitoring = false;
+        this->delayTimer         = 700;
+        PinName pin_End      = pinEnd;
+        PinName pin_Origin = pinOrigin;
+        
+        sensor_End          = new DigitalIn(pin_End);
+        sensorInput_End = 0;
+        sensor_Origin       = new DigitalIn(pin_Origin);
+        sensorInput_Origin = 0;
+        
+        debug = new Debug();        
+}
+
+
+void EixoMonitoring::startThreads(){          
+        hitSensor = 0; 
+      this->stopMoviment   = false;
+        this->stopMonitoring = false;
+    
+    sensorThread_End.start( callback(this, &EixoMonitoring::readSensor_End) );
+    handleSensorThread_End.start( callback(this, &EixoMonitoring::handleReadSensor_End) );
+    
+        sensorThread_Origin.start( callback(this, &EixoMonitoring::readSensor_Origin) );
+    handleSensorThread_Origin.start( callback(this, &EixoMonitoring::handleReadSensor_Origin) );              
+}
+
+void EixoMonitoring::readSensor_End(){  
+    while(stopMonitoring == false){
+        stdioMutex.lock();
+        sensorInput_End = sensor_End->read();           
+        stdioMutex.unlock();        
+        Thread::wait(50);
+    }
+}
+
+
+void EixoMonitoring::readSensor_Origin(){   
+    while(stopMonitoring == false){
+        stdioMutex.lock();
+        sensorInput_Origin = sensor_Origin->read();                    
+        stdioMutex.unlock();        
+        Thread::wait(50);
+    }
+}
+
+void EixoMonitoring::handleReadSensor_End(){
+        Timer* timerLeitura = new Timer();
+        timerLeitura->start();
+         
+        while(stopMonitoring == false){         
+                if (stopMoviment == false){
+                        stdioMutex.lock();
+                        if(sensorInput_End == 1 && timerLeitura->read_ms()> this->delayTimer ){ // sensor pressionado ? e passou meio segundo
+                             hitSensor++;                                                                           
+                             timerLeitura->reset();
+                        }
+                        stdioMutex.unlock();
+                }           
+                
+                                
+                // SEGURANÇA DA CNC:
+                if (isCalibrated == false){ 
+                
+                        if(hitSensor > 1){ // Na fase de calibragem, se bateu + de 2 vezes(achou origem e na contagem de passos): -> true
+                            stopMoviment = true; 
+                            stopAll = true;
+                            timerLeitura->stop();                           
+                        }
+                }
+                else{ 
+                        if(hitSensor > 0){ // Na fase de teste, se bateu + de 1 vez: -> true
+                            stopMoviment = true; 
+                            stopAll = true;
+                            timerLeitura->stop();
+                        }
+                } 
+                
+                Thread::wait(50);
+    }
+        timerLeitura->stop();       
+}
+
+void EixoMonitoring::handleReadSensor_Origin(){
+    
+        Timer* timerLeitura = new Timer();
+        timerLeitura->start();
+    
+        while(stopMonitoring == false){       
+        
+        if (stopMoviment == false){
+                        stdioMutex.lock();
+                        if(sensorInput_Origin == 1 && timerLeitura->read_ms()> this->delayTimer){ // sensor pressionado ?
+                             hitSensor++;
+                             timerLeitura->reset();
+                        }
+                        stdioMutex.unlock();
+        }           
+       
+                
+                // SEGURANÇA DA CNC:
+                if (isCalibrated == false){ 
+                        if(hitSensor > 1){ // Na fase de calibragem, se bateu + de 2 vezes(achou origem e na contagem de passos): -> true
+                            stopMoviment = true; 
+                            stopAll = true;
+                            timerLeitura->stop();
+                        }
+                }
+                else{ 
+                        if(hitSensor > 0){ // Na fase de teste, se bateu + de 1 vez: -> true
+                            stopMoviment = true; 
+                            stopAll = true;
+                            timerLeitura->stop();
+                        }
+                }   
+                
+        Thread::wait(50);
+    }
+        timerLeitura->stop();
+}
+
+void EixoMonitoring::stopThreads(){ 
+                 
+    this->stopMoviment   = true;
+    this->stopMonitoring = true;
+    
+    sensorThread_End.join();
+    handleSensorThread_End.join();
+    sensorThread_Origin.join();
+    handleSensorThread_Origin.join();
+
+    sensorThread_End.terminate();
+    handleSensorThread_End.terminate();
+    sensorThread_Origin.terminate();
+    handleSensorThread_Origin.terminate();
+       
+}