Diff: ES_CW2_Starter_STARFISH/main.cpp

Revision:

13:f6e37c21d31d

Parent:

12:38afe92e67d0

diff -r 38afe92e67d0 -r f6e37c21d31d ES_CW2_Starter_STARFISH/main.cpp
--- a/ES_CW2_Starter_STARFISH/main.cpp	Mon Mar 09 15:02:47 2020 +0000
+++ b/ES_CW2_Starter_STARFISH/main.cpp	Mon Mar 09 17:19:39 2020 +0000
@@ -3,11 +3,27 @@
 #include "rtos.h"
 #include <stdlib.h>
 #include <string>
-#include "mutexes.h"
+
+Mutex NewKey_mutex;
+Mutex NewMotorCommand_mutex; 
+Mutex Music_mutex;
+
+// Global Variable Shared between threads
+float NewRotation; 
+float NewSpeed; 
+uint64_t NewKey;
+
+bool NewSpeed_flag;
+bool NewRotation_flag;
+
 #include "SerialCommunication.h"
 #include "CryptoMining.h"
 #include "MotorControl.h"
 
+
+ 
+
+
 // Declaration of threads
 Thread thread_crypto;
 Thread thread_processor;
@@ -16,23 +32,46 @@
 Timer timer_nonce;
 uint32_t previous_time;
 
-
 //Main
 int main()
 {
     pc.attach(&serialISR);
 
-    thread_motorCtrl.start(motorCtrlFn);
-
     // Initialize threads and timers
     timer_nonce.start();
     thread_crypto.start(thread_crypto_print);
     thread_processor.start(thread_processor_callback);
+    //NewSpeed = 30;
+    //thread_motorCtrl.start(&NewSpeed, motorCtrlFn);
+        
     uint8_t hash[32];
 
     while (1) {
+        //Luccas' Code until we can move rest into seperate thread
+    
+        NewMotorCommand_mutex.lock();
+
+         pc.printf("Thread  Actual %d\r\n", thread_motorCtrl.get_state());
+         pc.printf("Thread state Expected %d\r\n",Thread::Running);
+         
+        
+        
+        if(NewSpeed_flag && thread_motorCtrl.get_state() != Thread::Deleted){
+            pc.printf("Ending Previous Thread");
+            thread_motorCtrl.terminate();
+        }
+        
+        if(NewSpeed_flag){
+            pc.printf("starting thread");
+            thread_motorCtrl.start(&NewSpeed, motorCtrlFn);
+            NewSpeed_flag = false;
+        }
+        
+        NewMotorCommand_mutex.unlock();
+    
+        wait(1);
+
         // Set main as lowest priority thread
-
         NewKey_mutex.lock();
         *key = NewKey;
         NewKey_mutex.unlock();