Diff: main.cpp

Revision:

15:141de2b5646d

Parent:

14:48cdd880ca1a

Child:

16:a387f2e275c8

--- a/main.cpp	Sun Feb 07 10:41:16 2016 +0000
+++ b/main.cpp	Sun Feb 07 18:55:50 2016 +0000
@@ -34,9 +34,29 @@
 float steering_angle_imu_queue;
 float velocity_imu_queue;
 
+// Queue 
+typedef struct {
+    char identifier;
+    uint8_t payload;
+} serial_output_t;
+serial_output_t modus_struct;
+Queue<serial_output_t, 2> serial_output_modus_queue;
+
 void hearbeat_thread(void const *args);
 
-void serial_thread(void const *args) {
+void serial_transmit_thread(void const *args) {
+    //serialMinnow.printf("Serial Thread erstellt");
+    osEvent modus_event;
+    while (true) {
+        //modus_event = serial_output_modus_queue.get();
+        if (modus_event.status == osEventMessage) {
+            serialMinnow.printf("in der if\r\n");
+            serialMinnow.printf("[%c]=%d\r", ((serial_output_t *)modus_event.value.p)->identifier, ((serial_output_t *)modus_event.value.p)->payload);
+        }
+    }
+}
+
+void serial_receive_thread(void const *args) {
     size_t length = 20;
     char receive_buffer[length];
     char* ptr = (char*) receive_buffer;
@@ -72,14 +92,11 @@
             ptr = (char*)receive_buffer;
             x = 22;
         }
-        if(rc_valid != 0)
-        {
-            serialMinnow.putc('a');//Aktiviert
-            }
-            else
-            {
-                serialMinnow.putc('d');//Deaktiviert
-                }
+        //if(rc_valid != 0) {
+        //    serialMinnow.putc('a');//Aktiviert
+        //} else {
+        //    serialMinnow.putc('d');//Deaktiviert
+        //}
         
         //Thread::wait(100);
     }
@@ -106,7 +123,8 @@
     quadratureController = new QuadratureController(&steerPWM, &quadrature_queue, &imu_queue_steering_angle);
     machineDirectionController = new MachineDirectionController(&drivePWM, &machine_direction_queue, &imu_queue_velocity);
 
-    Thread machineDirectionControl(serial_thread);
+    //Thread serialTransmitThread(serial_transmit_thread);
+    Thread machineDirectionControl(serial_receive_thread);
     Thread hearbeatThread(hearbeat_thread);
     
     RtosTimer machine_direction_control_timer(redirect_machine_direction_controller);
@@ -133,6 +151,10 @@
     quadrature_control_timer.start(10);
 
     while(true) {
+        modus_struct.identifier = 'm';
+        modus_struct.payload = 1;
+        serial_output_modus_queue.put(&modus_struct);
+        
         IMU_registerDataBuffer = supportSystem->getImuRegisterDataBuffer();
         RadioDecoder_registerDataBuffer = supportSystem->getRadioDecoderRegisterDataBuffer();
 
@@ -149,6 +171,7 @@
         if (rc_percentage > (uint16_t) 1800 && rc_valid != 0) {
             // oben => Wettbewerb
             supportSystem->setLightManagerRemoteLight(false, true);
+            //serialMinnow.putc('w');
             if (!timer_started) {
                 timer_started = true;
                 machine_direction_control_timer.start(10);
@@ -157,6 +180,7 @@
         } else if (rc_percentage > (uint16_t) 1200 && rc_valid != 0) {
             // unten => RC-Wettbewerb
             supportSystem->setLightManagerRemoteLight(true, true);
+            //serialMinnow.putc('r');
             if (drive_valid) {
                 drivePWM.pulsewidth_us(drive_percentage);
             }
@@ -171,6 +195,7 @@
         } else if (rc_percentage > (uint16_t) 800 && rc_valid != 0) {
             // mitte => RC-Training
             supportSystem->setLightManagerRemoteLight(true, true);
+            //serialMinnow.putc('r');
             if (drive_valid) {
                 drivePWM.pulsewidth_us(drive_percentage);
             }