Diff: main.cpp

Revision:

5:9ab4c6917f6b

Parent:

4:d54e74fbf82c

--- a/main.cpp	Thu Feb 22 16:59:24 2018 +0000
+++ b/main.cpp	Fri Mar 02 12:20:33 2018 +0000
@@ -8,52 +8,227 @@
 //  The value is also output to the serial interface
 
 Serial pc(USBTX, USBRX); // tx, rx
+
 DigitalOut redLED(LED_RED);
 DigitalOut greenLED(LED_GREEN);
+DigitalOut blueLED(LED_BLUE);
+DigitalOut whiteLED(PTC9);     // External LED
+
 TSISensor tsi;
 
-Thread redThread ; // thread for red LED
-Thread greenThread ; // thread for green LED
- 
-void red_thread() {  // method to run in thread
+Thread leftOutThread (osPriorityNormal, 1000);
+Thread leftInThread (osPriorityNormal, 1000);
+Thread rightInThread (osPriorityNormal, 1000);
+Thread rightOutThread (osPriorityNormal, 1000);
+
+enum states { LeftOut, LeftIn, RightIn, RightOut, None};
+volatile states state = None;
+
+
+
+//void green_thread() {  // method to run in thread
+//    while (true) {
+//        Thread::signal_wait(0x1);
+//        greenLED = !greenLED ; // turn on
+//      
+//        greenThread.signal_clr(0x1) ;
+//          // Signal are automatically cleared by wait_signal but
+//          // the signal might have been set again while LED on
+//    }
+//}
+
+//void TurnOnLed(int ledNumber)
+//{
+//    switch (ledNumber) {
+//        case 1:
+//            redLED = false;
+//            greenLED = true;
+//            blueLED = true;
+//
+//            whiteLED = 0;
+//            break;
+//
+//        case 2:
+//            redLED = true;
+//            greenLED = false;
+//            blueLED = true;
+//
+//            whiteLED = 0;
+//            break;
+//
+//        case 3:
+//            redLED = true;
+//            greenLED = true;
+//            blueLED = false;
+//
+//            whiteLED = 0;
+//            break;
+//
+//        case 4:
+//            redLED = true;
+//            greenLED = true;
+//            blueLED = true;
+//
+//            whiteLED = 1;
+//            break;
+//    }
+//}
+
+void TurnOffLed()
+{
+    redLED = true;
+    greenLED = true;
+    blueLED = true;
+    whiteLED = 0;
+
+}
+
+
+void leftOut_thread()    // method to run in thread
+{
     while (true) {
-        Thread::signal_wait(0x1);
-        redLED = false ; // turn on 
-        Thread::wait(5000);
-        redLED = true ; // turn off 
-        redThread.signal_clr(0x1) ;
-          // Signal are automatically cleared by wait_signal but
-          // the signal might have been set again while LED on 
+        Thread::signal_wait(0x1); // signal for enter
+        redLED = false;
+
+        Thread::signal_wait(0x1); // signal for exit
+        redLED = true;
+
+        leftOutThread.signal_clr(0x1);
+        leftOutThread.signal_clr(0x2);
+        // Signal are automatically cleared by wait_signal but
+        // the signal might have been set again
+    }
+}
+
+void leftIn_thread()    // method to run in thread
+{
+    while (true) {
+        Thread::signal_wait(0x1); // signal for enter
+        greenLED = false;
+
+        Thread::signal_wait(0x1); // signal for exit
+        greenLED = true;
+
+        leftInThread.signal_clr(0x1);
+        leftInThread.signal_clr(0x2);
+        // Signal are automatically cleared by wait_signal but
+        // the signal might have been set again
     }
 }
 
-void green_thread() {  // method to run in thread
+
+void rightIn_thread()    // method to run in thread
+{
     while (true) {
-        Thread::signal_wait(0x1);
-        greenLED = false ; // turn on 
-        Thread::wait(5000);
-        greenLED = true ; // turn off 
-        greenThread.signal_clr(0x1) ;
-          // Signal are automatically cleared by wait_signal but
-          // the signal might have been set again while LED on 
+        Thread::signal_wait(0x1); // signal for enter
+        blueLED = !blueLED;
+
+        Thread::signal_wait(0x1); // signal for exit
+        blueLED = !blueLED;
+
+        rightInThread.signal_clr(0x1);
+        rightInThread.signal_clr(0x2);
+        // Signal are automatically cleared by wait_signal but
+        // the signal might have been set again
+    }
+}
+
+
+void rightOut_thread()    // method to run in thread
+{
+    while (true) {
+        Thread::signal_wait(0x1); // signal for enter
+        whiteLED = 1;
+
+        Thread::signal_wait(0x1); // signal for exit
+        whiteLED = 0;
+
+        rightOutThread.signal_clr(0x1);
+        rightOutThread.signal_clr(0x2);
+        // Signal are automatically cleared by wait_signal but
+        // the signal might have been set again
     }
 }
 
-int main(void) {
-    redLED = true ; // turn off 
-    greenLED = true ; // turn off 
-    redThread.start(&red_thread) ; // start the red thread
-    greenThread.start(&green_thread) ; // start the green thread
-    
+
+
+
+int main(void)
+{
+    TurnOffLed(); // initial turning off LED
+
+    leftOutThread.start(&leftOut_thread) ; // start the leftOut thread
+    leftInThread.start(&leftIn_thread) ; // start the leftIn thread
+    rightInThread.start(&rightIn_thread) ; // start the rightIn thread
+    rightOutThread.start(&rightOut_thread) ; // start the rightOut thread
+
     while (true) {
-        uint8_t d = tsi.readDistance() ;  // Distance is between 0 and 39
-                                          // When no touch --> 0
-                                          // Left --> low value  Right --> high value
-        pc.printf("%d", d) ;  
+        uint8_t pos = tsi.readDistance() ;  // Distance is between 0 and 39
+
+        pc.printf("%d", pos) ;
         pc.putc(' ') ;
-        if (d == 10) redThread.signal_set(0x1) ;
-        if (d == 20) greenThread.signal_set(0x1) ;
-        Thread::wait(200);  // This polling rate is too slow - increase it
-                            // The slower rate maks it easier to output on the terminal
+
+//        // start states
+//        if (pos>3 && pos<9) {
+//            leftOutThread.signal_set(0x1);
+//        } else if(pos>13 && pos<19) {
+//            leftInThread.signal_set(0x1);
+//        } else if(pos>23 && pos<29) {
+//            rightInThread.signal_set(0x1);
+//        } else if(pos>33) {
+//            rightOutThread.signal_set(0x1);
+//        }
+
+        switch (state) {
+            case LeftOut:
+                if(pos<3 || pos>9) {
+                    state = None ;
+                }
+                break;
+
+            case LeftIn:
+                if(pos<13 || pos>19) {
+                    state = None ;
+                }
+                break;
+
+            case RightIn:
+                if(pos<23 || pos>29) {
+                    state = None ;
+                }
+
+                break;
+
+            case RightOut:
+                if(pos<33) {
+                    state = None ;
+                }
+                break;
+
+            case None:
+                if(pos>3 && pos<9) {
+                    state = LeftOut;
+                    leftOutThread.signal_set(0x1);
+                } 
+                if(pos>13 && pos<19) {
+                    state = LeftIn;
+                    leftInThread.signal_set(0x1);
+                } 
+                if(pos>23 && pos<29) {
+                    state = RightIn;
+                    rightInThread.signal_set(0x1);
+                } 
+                if(pos>33) {
+                    state = RightOut;
+                    rightOutThread.signal_set(0x1);
+                } 
+                
+                break;
+
+        }
+
+
+        Thread::wait(100);  // This polling rate is too slow - increase it
+        // The slower rate maks it easier to output on the terminal
     }
 }
\ No newline at end of file