Diff: main.cpp

Revision:

0:f3b355df6f26

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/main.cpp	Sun Apr 26 13:14:02 2015 +0000
@@ -0,0 +1,45 @@
+#include "mbed.h"
+#include "rtos.h"
+#include "threads.h"
+#include "ultrasonic.h"
+#include "ledsensor.h"
+#include "can.h"
+#include "control.h"
+#include "print.h"
+
+
+int main() {
+    Thread threadInit(initThread,NULL,osPriorityHigh);
+    
+    Thread threadUs(usThread,NULL,osPriorityHigh);
+    Thread threadLaser(laserThread,NULL,osPriorityHigh);
+    
+    if(sensor == ULTRA) {
+        threadLaser.terminate();
+    }
+    if(sensor == LASER)
+        threadUs.terminate();
+    
+       
+    Thread threadSync(syncThread,NULL,osPriorityNormal);
+    pc.log("Vytvoreno vlakno synchronizace");
+    
+    Thread threadControl(controlThread,NULL,osPriorityHigh);
+    pc.log("Vytvoreno vlakno pro rizeni");
+    
+    Thread threadCollect(collectThread,NULL,osPriorityHigh);
+    pc.log("Vytvoreno vlakno pro sber dat");
+    
+    Thread threadPrint(printThread,NULL,osPriorityLow);
+    pc.log("Vytvoreno vlakno pro vypis");
+    
+    Thread threadLed(ledThread,NULL,osPriorityHigh);        
+    pc.log("Vytvoreno vlakno pro zobrazeni stavu programu");
+    
+    butOff.rise(&stopProg);
+    us100.thread = &threadCollect;
+    baumer.thread = &threadCollect;
+    can.thread = &threadCollect;
+    
+    Thread::wait(osWaitForever);
+}
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