Alexandre Salconi-Denis / Mbed 2 deprecated ProjetOctopode

Programme de contrôle de l'octopode 4DOF, Theraphosa-Salconi.

Dependencies:   debug mbed

CtrlBridge

  • fonction quelquonque pour communiquer avec les module
  • fonction quelquonque pour faire des recherche dans les module dispo
  • autre fonction pour jouer avec MemRegistre

Version 1.2.0

  • Ajout d'un mode de simulation pour tester le code avec seulement un contrôleur stm32

source/Task/TTaskCritique.cpp@31:ed23647fd16e, 2015-08-31 (annotated)

Committer:
salco
Date:
Mon Aug 31 13:36:39 2015 +0000
Revision:
31:ed23647fd16e
Parent:
29:51308764fdd0
Child:
39:34d7802e8d15
reduc the #ifdef in TTaskCritique

Who changed what in which revision?

UserRevisionLine numberNew contents of line
salco 3:e0d6e081a9d3 1
salco 7:dcfd81d7f93f 2 #include "TTaskCritique.h"
salco 3:e0d6e081a9d3 3
salco 7:dcfd81d7f93f 4 TTaskCritique::TTaskCritique(int priority):TTask(priority)
salco 3:e0d6e081a9d3 5 {
salco 28:ac5c6350ed9a 6 debug(DEBUG_INIT_TASKCRITT, "\n\r Debut init");
salco 19:0ac80045ba4c 7 //m_CtrlBridge = m_CtrlBridge->getInstance();
salco 31:ed23647fd16e 8
salco 31:ed23647fd16e 9
salco 29:51308764fdd0 10 m_CtrlBridge->initCom();
salco 31:ed23647fd16e 11 /*#ifdef*/#ifndef DGB_FORCE_INIT
salco 31:ed23647fd16e 12 //m_CtrlBridge->initCom();
salco 31:ed23647fd16e 13 //#else
salco 28:ac5c6350ed9a 14 do{
salco 31:ed23647fd16e 15 //m_CtrlBridge->initCom();
salco 15:91b3c572d9df 16 m_ListDesModules = m_CtrlBridge->findModule(0,0,0,0); //get all modules
salco 29:51308764fdd0 17
salco 29:51308764fdd0 18 if(m_ListDesModules.size() != 11) //its a patch we need to delete it.
salco 29:51308764fdd0 19 {
salco 29:51308764fdd0 20 debug(DEBUG_INIT_TASKCRITT, "\n\r Init Fail");
salco 29:51308764fdd0 21 forceShutDown(false);
salco 29:51308764fdd0 22 wait(1);
salco 29:51308764fdd0 23 m_CtrlBridge->clearALL();
salco 29:51308764fdd0 24 forceShutDown(true);
salco 28:ac5c6350ed9a 25 }
salco 28:ac5c6350ed9a 26 }while(m_ListDesModules.size() != 11);
salco 29:51308764fdd0 27 #endif
salco 15:91b3c572d9df 28 tymy=true;
salco 28:ac5c6350ed9a 29 debug(DEBUG_INIT_TASKCRITT, "\n\r Init Reussi");
salco 3:e0d6e081a9d3 30 }
salco 3:e0d6e081a9d3 31
salco 7:dcfd81d7f93f 32 TTaskCritique::~TTaskCritique()
salco 3:e0d6e081a9d3 33 {
salco 15:91b3c572d9df 34
salco 15:91b3c572d9df 35 // return;
salco 3:e0d6e081a9d3 36 }
salco 15:91b3c572d9df 37
salco 15:91b3c572d9df 38 void TTaskCritique::forceShutDown(bool offON)
salco 15:91b3c572d9df 39 {
salco 28:ac5c6350ed9a 40 DigitalOut pinA(PB_8);
salco 28:ac5c6350ed9a 41 DigitalOut pinB(PB_9);
salco 15:91b3c572d9df 42
salco 15:91b3c572d9df 43 if(offON) {
salco 15:91b3c572d9df 44 pinA=1;
salco 28:ac5c6350ed9a 45 wait(1);
salco 15:91b3c572d9df 46 pinB=0;
salco 15:91b3c572d9df 47 } else {
salco 15:91b3c572d9df 48 pinA=0;
salco 28:ac5c6350ed9a 49 wait(1);
salco 15:91b3c572d9df 50 pinB=1;
salco 15:91b3c572d9df 51 }
salco 15:91b3c572d9df 52 }
salco 15:91b3c572d9df 53
salco 15:91b3c572d9df 54 void TTaskCritique::criticalTreatment(char adresse)
salco 15:91b3c572d9df 55 {
salco 31:ed23647fd16e 56 debug("jello");
salco 15:91b3c572d9df 57 //ici on debug et on traite le problemme//
salco 15:91b3c572d9df 58 forceShutDown(tymy);
salco 15:91b3c572d9df 59 tymy = !tymy;
salco 15:91b3c572d9df 60 }
salco 15:91b3c572d9df 61
salco 7:dcfd81d7f93f 62 void TTaskCritique::task(void)
salco 3:e0d6e081a9d3 63 {
salco 31:ed23647fd16e 64
salco 31:ed23647fd16e 65
salco 15:91b3c572d9df 66 //pas sur que c'Est tout ce qui doit etre ici mais je vois pas quoi d'autre pour le moment.
salco 15:91b3c572d9df 67 string flag,data;
salco 11:496453b45e25 68
salco 16:5ea4337d785f 69 flag.append(1,0);//0x02);
salco 15:91b3c572d9df 70 for(int i=0; i<m_ListDesModules.length(); ++i)
salco 15:91b3c572d9df 71 {
salco 27:ea60d12dccdf 72 wait_us(300);
salco 18:3f113f8441b2 73 flag.clear();
salco 27:ea60d12dccdf 74 flag.append(1,7);
salco 18:3f113f8441b2 75 data.clear();
salco 28:ac5c6350ed9a 76 debug(DEBUG_TASKCRITT,"\n\r result: %d",m_CtrlBridge->send(m_ListDesModules.at(i),flag,data));
salco 15:91b3c572d9df 77 if(flag[0]== 0x02)
salco 18:3f113f8441b2 78 criticalTreatment(m_ListDesModules.at(i));
salco 15:91b3c572d9df 79 }
salco 15:91b3c572d9df 80
salco 3:e0d6e081a9d3 81 }