TaskProximity.cpp

00001 /*
00002  * TaskProximity.cpp
00003  *
00004  *  Created on: Jun 3, 2016
00005  *      Author: Adrian
00006  */
00007 
00008 #include "TaskProximity.h "
00009 
00010 TaskProximity::TaskProximity(SI1143* si1143,Mutex* mutexI2C, Queue<SI1143ProximityMessage,PROXIMITY_QUEUE_LENGHT>* queue){
00011     this->si1143 = si1143;
00012     setMutex(mutexI2C);
00013     setQueue(queue);
00014 }
00015 
00016 TaskProximity::TaskProximity(SI1143* si1143,rtos::Mutex* mutexI2C,
00017     rtos::Queue<SI1143ProximityMessage,PROXIMITY_QUEUE_LENGHT>* queue,
00018     osPriority priority, uint32_t stackSize, unsigned char *stackPointer){
00019     this->si1143 = si1143;
00020     setMutex(mutexI2C);
00021     setQueue(queue);
00022     setPriority(priority);
00023     setStackSize(stackSize);
00024     setStackPointer(stackPointer);
00025     setState(SLEEPING);
00026 }
00027 
00028 TaskProximity::~TaskProximity() {
00029     // TODO Auto-generated destructor stub
00030 }
00031 
00032 osStatus TaskProximity::start(){
00033     setState(RUNNING);
00034     this->thread = new rtos::Thread(callBack,this);
00035 }
00036 
00037 osStatus TaskProximity::stop(){
00038     thread->terminate();
00039     setState(SLEEPING);
00040     delete this->thread;
00041 }
00042 
00043 void TaskProximity::callBack(void const* data){
00044     // WOODHAMMER METHOD of Casting!
00045     const TaskProximity* constInstance = static_cast<const TaskProximity* >(data);
00046     TaskProximity* instance = const_cast<TaskProximity*>(constInstance);
00047 
00048     instance->measureProximity();
00049 }
00050 
00051 void TaskProximity::measureProximity(){
00052     SI1143ProximityMessage si1143ProximityMessage;
00053 
00054     while(true){
00055         mutexI2C->lock(osWaitForever);
00056         si1143ProximityMessage.setProximity(si1143->getProximity(1));
00057         mutexI2C->unlock();
00058 
00059         queue->put(&si1143ProximityMessage,osWaitForever);
00060         osDelay(PROXIMITY_TASK_DELAY_MS);
00061     }
00062 }
00063 
00064 void TaskProximity::setQueue(Queue<SI1143ProximityMessage,PROXIMITY_QUEUE_LENGHT>* queue){
00065     this->queue = queue;
00066 }
00067 
00068 void TaskProximity::setMutex(Mutex* mutex){
00069     this->mutexI2C = mutex;
00070 }
00071 
00072 void TaskProximity::setPriority(osPriority priority){
00073     this->priority = priority;
00074 }
00075 
00076 void TaskProximity::setStackSize(uint32_t stacksize){
00077     this->stack_size = stacksize;
00078 }
00079 
00080 void TaskProximity::setStackPointer(unsigned char* stackPointer){
00081     this->stack_pointer = stackPointer;
00082 }
00083 
00084 void TaskProximity::setState(TASK_STATE state){
00085     this->state = state;
00086 }
00087 
00088 TASK_STATE TaskProximity::getState(){
00089     return state;
00090 }