Revision 17:a29ce6fc667c, committed 2018-03-28

Comitter:

ihexx

Date:

Wed Mar 28 00:26:55 2018 +0000

Parent:

16:0ada6cbd41e2

Child:

18:d48324fd3440

Commit message:

Fixed deadlock bug on debug framework

Changed in this revision

--- a/main.cpp	Tue Mar 27 22:03:07 2018 +0000
+++ b/main.cpp	Wed Mar 28 00:26:55 2018 +0000
@@ -8,12 +8,16 @@
     Mutex liveAccess;
     float brakeForce = 0.0f;
     float accelForce = 0.0f;
-    float newSpeed = 0.0f;
+    float speed[3] = {0.0f};
     float avgSpeed = 0.0f;
     float odometer = 0.0f;
     
     #if DEBUG_MODE
-    string debugLog = "task,execution_time_ms,lastSleep,drift\n\r";
+    Mutex debugAccess;
+    
+    string debugLogBuffer1 = "task,execution_time_ms,lastSleep,drift\n\r";
+    string debugLogBuffer2 = "";
+    string * debugLog = &debugLogBuffer1;
     #endif
     }
 

--- /dev/null	Thu Jan 01 00:00:00 1970 +0000
+++ b/tasks/MailTasks.cpp	Wed Mar 28 00:26:55 2018 +0000
@@ -0,0 +1,146 @@
+#include "core.h"
+
+namespace mailData{
+    Mail<mail_t, 100> mailBox;
+}
+
+namespace enqueueMail{
+    //Send speed, accelerometer and brake values to a 100 element MAIL queue
+    Thread thread;
+    const float freq = 0.2; //hz
+    
+    //I/O
+    void runTask(){
+        
+        
+        Timer executionTimer,sleepTimer;
+        executionTimer.reset();
+        sleepTimer.reset();
+        
+        const int const_delay = int((1000.0f/freq)+0.5f);
+        int dynamic_delay = const_delay;
+        int tick = 0;
+        
+        while(1){
+            sleepTimer.stop();
+            executionTimer.start();
+            int sleepTime = sleepTimer.read_ms();
+            const int drift = ((sleepTime - dynamic_delay) > 0)?
+                                        (sleepTime - dynamic_delay) : 0;
+            //Core Loop:
+            using namespace mailData;
+            mail_t *mail = mailBox.alloc();
+            
+            runTimeParams::liveAccess.lock();
+            
+            mail->speed = runTimeParams::avgSpeed;
+            mail->accel = runTimeParams::accelForce;
+            mail->brake = runTimeParams::brakeForce;
+            
+            runTimeParams::liveAccess.unlock();
+            
+            mailBox.put(mail);
+            //End of Core loop
+            
+            tick++;
+            executionTimer.stop();
+            int exec_time = executionTimer.read_ms();
+            
+            #if DEBUG_MODE
+            const int debug_log_interval = int(freq/dequeueMail::freq);
+            if (!(tick%debug_log_interval)){
+                runTimeParams::debugAccess.lock();
+                *runTimeParams::debugLog += "Enqueue Mail," + to_string(exec_time) + ","
+                            + to_string(sleepTime) + ","
+                            + to_string(drift) + "\n\r";
+                runTimeParams::debugAccess.unlock();
+                tick = 0;
+            }
+            #endif
+            
+            executionTimer.reset();
+            sleepTimer.reset();
+            sleepTimer.start();
+            
+            dynamic_delay = const_delay - (exec_time + drift);
+            Thread::wait(dynamic_delay);
+        }
+        
+    }
+}
+
+namespace dequeueMail{
+    //Dump contents of feature_7 MAIL queue to the serial connection to the PC
+    Thread thread;
+    
+    const float freq = 0.05; //hz
+    
+    
+    
+    Serial pc(USBTX, USBRX); // tx, rx
+    
+    
+    void runTask(){
+        Timer executionTimer,sleepTimer;
+        executionTimer.reset();
+        sleepTimer.reset();
+        
+        const int const_delay = int((1000.0f/freq)+0.5f);
+        int dynamic_delay = const_delay;
+        
+        pc.printf("speed,acceleration,brake\n\r");
+        
+        while(true){
+            
+            sleepTimer.stop();
+            executionTimer.start();
+            int sleepTime = sleepTimer.read_ms();
+            const int drift = ((sleepTime - dynamic_delay) > 0)?
+                                        (sleepTime - dynamic_delay) : 0;
+            
+            /* Mail */
+            using namespace mailData;
+            osEvent evt = mailBox.get(1);
+            while (evt.status == osEventMail){
+                mail_t * mail = (mail_t*)evt.value.p;
+                pc.printf("%.2f,%.2f,%.2f\n\r",mail->speed,mail->accel,mail->brake);
+                mailBox.free(mail);
+                evt = mailBox.get(1);
+            }
+            
+            executionTimer.stop();
+            int exec_time = executionTimer.read_ms();
+            
+            #if DEBUG_MODE
+            runTimeParams::debugAccess.lock();
+            *runTimeParams::debugLog += "Dequeue Mail," + to_string(exec_time) + ","
+                        + to_string(sleepTime) + ","
+                        + to_string(drift) + "\n\r";
+            string * message;
+            if (runTimeParams::debugLog == & runTimeParams::debugLogBuffer1){
+            runTimeParams::debugLog = & runTimeParams::debugLogBuffer2;
+            message = &runTimeParams::debugLogBuffer1;
+            }
+            else{
+            runTimeParams::debugLog = & runTimeParams::debugLogBuffer1;
+            message = &runTimeParams::debugLogBuffer2;
+            }
+            *runTimeParams::debugLog = "";
+            runTimeParams::debugAccess.unlock();
+            
+            pc.printf(message->c_str());
+            
+            
+            #endif
+            
+            executionTimer.reset();
+            sleepTimer.reset();
+            sleepTimer.start();
+            dynamic_delay = const_delay - (exec_time + drift);
+            Thread::wait(dynamic_delay);
+            
+        }   
+    }
+}
+        
+    
\ No newline at end of file

--- a/tasks/brakeIndicator.cpp	Tue Mar 27 22:03:07 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,20 +0,0 @@
-#include "core.h"
-
-namespace brakeIndicator{
-    Thread thread;
-    const float freq = 2.0f; //hz
-    
-    //I/O
-    PwmOut led2(PORT_REDBOX_LED1);
-    
-    void runTask(){
-//        Show use of the brake on a LED on the RedBox Unit
-        led2.period_ms(50);
-        while(1){
-            runTimeParams::liveAccess.lock();
-            led2.write(runTimeParams::brakeForce);
-            runTimeParams::liveAccess.unlock();
-            wait(1/freq);
-        }
-    }
-}

--- a/tasks/core.h	Tue Mar 27 22:03:07 2018 +0000
+++ b/tasks/core.h	Wed Mar 28 00:26:55 2018 +0000
@@ -37,9 +37,12 @@
     extern float accelForce;
     extern float avgSpeed;
     extern float odometer;
-    extern float newSpeed;
+    extern float speed[3];
     #if DEBUG_MODE
-    extern string debugLog;
+    extern Mutex debugAccess;
+    extern string debugLogBuffer1;
+    extern string debugLogBuffer2 ;
+    extern string * debugLog ;
     #endif
 }
 
@@ -69,41 +72,6 @@
     extern Mail<mail_t, 100> mailBox;
 }
 
-namespace filterSpeed{
-    //Filter speed with averaging filter
-    extern Thread thread;
-    extern const float freq;
-    void runTask(); 
-}
-
-namespace brakeIndicator{
-    //Read brake and accelerator values from variable resistors
-    extern Thread thread;
-    extern const float freq;
-    void runTask(); 
-}
-
-namespace speedIndicator{
-    //Read brake and accelerator values from variable resistors
-    extern Thread thread;
-    extern const float freq;
-    void runTask(); 
-}
-
-namespace sideLights{
-    //Read brake and accelerator values from variable resistors
-    extern Thread thread;
-    extern const float freq;
-    void runTask(); 
-}
-
-namespace turnSignal{
-    //Read brake and accelerator values from variable resistors
-    extern Thread thread;
-    extern const float freq;
-    void runTask(); 
-}
-
 namespace enqueueMail{
     //Send speed, accelerometer and brake values to a 100 element
         //MAIL queue

--- a/tasks/sendMail.cpp	Tue Mar 27 22:03:07 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,136 +0,0 @@
-#include "core.h"
-
-namespace mailData{
-    Mail<mail_t, 100> mailBox;
-}
-
-namespace enqueueMail{
-    //Send speed, accelerometer and brake values to a 100 element MAIL queue
-    Thread thread;
-    const float freq = 0.2; //hz
-    
-    //I/O
-    void runTask(){
-        
-        
-        Timer executionTimer,sleepTimer;
-        executionTimer.reset();
-        sleepTimer.reset();
-        
-        const int const_delay = int((1000.0f/freq)+0.5f);
-        int dynamic_delay = const_delay;
-        int tick = 0;
-        
-        while(1){
-            sleepTimer.stop();
-            executionTimer.start();
-            int sleepTime = sleepTimer.read_ms();
-            const int drift = ((sleepTime - dynamic_delay) > 0)?
-                                        (sleepTime - dynamic_delay) : 0;
-            //Core Loop:
-            using namespace mailData;
-            mail_t *mail = mailBox.alloc();
-            
-            runTimeParams::liveAccess.lock();
-            
-            mail->speed = runTimeParams::avgSpeed;
-            mail->accel = runTimeParams::accelForce;
-            mail->brake = runTimeParams::brakeForce;
-            
-            runTimeParams::liveAccess.unlock();
-            
-            mailBox.put(mail);
-            //End of Core loop
-            
-            tick++;
-            executionTimer.stop();
-            int exec_time = executionTimer.read_ms();
-            
-            #if DEBUG_MODE
-            const int debug_log_interval = int(freq/dequeueMail::freq);
-            if (!(tick%debug_log_interval)){
-                runTimeParams::liveAccess.lock();
-                runTimeParams::debugLog += "Enqueue Mail," + to_string(exec_time) + ","
-                            + to_string(sleepTime) + ","
-                            + to_string(drift) + "\n\r";
-                runTimeParams::liveAccess.unlock();
-                tick = 0;
-            }
-            #endif
-            
-            executionTimer.reset();
-            sleepTimer.reset();
-            sleepTimer.start();
-            
-            dynamic_delay = const_delay - (exec_time + drift);
-            Thread::wait(dynamic_delay);
-        }
-        
-    }
-}
-
-namespace dequeueMail{
-    //Dump contents of feature_7 MAIL queue to the serial connection to the PC
-    Thread thread;
-    #if DEBUG_MODE
-    const float freq = 0.2; //hz
-    #else
-    const float freq = 0.05; //hz
-    #endif
-    
-    
-    Serial pc(USBTX, USBRX); // tx, rx
-    
-    
-    void runTask(){
-        Timer executionTimer,sleepTimer;
-        executionTimer.reset();
-        sleepTimer.reset();
-        
-        const int const_delay = int((1000.0f/freq)+0.5f);
-        int dynamic_delay = const_delay;
-        
-        pc.printf("speed,acceleration,brake\n\r");
-        
-        while(true){
-            
-            sleepTimer.stop();
-            executionTimer.start();
-            int sleepTime = sleepTimer.read_ms();
-            const int drift = ((sleepTime - dynamic_delay) > 0)?
-                                        (sleepTime - dynamic_delay) : 0;
-            
-            /* Mail */
-            using namespace mailData;
-            osEvent evt = mailBox.get(1);
-            while (evt.status == osEventMail){
-                mail_t * mail = (mail_t*)evt.value.p;
-                pc.printf("%.2f,%.2f,%.2f\n\r",mail->speed,mail->accel,mail->brake);
-                mailBox.free(mail);
-                evt = mailBox.get(1);
-            }
-            
-            executionTimer.stop();
-            int exec_time = executionTimer.read_ms();
-            
-            #if DEBUG_MODE
-            runTimeParams::liveAccess.lock();
-            runTimeParams::debugLog += "Dequeue Mail," + to_string(exec_time) + ","
-                        + to_string(sleepTime) + ","
-                        + to_string(drift) + "\n\r";
-            pc.printf(runTimeParams::debugLog.c_str());
-            runTimeParams::debugLog = "";
-            runTimeParams::liveAccess.unlock();
-            #endif
-            
-            executionTimer.reset();
-            sleepTimer.reset();
-            sleepTimer.start();
-            dynamic_delay = const_delay - (exec_time + drift);
-            Thread::wait(dynamic_delay);
-            
-        }   
-    }
-}
-        
-    
\ No newline at end of file

--- a/tasks/sideLights.cpp	Tue Mar 27 22:03:07 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,18 +0,0 @@
-#include "core.h"
-
-namespace sideLights{
-    Thread thread;
-    static const float freq = 1; //hz
-    
-    //I/O
-    DigitalIn lightSwitch(PORT_BRAKE);
-    DigitalOut led(PORT_SIDE_LIGHTS);
-    void runTask(){
-        //Read a single side light switch and set side lights accordingly
-        while(1){
-            wait(1/freq);
-            led = lightSwitch;
-        }
-        
-    }
-}

--- a/tasks/speedIndicator.cpp	Tue Mar 27 22:03:07 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,23 +0,0 @@
-#include "core.h"
-
-namespace speedIndicator{
-    Thread thread;
-    static const float freq = 1; //hz
-    
-    //I/O
-    DigitalOut led(PORT_REDBOX_LED1);
-    
-    void runTask(){
-        //Monitor speed and if it goes over 88 mph switch on a LED on
-        //the RedBox unit
-        led = 0;
-        while(1){
-            
-            
-            runTimeParams::liveAccess.lock();
-            led = (runTimeParams::avgSpeed>88);
-            runTimeParams::liveAccess.unlock();
-            wait(1/freq);
-        }
-    }
-}

--- a/tasks/task_group1.cpp	Tue Mar 27 22:03:07 2018 +0000
+++ b/tasks/task_group1.cpp	Wed Mar 28 00:26:55 2018 +0000
@@ -28,6 +28,78 @@
         lcd->printf("Speed=%.2f",avgSpeed);
     }
 }
+namespace brakeIndicator{
+    //Show use of the brake on a LED on the RedBox Unit
+    const float freq = 2.0f; //hz
+    PwmOut led2(PORT_REDBOX_LED1);
+    static inline void init(){
+        led2.period_ms(50);
+    }
+    static inline void hotLoop(){
+            runTimeParams::liveAccess.lock();
+            led2.write(runTimeParams::brakeForce);
+            runTimeParams::liveAccess.unlock();
+
+    }
+}
+namespace speedIndicator{
+    //Monitor speed and if it goes over 88 mph switch on a LED on
+        //the RedBox unit
+    static const float freq = 1; //hz
+    DigitalOut led(PORT_REDBOX_LED1);
+    static inline void init(){
+        led = 0;
+    }
+    static inline void hotLoop(){
+            runTimeParams::liveAccess.lock();
+            led = (runTimeParams::avgSpeed>88);
+            runTimeParams::liveAccess.unlock();
+            
+    }
+}
+namespace sideLights{
+    //Read a single side light switch and set side lights accordingly
+    static const float freq = 1; //hz
+    DigitalIn lightSwitch(PORT_BRAKE);
+    DigitalOut led(PORT_SIDE_LIGHTS);
+    static inline void hotLoop(){
+        led = lightSwitch;
+        }
+        
+    }
+namespace turnSignal{
+    //Read the two turn indicator switches and flash appropriate
+        //indicator LEDs at a rate of 1Hz. If both switches are switched on
+        //then flash both indicator LEDs at a rate of 2Hz (hazard mode).
+    static const float freq = 0.5; //hz
+    
+    //I/O
+    DigitalIn lSwitch(PORT_TURN_SIGNAL_SWITCH_LEFT);
+    DigitalIn rSwitch(PORT_TURN_SIGNAL_SWITCH_RIGHT);
+    
+    PwmOut lLed(PORT_TURN_SIGNAL_LED_LEFT);
+    PwmOut rLed(PORT_TURN_SIGNAL_LED_RIGHT);
+    
+    static inline void hotLoop(){
+        int a = lSwitch.read();
+        int b = rSwitch.read();
+        if(a&&b){
+             lLed.period(2.0f);
+             rLed.period(2.0f);
+        }
+        else{
+            lLed.period(1.0f);
+            rLed.period(1.0f);
+        }
+        a ? lLed.write(0.5f) : lLed.write(0.0f);
+        b ? rLed.write(0.5f) : rLed.write(0.0f);
+    }
+    
+}
+
+
+
+
 
 namespace task_group_1{
     Thread thread;
@@ -38,16 +110,19 @@
         Timer executionTimer,sleepTimer;
         executionTimer.reset();
         sleepTimer.reset();
+        
         display::init();
+        brakeIndicator::init();
+        speedIndicator::init();
         
         const int const_delay = int((1000.0f/freq)+0.5f);
         int dynamic_delay = const_delay;
         int tick = 0;
+        int max_exec_time = 0;
+        
         while(true){
             sleepTimer.stop();
             executionTimer.start();
-            
-            
             int sleepTime = sleepTimer.read_ms();
             const int drift = ((sleepTime - dynamic_delay) > 0)?
                                         (sleepTime - dynamic_delay) : 0;
@@ -55,26 +130,45 @@
             
             // Run all tasks
            
-            display::hotLoop();
+            brakeIndicator::hotLoop();
             
+            static const int tick_interval_sIndicator = int((freq/speedIndicator::freq)+0.5f);
+            if (!(tick%tick_interval_sIndicator)){
+                speedIndicator::hotLoop();
+                sideLights::hotLoop();
+            }
+            static const int tick_interval_tSignal = int((freq/turnSignal::freq)+0.5f);
+            if (!(tick%tick_interval_tSignal)){
+                turnSignal::hotLoop();
+            }
             
+            display::hotLoop();
             
             tick++;
             executionTimer.stop();
             int exec_time = executionTimer.read_ms();
+            if (exec_time > max_exec_time) max_exec_time=exec_time;
             
             #if DEBUG_MODE
             static const int tick_interval_debug_log = int((freq/dequeueMail::freq)+0.5f);
             if (!(tick%tick_interval_debug_log)){
-                runTimeParams::liveAccess.lock();
-                runTimeParams::debugLog += "task_group_1," + to_string(exec_time) + ","
+                runTimeParams::debugAccess.lock();
+                *runTimeParams::debugLog += "task_group_1," + to_string(max_exec_time) + ","
                             + to_string(sleepTime) + ","
                             + to_string(drift) + "\n\r";
-                runTimeParams::liveAccess.unlock();
+                runTimeParams::debugAccess.unlock();
             }
-            if (tick==tick_interval_debug_log*1) tick=0;
+            #else
+            static const int tick_interval_debug_log = 1;
             #endif
             
+            static const int tick_LCM = 
+                tick_interval_debug_log*
+                tick_interval_sIndicator*
+                tick_interval_tSignal;
+                
+            if (tick==tick_LCM) tick=0;
+            
             executionTimer.reset();
             sleepTimer.reset();
             sleepTimer.start();

--- a/tasks/task_group2.cpp	Tue Mar 27 22:03:07 2018 +0000
+++ b/tasks/task_group2.cpp	Wed Mar 28 00:26:55 2018 +0000
@@ -32,43 +32,44 @@
     
     static inline void hotLoop(){
         
-        runTimeParams::liveAccess.lock();
-        //a = (v2-v1)/t
-        //v2 = at+v1
+        static int i = 0;
+        const int i_prev = i;
+        i = (i>=3)? 0: i+1;
+        
         const float friction = 0.1f;
-        const float accel = (getIgnition::ignition.read())? (runTimeParams::accelForce - 
-                        (runTimeParams::brakeForce+friction))
-                        : 
-                        -(runTimeParams::brakeForce+friction);
+        
+        runTimeParams::liveAccess.lock();
         
-        float tmpSpeed = accel * +
-                         runTimeParams::newSpeed;
-        runTimeParams::newSpeed = (tmpSpeed>0)?tmpSpeed:0;
+        //v2 = at+v1
+        float accel;
+        if (getIgnition::ignition.read()){
+            accel = runTimeParams::accelForce - 
+            (runTimeParams::brakeForce+friction);
+        }
+        else{
+            accel= -(runTimeParams::brakeForce+friction);
+        }
+        
+        float tmpSpeed = accel * + runTimeParams::speed[i_prev];
+        runTimeParams::speed[i] = (tmpSpeed>0)?tmpSpeed:0;
         runTimeParams::liveAccess.unlock();
+        
         }
 }
 namespace filterSpeed{
+    //Filter speed with averaging filter
     static const float freq = 5; //hz 
-    
-    //I/O
-    float speed[3] = {0};
-    
-    void runTask(){
-        //Filter speed with averaging filter
-        //• average of last ‘n’ readings (e.g. n =3)
-        //(raw speed value will be computed by the “car simulator”
-        //process)
-        while(1){
-            wait(1/freq);
-            float avgSpeed = (speed[0] + speed[1] +speed[2])/3;
+    static inline void hotLoop(){
             runTimeParams::liveAccess.lock();
-            runTimeParams::avgSpeed = avgSpeed;
+            runTimeParams::avgSpeed = (runTimeParams::speed[0] +
+                            runTimeParams::speed[1] +
+                            runTimeParams::speed[2])/3;
             runTimeParams::liveAccess.unlock();
             
-        } 
-    }
+    } 
 }
 
+
 namespace task_group_2{
     Thread thread;
     const float freq = 20.0f; //hz
@@ -82,7 +83,7 @@
         const int const_delay = int((1000.0f/freq)+0.5f);
         int dynamic_delay = const_delay;
         int tick = 0;
-        
+        int max_exec_time = 0;
         while(true){
             
             
@@ -98,6 +99,9 @@
             // Run all tasks--------------
             carSimulator::hotLoop();
             
+            static const int tick_interval_filter = int((freq/filterSpeed::freq)+0.5f);
+            if (!(tick%tick_interval_filter)) filterSpeed::hotLoop();
+            
             static const int tick_interval_controls = int((freq/getControls::freq)+0.5f);
             if (!(tick%tick_interval_controls)) getControls::hotLoop();
             
@@ -108,26 +112,35 @@
             tick++;
             executionTimer.stop();
             int exec_time = executionTimer.read_ms();
+            if (exec_time > max_exec_time) max_exec_time=exec_time;
             
             #if DEBUG_MODE
-            const int debug_log_interval = int(freq/dequeueMail::freq);
+            static const int debug_log_interval = int(freq/dequeueMail::freq);
             if (!(tick%debug_log_interval)){
-                runTimeParams::liveAccess.lock();
-                runTimeParams::debugLog += "task_group_2," + to_string(exec_time) + ","
+                runTimeParams::debugAccess.lock();
+                *runTimeParams::debugLog += "task_group_2," + to_string(max_exec_time) + ","
                             + to_string(sleepTime) + ","
                             + to_string(drift) + "\n\r";
-                
-                runTimeParams::liveAccess.unlock();
+                exec_time = 0;
+                runTimeParams::debugAccess.unlock();
             }
-            static const int tick_LCM = (debug_log_interval*tick_interval_ignitionLED*tick_interval_controls);
+            #else
+            static const int debug_log_interval = 1;
+            #endif
+            
+            static const int tick_LCM = 
+                debug_log_interval*
+                tick_interval_ignitionLED*
+                tick_interval_controls*
+                tick_interval_filter;
+                
             if (tick==tick_LCM) tick=0;
-            #endif
             
             executionTimer.reset();
             sleepTimer.reset();
             sleepTimer.start();
             
-            dynamic_delay = const_delay -drift;
+            dynamic_delay = const_delay -(exec_time + drift);
             Thread::wait(dynamic_delay);
         }   
     }

--- a/tasks/turnSignal.cpp	Tue Mar 27 22:03:07 2018 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,28 +0,0 @@
-#include "core.h"
-
-namespace turnSignal{
-    Thread thread;
-    static const float freq = 0.5; //hz
-    
-    //I/O
-    DigitalIn lSwitch(PORT_TURN_SIGNAL_SWITCH_LEFT);
-    DigitalIn rSwitch(PORT_TURN_SIGNAL_SWITCH_RIGHT);
-    
-    PwmOut lLed(PORT_TURN_SIGNAL_LED_LEFT);
-    PwmOut rLed(PORT_TURN_SIGNAL_LED_RIGHT);
-    
-    void runTask(){
-        //Read the two turn indicator switches and flash appropriate
-        //indicator LEDs at a rate of 1Hz. If both switches are switched on
-        //then flash both indicator LEDs at a rate of 2Hz (hazard mode).
-
-        lLed.period(1.0f);
-        rLed.period(1.0f);
-        while(1){
-            wait(1.0f/freq);
-            lSwitch.read() ? lLed.write(0.5f) : lLed.write(0.0f);
-            rSwitch.read() ? rLed.write(0.5f) : rLed.write(0.0f);
-        }
-        
-    }
-}