Revision 13:f6e37c21d31d, committed 2020-03-09

Comitter:

le1917

Date:

Mon Mar 09 17:19:39 2020 +0000

Parent:

12:38afe92e67d0

Commit message:

Thread start stopping not working;

Changed in this revision

--- a/ES_CW2_Starter_STARFISH/MotorControl.h	Mon Mar 09 15:02:47 2020 +0000
+++ b/ES_CW2_Starter_STARFISH/MotorControl.h	Mon Mar 09 17:19:39 2020 +0000
@@ -57,7 +57,6 @@
 const float kd_pos = 0;
 const float pwm_period  =0.25f;
 
-int target_velocity = 30;
 float target_position = 500;
 
 // GLOBAL VARIABLES MOTOR //
@@ -223,8 +222,9 @@
     }
 }
 
-void motorCtrlFn()
+void motorCtrlFn( float* NewSpeed)
 {
+    float target_velocity = *NewSpeed;
     // motor controller variables
     float current_position = 0;
     int previous_position = 0;
@@ -233,6 +233,7 @@
     uint32_t last_time_MtrCtlr;
     float pos_error_old;
     int i = 0;
+    
 
     float velocity_integral=0;
     float velocity_derivative=0;

--- a/ES_CW2_Starter_STARFISH/SerialCommunication.h	Mon Mar 09 15:02:47 2020 +0000
+++ b/ES_CW2_Starter_STARFISH/SerialCommunication.h	Mon Mar 09 17:19:39 2020 +0000
@@ -4,9 +4,6 @@
 RawSerial pc(USBTX, USBRX);
 char command_category;
 Mail<uint8_t, 8> inCharQ;
-float NewRotation; 
-float NewSpeed; 
-uint64_t NewKey;
 
 // Serial port methods
 
@@ -25,18 +22,19 @@
     {
     case 'R':
         // Rotation command - R-?\d{1,s4}(\.\d)?
-        Rotation_mutex.lock(); 
+        NewMotorCommand_mutex.lock(); 
         sscanf(serial_buffer.c_str(), "%c %f", &command_category, &NewRotation); 
         pc.printf("You have a new rotation: %f \r\n", NewRotation);
-        Rotation_mutex.unlock(); 
+        NewMotorCommand_mutex.unlock(); 
 
         break;
     case 'V':
         // Speed command - V\d{1,3}(\.\d)?
-        Speed_mutex.lock();
+        NewMotorCommand_mutex.lock();
         sscanf(serial_buffer.c_str(), "%c %f", &command_category, &NewSpeed); 
         pc.printf("You have a new speed: %f \r\n", NewSpeed);
-        Speed_mutex.unlock(); 
+        NewSpeed_flag = true;
+        NewMotorCommand_mutex.unlock(); 
         // to implement !
         break;
 
@@ -54,7 +52,7 @@
         pc.printf("You have entered a new melody: --> TO IMPLEMENT <--- \r\n");
         Music_mutex.unlock(); 
         // to implement !
-
+  
     default:
         printf("Input value out of format - please try again! \r\n");
     }

--- a/ES_CW2_Starter_STARFISH/main.cpp	Mon Mar 09 15:02:47 2020 +0000
+++ b/ES_CW2_Starter_STARFISH/main.cpp	Mon Mar 09 17:19:39 2020 +0000
@@ -3,11 +3,27 @@
 #include "rtos.h"
 #include <stdlib.h>
 #include <string>
-#include "mutexes.h"
+
+Mutex NewKey_mutex;
+Mutex NewMotorCommand_mutex; 
+Mutex Music_mutex;
+
+// Global Variable Shared between threads
+float NewRotation; 
+float NewSpeed; 
+uint64_t NewKey;
+
+bool NewSpeed_flag;
+bool NewRotation_flag;
+
 #include "SerialCommunication.h"
 #include "CryptoMining.h"
 #include "MotorControl.h"
 
+
+ 
+
+
 // Declaration of threads
 Thread thread_crypto;
 Thread thread_processor;
@@ -16,23 +32,46 @@
 Timer timer_nonce;
 uint32_t previous_time;
 
-
 //Main
 int main()
 {
     pc.attach(&serialISR);
 
-    thread_motorCtrl.start(motorCtrlFn);
-
     // Initialize threads and timers
     timer_nonce.start();
     thread_crypto.start(thread_crypto_print);
     thread_processor.start(thread_processor_callback);
+    //NewSpeed = 30;
+    //thread_motorCtrl.start(&NewSpeed, motorCtrlFn);
+        
     uint8_t hash[32];
 
     while (1) {
+        //Luccas' Code until we can move rest into seperate thread
+    
+        NewMotorCommand_mutex.lock();
+
+         pc.printf("Thread  Actual %d\r\n", thread_motorCtrl.get_state());
+         pc.printf("Thread state Expected %d\r\n",Thread::Running);
+         
+        
+        
+        if(NewSpeed_flag && thread_motorCtrl.get_state() != Thread::Deleted){
+            pc.printf("Ending Previous Thread");
+            thread_motorCtrl.terminate();
+        }
+        
+        if(NewSpeed_flag){
+            pc.printf("starting thread");
+            thread_motorCtrl.start(&NewSpeed, motorCtrlFn);
+            NewSpeed_flag = false;
+        }
+        
+        NewMotorCommand_mutex.unlock();
+    
+        wait(1);
+
         // Set main as lowest priority thread
-
         NewKey_mutex.lock();
         *key = NewKey;
         NewKey_mutex.unlock();

--- a/ES_CW2_Starter_STARFISH/mutexes.h	Mon Mar 09 15:02:47 2020 +0000
+++ /dev/null	Thu Jan 01 00:00:00 1970 +0000
@@ -1,4 +0,0 @@
-Mutex NewKey_mutex;
-Mutex Speed_mutex; 
-Mutex Music_mutex; 
-Mutex Rotation_mutex;