Revision 25:b8176ebb96c6, committed 2018-12-21

Comitter:

shimniok

Date:

Fri Dec 21 20:38:55 2018 +0000

Parent:

24:a7f92dfc5310

Child:

26:2dc31a801cc8

Commit message:

Extracted eventqueue from Updater, implemented callback

Changed in this revision

--- a/Updater.cpp	Fri Dec 21 20:04:09 2018 +0000
+++ b/Updater.cpp	Fri Dec 21 20:38:55 2018 +0000
@@ -2,6 +2,14 @@
 #include "pinouts.h"
 #include "IncrementalEncoder.h"
 
+Updater::Updater() {
+    thisTime = 0;
+    lastTime = 0; 
+    t = new Timer;
+    t->start();
+    _callback = 0;
+}
+
 Updater *Updater::instance() 
 {
     static Updater instance;
@@ -10,34 +18,15 @@
 }
 
 
-void Updater::setInterval(int interval_ms)
-{
-    _interval = interval_ms;
-    return;
-}
-
+void Updater::attach(Callback<void()> cb) {
+    _callback = cb;
 
-void Updater::start()
-{
-    Timer timer;
-    
-    thisTime = 0;
-    lastTime = 0; 
-    t = &timer;
-    t->start();
-       
-    EventQueue *queue = mbed_highprio_event_queue();
-    Event<void()> event(queue, callback(this, &Updater::update));
-    event.period(_interval);
-    event.post();
-    queue->dispatch_forever();
     return;
 }
 
 
 void Updater::update()
 {
-    static DigitalOut led2(LED2);
     static L3G4200D gyro(I2CSDA, I2CSCL); // TODO parameterize
     static IncrementalEncoder enc(ALEFT);
 
@@ -64,7 +53,9 @@
     //history[now].y = history[prev].y + history[now].dist * cos(r);
 
     // Convert this into some kind of status message/event thingy
-    led2 = !led2;
+
+    if (_callback)
+        _callback();
 
     return;
 }

--- a/Updater.h	Fri Dec 21 20:04:09 2018 +0000
+++ b/Updater.h	Fri Dec 21 20:38:55 2018 +0000
@@ -5,27 +5,29 @@
 #include "L3G4200D.h"
 
 /** Periodically reads sensor data
- * This class executes an update function at a configurable interval to read 
- * and update sensor data. The class makes use of EventQueue and Event for
- * task scheduling and runs events on the mbed_highprio_event_queue
+ * This class reads and updates sensor data. Intended to be called at a fixed
+ * interval.
+ * @code
+ * Updater *u = Updater::instance(); // beware of lifetime of this pointer
+ * Thread updaterThread(osPriorityRealtime, 512, 0, "updater");
+ * EventQueue *updaterQueue = mbed_highprio_event_queue();
+ * Event<void()> event(updaterQueue, callback(u, &Updater::update));
+ * event.period(20);
+ * event.post(); // if lifetime of u not correct, this will hard fault
+ * updaterThread.start(callback(updaterQueue, &EventQueue::dispatch_forever));  
+ *
  */
 class Updater: private mbed::NonCopyable<Updater> {
 public:
     /// Return singleton instance
     static Updater *instance();
     
-    /** Sets the interval for running updater()
-     * @param interval_ms is the interval in milliseconds
-     */
-    void setInterval(int interval_ms);
-
-    /** Start the updater running
-     * @note Makes use of RTOS EventQueue and Event. The function runs in an
-     * infinite loop so best to start in a separate thread or from main thread
-     * when done with everything else.
-     */
-    void start();
-  
+    /// Attach a callback handler run each time updater() is run
+    void attach(Callback<void()> cb);
+    
+    /// Update all sensors
+    void update(); 
+    
     /** Get gyro values
      * @return g array of x, y, and z gyro values
      * @return dt time since data last updated
@@ -39,11 +41,9 @@
 
 private:
     /// Basic constructor (singleton)
-    Updater() {}
+    Updater();
     
-    /// Update all sensors
-    void update(); 
-    
+    Callback<void()> _callback; // notification callback    
     Timer *t; // timer used to measure dt
     int _gyro[3]; // gyro raw
     int _ecount; // encoder count

--- a/main.cpp	Fri Dec 21 20:04:09 2018 +0000
+++ b/main.cpp	Fri Dec 21 20:38:55 2018 +0000
@@ -28,7 +28,7 @@
 FATFileSystem ffs("log", &bd);
 Serial pc(USBTX, USBRX);
 DigitalOut led1(LED1);
-DigitalOut led3(LED3);
+DigitalOut led2(LED2);
 RawSerial s(UART1TX, UART1RX, 38400);
 
 ///////////////////////////////////////////////////////////////////////////////
@@ -45,6 +45,15 @@
 EventQueue logQueue(8 * EVENTS_EVENT_SIZE);
 Logger logger("/etc/test.log");
 
+
+///////////////////////////////////////////////////////////////////////////////
+// Updater
+Updater *u = Updater::instance();
+
+void updater_callback() {
+    led1 = !led1;
+}
+
 ///////////////////////////////////////////////////////////////////////////////
 // GPS
 Ublox6 ublox;
@@ -54,7 +63,7 @@
 void gps_callback() {
     GpsData d;
     
-    led3 = !led3;
+    led2 = !led2;
     ublox.read(d.latitude, d.longitude, d.course, d.speed, d.hdop, d.svcount);   
     //logQueue.call(&logger, &Logger::log_gps, d);
 }
@@ -136,7 +145,7 @@
 {   
     //bridge_uart1();
 
-    Kernel::attach_idle_hook(idler);
+    //Kernel::attach_idle_hook(idler);
     
     printf("Bootup...\n");
     fflush(stdout);
@@ -169,10 +178,13 @@
     }
 
     printf("Starting updater...\n");
-    Updater *u = Updater::instance();
-    u->setInterval(20);
+    u->attach(updater_callback);
     Thread updaterThread(osPriorityRealtime, 512, 0, "updater");
-    updaterThread.start(callback(u, &Updater::start));
+    EventQueue *updaterQueue = mbed_highprio_event_queue();
+    Event<void()> event(updaterQueue, callback(u, &Updater::update));
+    event.period(20);
+    event.post();
+    updaterThread.start(callback(updaterQueue, &EventQueue::dispatch_forever));
     
     printf("Starting gps...\n");
     Thread gpsThread(osPriorityHigh, 256, 0, "gps");