Diff: main.cpp

Revision:

7:9068fc754a0b

Parent:

6:414e1fea64f3

Child:

8:5c0833506d67

Child:

11:ccb8653e285f

--- a/main.cpp	Thu Dec 03 16:36:20 2015 +0000
+++ b/main.cpp	Thu Dec 03 17:53:04 2015 +0000
@@ -1,92 +1,14 @@
-
+#include "mbed.h"
+#include "rtos.h"
 #include "M3Dpi.h"
-#include "MbedJSONValue.h"
-
-M3Dpi robot;
-Serial pc(USBTX,USBRX);
-
-Ticker tick;
+#include "jsonReporter.h"
 
 const char M3DPI_ID[] = "1234567890";
 
-MbedJSONValue* jsonFactory()
-{
-    MbedJSONValue* json = new MbedJSONValue();
-    (*json)["id"] = M3DPI_ID;
-    return json;
-}
-
-void printJson(MbedJSONValue* json)
-{
-    pc.printf("%s\n", json->serialize().c_str());
-}
-
-void printTime(time_t seconds)
-{
-    char buffer[32];
-    std::strftime(buffer, 32, "%d-%m-%Y %T", localtime(&seconds));
-    MbedJSONValue* jsonTime = jsonFactory();
-    (*jsonTime)["time"] = buffer;
-    printJson(jsonTime);
-    delete jsonTime;   
-}
-
-void printDistance(m3dpi::Distance distance)
-{
-    MbedJSONValue* json = jsonFactory();
-    const char property[] = "distance";
-
-    (*json)[property][0] = distance.front;
-    (*json)[property][1] = distance.front_right;
-    (*json)[property][2] = distance.right;
-    (*json)[property][3] = distance.back_right;
-    (*json)[property][4] = distance.back;
-    (*json)[property][5] = distance.back_left;
-    (*json)[property][6] = distance.left;
-    (*json)[property][7] = distance.front_left;
+M3Dpi robot;
+Serial pc(USBTX,USBRX);
+JsonReporter report(&pc, M3DPI_ID);
 
-    printJson(json);
-    delete json;
-}
-
-void printAcceleration(m3dpi::Acceleration acc)
-{
-    MbedJSONValue* json = jsonFactory();
-    const char property[] = "acceleration";
-    
-    (*json)[property]["x"] = acc.x;
-    (*json)[property]["y"] = acc.y;
-    (*json)[property]["z"] = acc.z;
-    
-    printJson(json);
-    delete json;
-}
-
-void printDirection(m3dpi::Direction direction)
-{
-    MbedJSONValue* json = jsonFactory();
-    const char property[] = "direction";
-    
-    (*json)[property]["x"] = direction.x;
-    (*json)[property]["y"] = direction.y;
-    (*json)[property]["z"] = direction.z;
-    
-    printJson(json);
-    delete json;
-}
-
-void printRotation(m3dpi::Rotation rotation)
-{
-    MbedJSONValue* json = jsonFactory();
-    const char property[] = "rotation";
-    
-    (*json)[property]["x"] = rotation.x;
-    (*json)[property]["y"] = rotation.y;
-    (*json)[property]["z"] = rotation.z;
-    
-    printJson(json);
-    delete json;
-}
 
 void setLeds(m3dpi::Distance distance)
 {
@@ -98,30 +20,31 @@
     robot.setLeds(colors);
 }
 
-void readSensors()
+void read_sensors_thread(void const * args)
 {
+    robot.setStatus(Color::GREEN);
     m3dpi::Distance distance = robot.getDistance();
+    setLeds(distance);
     
-    printDistance(distance);
-    printDirection(robot.getDirection());
-    printRotation(robot.getRotation());
-    printAcceleration(robot.getAcceleration());
+    report.distance(distance);
+    report.direction(robot.getDirection());
+    report.rotation(robot.getRotation());
+    report.acceleration(robot.getAcceleration());
     
-    printTime(robot.getTime());
-    setLeds(distance);
+    report.time(robot.getTime());
+    robot.setStatus(Color::OFF);
 }
 
 int main()
 {            
     pc.baud(115200);
-    robot.setStatus(Color::GREEN);
-    
+       
+    // for testing...
     pc.printf("Device ID is: 0x%02x\n", robot.accelerometer.getDevId());
     pc.printf("Gyro id: 0x%02x\n", robot.gyro.getWhoAmI());
     
-    tick.attach(&readSensors, 0.25);
+    RtosTimer periodicThread(read_sensors_thread, osTimerPeriodic);
+    periodicThread.start(50);
     
-    while(1) {
-
-    }
+    Thread::wait(osWaitForever);
 }
\ No newline at end of file