[REFACTOR] Refactoring

smart_bridge/src/components/impl/Button.cpp

@@ -4,17 +4,17 @@
 Button::Button(int pin)
 {
     this->pin = pin;
-    pinMode(pin, INPUT);
+    pinMode(this->pin, INPUT);
     sync();
 }
 
 bool Button::isPressed()
 {
-    return pressed;
+    return this->pressed;
 }
 
 void Button::sync()
 {
-    pressed = digitalRead(pin) == HIGH;
+    this->pressed = digitalRead(pin) == HIGH;
     updateSyncTime(millis());
 }

smart_bridge/src/components/impl/ServoImpl.cpp

@@ -3,15 +3,15 @@
 
 ServoImpl::ServoImpl(int pin)
 {
-    servo.attach(pin);
+    this->servo.attach(pin);
 }
 
 void ServoImpl::write(int angle)
 {
-    servo.write(map(angle, 0, 180, 750, 2250));
+    this->servo.write(map(angle, 0, 180, 750, 2250));
 }
 
 void ServoImpl::detach()
 {
-    servo.detach();
+    this->detach.detach();
 }

smart_bridge/src/kernel/Scheduler.cpp

@@ -24,7 +24,7 @@ void Scheduler::schedule()
 {
 
   unsigned long now = millis();
-  if ((now - lastRunTime) >= schedulerPeriod) // It's time for scheduler to tick
+  if ((now - lastRunTime) >= schedulerPeriod) // It's time for to tick
   {
     for (register unsigned int i = 0; i < numTasks; ++i) // For each task in the scheduler
     {

smart_bridge/src/tasks/CheckInTask.cpp

@@ -10,6 +10,7 @@ void CheckInTask::tick()
 #ifdef __LOG
         Serial.println("CheckInTask::Turned on L1");
 #endif
+        this->lcd->write("Welcome to the car wash", 0, 0);
         this->setState(WAITING); // Set the state to WAITING
         break;
     case WAITING:
@@ -23,6 +24,7 @@ void CheckInTask::tick()
 #ifdef __LOG
             Serial.println("CheckInTask::Opened the gate");
 #endif
+            this->lcd->write("Proceed to the washing area", 0, 0);
             this->setCompleted(); // Mark the task as completed
         }
     }

smart_bridge/src/tasks/CheckInTask.h

@@ -2,8 +2,9 @@
 #define __CHECK_IN_TASK__
 
 #include "kernel/DependantTaskWithState.h"
-#include "components/api/Led.h"
 #include "config/config.h"
+#include "components/api/Led.h"
+#include "components/api/LCD.h"
 #include "components/api/ServoImpl.h"
 
 /**
@@ -19,6 +20,7 @@ class CheckInTask : public DependantTaskWithState
     {
         this->L1 = new Led(L1_PIN);
         this->L2 = new Led(L2_PIN);
+        this->lcd = new LCD(0x27, 16, 2);
         this->gate = new ServoImpl(SERVO_PIN);
         this->init();
         this->setState(STARTED);
@@ -34,6 +36,7 @@ class CheckInTask : public DependantTaskWithState
     };
     Led *L1;
     Led *L2;
+    LCD *lcd;
     ServoImpl *gate;
 };
 

smart_bridge/src/tasks/CheckOutTask.h

@@ -1,19 +1,19 @@
 #ifndef __CHECK_OUT_TASK__
 #define __CHECK_OUT_TASK__
 
+#include "config/config.h"
 #include "kernel/DependantTaskWithState.h"
-#include "BlinkTask.h"
 #include "components/api/Led.h"
 #include "components/api/Sonar.h"
-#include "config/config.h"
 #include "components/api/ServoImpl.h"
+#include "BlinkTask.h"
+
 
 class CheckOutTask : public DependantTaskWithState
 {
 public:
     CheckOutTask(BlinkTask *blinkTask) : DependantTaskWithState()
     {
-        Serial.println("CheckOutTask created");
         this->L2 = new Led(L2_PIN);
         this->L3 = new Led(L3_PIN);
         this->sonar = new Sonar(SONAR_TRIG_PIN, SONAR_ECHO_PIN, SONAR_MAX_TIME);
@@ -24,6 +24,7 @@ class CheckOutTask : public DependantTaskWithState
         this->L3->switchOn();
         this->init();
         this->setState(OPENING_GATE);
+        Serial.println("CheckOutTask created");
     }
     void tick() override;
 

smart_bridge/src/tasks/CountDown.cpp

@@ -19,7 +19,7 @@ void CountDown::resetCountDown(int newCountDown)
 
 void CountDown::decreaseCountDown(int decrement)
 {
-    if (getCountDown() - decrement < 0)
+    if (getCountDown() - decrement <= 0)            // NOTE: <= 0 non solo < 0
     {
         endsCountDown();
     }
@@ -36,13 +36,13 @@ void CountDown::increaseCountDown(int increment)
 
 void CountDown::pauseCountDown()
 {
-    this->pausedCountDown = getCountDown();
+    this->pausedCountDown = getCountDown();     // NOTE: Credo sia superfluo salvare il valore, puoi disattivare il task e poi riprendere da dove eri, ma andrebbe controllata meglio questa cosa.
     this->setActive(false);
 }
 
-void CountDown::startCountDown()
+void CountDown::startCountDown()        // NOTE: Chiama direttamente this->setActive(true) dove ti serve, risparmi spazio sullo stack.
 {
-    this->setActive(true);
+    this->setActive(true);      
 }
 
 void CountDown::printCountDown()
@@ -56,33 +56,33 @@ void CountDown::endsCountDown()
 {
     if (getCountDown() <= 0)
     {
-        this->isCompleted();
-        this->printsEndsCountdown();
-        this->resetCountDown(N3);
+        this->isCompleted();            // NOTE: non credo serva
+        this->printsEndsCountdown();    // NOTE: meglio chiamare direttamente la stampa, si usa meno spazio sullo stack
+        this->resetCountDown(N3);       
         Serial.println("CountDown::Countdown resetted");
         this->setCompleted();
     }
 }
 
-void CountDown::printsEndsCountdown()
+void CountDown::printsEndsCountdown()   // NOTE: meglio chiamare direttamente la stampa, si usa meno spazio sullo stack.
 {
     Serial.println("CountDown::Countdown ended!");
 }
 
-bool CountDown::isCountDownActive()
+bool CountDown::isCountDownActive()         // NOTE: Chiama direttamente this->isActive() dove ti serve, risparmi spazio sullo stack.
 {
     return this->isActive();
 }
 
-void CountDown::stopCountDown()
+void CountDown::stopCountDown()             // NOTE: Resettalo prima di disattivarlo.
 {
     this->setActive(false);
     this->resetCountDown(N3);
 }
 
 void CountDown::resumeCountDown()
 {
-    if (this->pausedCountDown != -1)
+    if (this->pausedCountDown != -1)       // NOTE: Credo che tu possa controllare direttamente this->isActive() invece di usare una variabile aggiuntiva, a meno di altri utilizzi particolari di questa variabile.
     {
         this->countDown = this->pausedCountDown;
         this->pausedCountDown = -1;
@@ -95,5 +95,5 @@ void CountDown::tick()
     startCountDown();
     printCountDown();
     decreaseCountDown();
-    endsCountDown();
+    endsCountDown();        // NOTE: lo chiami già in decreaseCountDown(), non serve chiamarlo qui.
 }

smart_bridge/src/tasks/TransitTask.cpp

@@ -10,11 +10,10 @@ void TransitTask::tick()
             {
             case READING_DISTANCE:
                 this->L2->switchOn();
-                this->distance = sonar->detectDistance();
 #ifdef __LOG
                 Serial.println("TransitTask::Distance: " + String(this->distance));
 #endif
-                if (this->distance < MINDIST)
+                if (this->sonar->detectDistance() < MINDIST)
                 {
                     this->resetTime();
                     this->setState(CHECKING_DISTANCE);
@@ -29,19 +28,18 @@ void TransitTask::tick()
                 {
                     this->blinkTask->setActive(true);
                 }
-                this->distance = sonar->detectDistance();
 #ifdef __LOG
-                Serial.println("TransitTask::Distance: " + String(this->distance));
+                Serial.println("TransitTask::Distance: " + String(this->sonar->detectDistance()));
 #endif
-                if (this->distance < MINDIST)
+                if (this->sonar->detectDistance() < MINDIST)
                 {
 #ifdef __DEBUG
                     Serial.println("TransitTask::Elapsed: " + String(this->elapsedTime()));
 #endif
                     if (this->elapsedTime() >= (N2 * 1000))
                     {
 #ifdef __LOG
-                        Serial.println("TransitTask::Distance: " + String(this->distance));
+                        Serial.println("TransitTask::Distance: " + String(this->sonar->detectDistance()));
                         Serial.println("TransitTask::Car entered");
                         Serial.println("TransitTask::Closing gate");
 #endif
@@ -51,6 +49,7 @@ void TransitTask::tick()
                             this->blinkTask->setActive(false);
                         }
                         this->L2->switchOn();
+                        this->lcd->write("Ready to wash", 0, 0);
                         this->setCompleted();
                     }
                 }

smart_bridge/src/tasks/TransitTask.h

@@ -7,6 +7,7 @@
 #include "components/api/Sonar.h"
 #include "components/api/Led.h"
 #include "components/api/ServoImpl.h"
+#include "components/api/LCD.h"
 /**
  * @class TransitTask
  * @brief This task reads the distance of the car while entering the washing area.
@@ -23,16 +24,17 @@ class TransitTask : public DependantTaskWithState
      */
     TransitTask(BlinkTask *blinkTask) : DependantTaskWithState()
     {
-        Serial.println("TransitTask created");
         this->sonar = new Sonar(SONAR_TRIG_PIN, SONAR_ECHO_PIN, SONAR_MAX_TIME);
         this->L2 = new Led(L2_PIN);
+        this->lcd = new LCD(0x27, 16, 2);
         // TODO: FIX SERVO.
         this->gate = new ServoImpl(SERVO_PIN);
         this->blinkTask = blinkTask;
         this->blinkTask->init(100);
         this->blinkTask->setActive(false);
         this->init();
         this->setState(READING_DISTANCE);
+        Serial.println("TransitTask created");
     };
 
     void tick() override;
@@ -44,9 +46,9 @@ class TransitTask : public DependantTaskWithState
         CHECKING_DISTANCE
     };
     Led *L2;
+    LCD *lcd;
     Sonar *sonar;
     ServoImpl *gate;
-    float distance;
     BlinkTask *blinkTask;
 };
 

smart_bridge/src/tasks/WaitForClickTask.cpp

@@ -4,9 +4,9 @@ void WaitForClickTask::tick()
 {
     if (this->getDependency(0) != nullptr)
     {
-        //Serial.println("WaitForClickTask::getDependency(0) != nullptr");
         if (this->getDependency(0)->isCompleted())
         {
+            this->lcd->write("Ready to wash, press START to continue",0,0);
             if (this->start->isPressed())
             {
                 Serial.println("WaitForClickTask::START pressed");

smart_bridge/src/tasks/WaitForClickTask.h

@@ -2,8 +2,8 @@
 #define __WAIT_FOR_CLICK_TASK__
 
 #include "kernel/DependantTask.h"
-#include "components/api/Button.h"
 #include "config/config.h"
+#include "components/api/Button.h"
 #include "components/api/LCD.h"
 
 #include "Arduino.h"
@@ -20,6 +20,7 @@ class WaitForClickTask : public DependantTask
     WaitForClickTask() : DependantTask()
     {
         this->start = new Button(BUTTON_PIN);
+        this->lcd = new LCD(0x27,16,2);
         this->init();
         Serial.println("WaitForClickTask created");
     };
@@ -28,5 +29,6 @@ class WaitForClickTask : public DependantTask
 
 private:
     Button *start;
+    LCD *lcd;
 };
 #endif