Merge pull request #27 from aleemont1/alessandro

Alessandro

smart_bridge/platformio.ini

@@ -18,4 +18,4 @@ lib_deps =
 	marcoschwartz/LiquidCrystal_I2C@^1.1.4
 	Wire
 	paulstoffregen/TimerOne@^1.1.1
-	arduino-libraries/Servo@^1.2.1
+	nabontra/ServoTimer2@0.0.0-alpha+sha.2bf7fb3c17

smart_bridge/src/components/api/AbstractButton.h

@@ -0,0 +1,21 @@
+#ifndef __ABSTRACT_BUTTON__
+#define __ABSTRACT_BUTTON__
+
+class AbstractButton {
+
+public:
+  AbstractButton();
+  virtual bool isPressed() = 0;
+
+  virtual void sync();
+  long getLastSyncTime();
+
+protected: 
+  void updateSyncTime(long time);
+
+private:
+  long lastTimeSync;
+
+};
+
+#endif

smart_bridge/src/components/api/Button.h

@@ -1,76 +1,18 @@
 #ifndef __BUTTON__
 #define __BUTTON__
 
-constexpr bool BUTTON_PRESSED = true;
-constexpr bool BUTTON_RELEASED = false;
+#include "AbstractButton.h"
 
-/**
- * @class Button
- * @brief This class represents a button component.
- *
- * This class provides the basic functionalities of a button.
- * It should be inherited by specific button types.
- */
-class Button
-{
-
-public:
-    /**
-     * @brief Default constructor for the Button class.
-     *
-     * @param pin The pin number where the button is connected.
-     */
-    Button(int pin);
-
-    /**
-     * @brief Check if the button is pressed.
-     *
-     * @return true if the button is pressed, false otherwise.
-     */
-    bool checkButtonPressStatus();
-
-    /**
-     * @brief Check if the button is released.
-     *
-     * @return true if the button is released, false otherwise.
-     */
-    bool checkButtonReleaseStatus();
-
-    /**
-     * @brief Synchronizes the button state with the actual physical button.
-     */
-    void updateButtonState();
-
-    /**
-     * @brief Retrieves the last time the button state was synchronized.
-     *
-     * @return The last synchronization time.
-     */
-    long retrieveLastButtonSyncTime();
-
-protected:
-    /**
-     * @brief Set the last synchronization time.
-     *
-     * @param time The new synchronization time.
-     */
-    void setLastButtonSyncTime(long time);
+class Button: public AbstractButton {
+
+public: 
+  Button(int pin);
+  bool isPressed();
+  void sync();
 
 private:
-    /**
-     * @brief The last time the button state was synchronized.
-     */
-    long lastTimeButtonWasInSync;
-
-    /**
-     * @brief The pin number where the button is connected.
-     */
-    int buttonPin;
-
-    /**
-     * @brief The current state of the button (true if pressed, false otherwise).
-     */
-    bool buttonState;
+  int pin;
+  bool pressed;
 };
 
-#endif // __BUTTON__
+#endif

smart_bridge/src/components/api/ServoImpl.h

@@ -0,0 +1,20 @@
+#ifndef __SERVO_IMPL__
+#define __SERVO_IMPL__
+#include "Arduino.h"
+#include "ServoTimer2.h"
+
+class ServoImpl
+{
+public:
+    ServoImpl(int pin);
+
+    void write(int angle);
+
+    void detach();
+
+private:
+    ServoTimer2 servo;
+    int pin;
+};
+
+#endif

smart_bridge/src/components/impl/AbstractButton.cpp

@@ -0,0 +1,13 @@
+#include "../api/AbstractButton.h"
+
+AbstractButton::AbstractButton(){}
+
+void AbstractButton::updateSyncTime(long time)
+{
+    lastTimeSync = time;
+}
+
+long AbstractButton::getLastSyncTime()
+{
+    return lastTimeSync;
+}

smart_bridge/src/components/impl/Button.cpp

@@ -1,39 +1,20 @@
 #include "../api/Button.h"
-#include "config/config.h"
 #include "Arduino.h"
 
-Button::Button(int pin) : buttonState(BUTTON_RELEASED)
+Button::Button(int pin)
 {
-    this->buttonPin = BUTTON_PIN;
-    lastTimeButtonWasInSync = 0;
+    this->pin = pin;
     pinMode(pin, INPUT);
-    updateButtonState();
+    sync();
 }
 
-bool Button::checkButtonPressStatus()
+bool Button::isPressed()
 {
-    return buttonState == BUTTON_PRESSED;
+    return pressed;
 }
 
-bool Button::checkButtonReleaseStatus()
+void Button::sync()
 {
-    return buttonState == BUTTON_RELEASED;
-}
-
-void Button::updateButtonState()
-{
-    // If the button is pressed, the pin will be HIGH.
-    buttonState = digitalRead(buttonPin) == HIGH ? BUTTON_PRESSED : BUTTON_RELEASED;
-    // Update the last time the button state was synchronized.
-    setLastButtonSyncTime(millis());
-}
-
-void Button::setLastButtonSyncTime(long time)
-{
-    lastTimeButtonWasInSync = time;
-}
-
-long Button::retrieveLastButtonSyncTime()
-{
-    return lastTimeButtonWasInSync;
+    pressed = digitalRead(pin) == HIGH;
+    updateSyncTime(millis());
 }

smart_bridge/src/components/impl/ServoImpl.cpp

@@ -0,0 +1,17 @@
+#include "../api/ServoImpl.h"
+#include "Arduino.h"
+
+ServoImpl::ServoImpl(int pin)
+{
+    servo.attach(pin);
+}
+
+void ServoImpl::write(int angle)
+{
+    servo.write(map(angle, 0, 180, 750, 2250));
+}
+
+void ServoImpl::detach()
+{
+    servo.detach();
+}

smart_bridge/src/kernel/Scheduler.cpp

@@ -1,5 +1,5 @@
 #include "Scheduler.h"
-#include <TimerOne.h>
+#include "Arduino.h"
 
 Scheduler::Scheduler() : numTasks(0), lastRunTime(0) {}
 

smart_bridge/src/main.cpp

@@ -1,14 +1,15 @@
 #include "Arduino.h"
+#include "config/config.h"
 #include "kernel/Scheduler.h"
+#include "kernel/SerialReceiver.h"
 #include "tasks/BlinkTask.h"
 #include "tasks/CheckInTask.h"
-#include "config/config.h"
 #include "tasks/TransitTask.h"
 #include "tasks/WaitingTask.h"
 #include "tasks/WashingTask.h"
 #include "tasks/CheckOutTask.h"
 #include "tasks/CountDown.h"
-#include "kernel/SerialReceiver.h"
+#include "tasks/WaitForClickTask.h"
 // #include "tasks/ServoTestTask.h"
 
 Scheduler scheduler;
@@ -18,7 +19,7 @@ SerialReceiver *serialReceiver;
 void setup()
 {
     Serial.begin(9600);
-    scheduler.init(50); // NOTE: Might be set higher to use less power, needs testing.
+    scheduler.init(100); // NOTE: Might be set higher to use less power, needs testing.
     /**CREATE TASKS**/
     // ServoTestTask *servoTask = new ServoTestTask();
     BlinkTask *blinkTask = new BlinkTask(L2_PIN);
@@ -27,17 +28,20 @@ void setup()
     // WaitingTask *waitingTask = new WaitingTask();
     CheckInTask *checkInTask = new CheckInTask();
     TransitTask *transitTask = new TransitTask(blinkTask);
+    WaitForClickTask *waitForClickTask = new WaitForClickTask();
     // WashingTask *washingTask = new WashingTask(blinkTask, new CountDown(N3));
     // TODO: CheckOutTask *checkOutTask = new CheckOutTask(blinkTaskForCheckOutTransit);
-    CountDown *countDown = new CountDown(N3); // NOTE: This is just a test.
-    countDown->tick();                        // NOTE: This is just a test.
+    // CountDown *countDown = new CountDown(N3); // NOTE: This is just a test.
+    // countDown->setActive(true);               // NOTE: This is just a test.
+
+    /// serialReceiver = new SerialReceiver(); //test test test test receiver
 
-    serialReceiver = new SerialReceiver(); //test test test test receiver
 
 
     /**DEPENDENCIES**/
     // checkInTask->addDependency(waitingTask);
     transitTask->addDependency(checkInTask);
+    waitForClickTask->addDependency(transitTask);
     // washingTask->addDependency(transitTask);
     // checkOutTask->addDependency(washingTask);
 
@@ -46,9 +50,10 @@ void setup()
     // scheduler.addTask(countDown); // NOTE: This is just a test.
     // scheduler.addTask(waitingTask);
     scheduler.addTask(checkInTask);
-    Serial.println("err:errore");
+    //Serial.println("err:errore");
     scheduler.addTask(transitTask);
     scheduler.addTask(blinkTask);
+    scheduler.addTask(waitForClickTask);
 
     // scheduler.addTask(washingTask);
 
@@ -58,7 +63,7 @@ void setup()
 
 void loop()
 {
-    serialReceiver->readData(); //@EMANUELE this is a test to try the serialReceiver, it must go instantiate when the arduino is in error state
+    // serialReceiver->readData(); //@EMANUELE this is a test to try the serialReceiver, it must go instantiate when the arduino is in error state
                                 //read the class briefs
     scheduler.schedule();
 }

smart_bridge/src/tasks/CheckInTask.h

@@ -4,7 +4,7 @@
 #include "kernel/DependantTaskWithState.h"
 #include "components/api/Led.h"
 #include "config/config.h"
-#include <Servo.h>
+#include "components/api/ServoImpl.h"
 
 /**
  * @class CheckInTask
@@ -19,8 +19,7 @@ class CheckInTask : public DependantTaskWithState
     {
         this->L1 = new Led(L1_PIN);
         this->L2 = new Led(L2_PIN);
-        this->gate = new Servo();
-        this->gate->attach(SERVO_PIN);
+        this->gate = new ServoImpl(SERVO_PIN);
         this->init();
         this->setState(STARTED);
         Serial.println("CheckInTask created");
@@ -35,7 +34,7 @@ class CheckInTask : public DependantTaskWithState
     };
     Led *L1;
     Led *L2;
-    Servo *gate;
+    ServoImpl *gate;
 };
 
 #endif

smart_bridge/src/tasks/CheckOutTask.cpp

@@ -25,7 +25,6 @@ void CheckOutTask::tick()
         case OPENING_GATE:
             Serial.println("CheckOutTask::Opening the gate");
             gate->write(90);
-            delay(2000); // Simulates the time needed to open the gate
             Serial.println("CheckOutTask::Opened the gate");
             this->setState(CHECKING_DISTANCE);
             break;

smart_bridge/src/tasks/CheckOutTask.h

@@ -6,7 +6,7 @@
 #include "components/api/Led.h"
 #include "components/api/Sonar.h"
 #include "config/config.h"
-#include <Servo.h>
+#include "components/api/ServoImpl.h"
 
 class CheckOutTask : public DependantTaskWithState
 {
@@ -17,9 +17,7 @@ class CheckOutTask : public DependantTaskWithState
         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);
-        this->gate = new Servo();
-        this->gate->detach();
-        this->gate->attach(SERVO_PIN);
+        this->gate = new ServoImpl(SERVO_PIN);
         this->blinkTask = blinkTask;
         this->blinkTask->isCompleted();
         this->blinkTask->setActive(false);
@@ -40,7 +38,7 @@ class CheckOutTask : public DependantTaskWithState
 
     Led *L2;
     Led *L3;
-    Servo *gate;
+    ServoImpl *gate;
     Sonar *sonar;
     Task *blinkTask;
     float detectedDistance; // Distance of the car from the sensor

smart_bridge/src/tasks/ServoTestTask.cpp

@@ -0,0 +1,22 @@
+// #include "ServoTestTask.h"
+
+// void ServoTestTask::tick()
+// {
+//     Serial.println("ServoTestTask::tick()");
+//     switch (this->getState())
+//     {
+//     case OPEN:
+//         Serial.println("ServoTestTask::OPEN");
+//         this->servo.writeMicroseconds(1500);
+//         this->setState(CLOSE);
+//         break;
+//     case CLOSE:
+//         // if (this->elapsedTime() >= 1000)
+//         {
+//             Serial.println("ServoTestTask::CLOSE");
+//             this->servo.writeMicroseconds(0);
+//             this->setState(OPEN);
+//         }
+//         break;
+//     }
+// }