Merge branch 'main' of https://github.com/aleemont1/esiot-23-24-assig…

…nment2 into emanuele

smart_bridge/src/components/api/LCD.h

@@ -9,8 +9,8 @@ class LCD {
   /**
      * @brief Construct a new LCD object.
      * 
-     * @param column the column of the LCD display
-     * @param row number of row
+     * @param columns the column of the LCD display
+     * @param rows number of row
      */
   LCD(int address, int columns, int rows);
   void write(const char* string, int start_col, int start_rows);

smart_bridge/src/components/api/Pir.h

@@ -76,6 +76,8 @@ class Pir
      * @brief The current detection status of the PIR sensor (true if movement is detected, false otherwise).
      */
     bool pirDetectionStatus;
+
+
 };
 
 #endif // __PIR__

smart_bridge/src/components/impl/Pir.cpp

@@ -13,11 +13,13 @@ Pir::Pir(int pin) : pirDetectionStatus(OBJECT_NOT_DETECTED)
 
 bool Pir::checkDetectedStatus()
 {
+    updatePirState();
     return pirDetectionStatus == OBJECT_DETECTED;
 }
 
 bool Pir::checkNotDetectedStatus()
 {
+    updatePirState();
     return pirDetectionStatus == OBJECT_NOT_DETECTED;
 }
 

smart_bridge/src/config/config.h

@@ -31,13 +31,9 @@
 // SERVO
 #define SERVO_PIN 9
 
-/**
- * TODO: TIMING, time constants for example N4.... etc
- */
-#define N1 2
-// Time for the gate to open after car presence (in seconds)
-#define MINDIST 10.0f  // Minimum distance for car fully entering (in cm)
-#define N2 10          // Time to consider car fully entered (in seconds)
+#define N1 2           // Time for the gate to open after car presence (in seconds)
+#define MINDIST 5.0f  // Minimum distance for car fully entering (in cm)
+#define N2 5          // Time to consider car fully entered (in seconds)
 #define N3 15          // Time for the washing process (in seconds)
 #define MAXDIST 30     // Maximum distance to consider car leaving (in cm)
 #define N4_FOR_DIST 10 // Time to consider car fully left (in seconds)

smart_bridge/src/main.cpp

@@ -7,63 +7,65 @@
 #include "tasks/TransitTask.h"
 #include "tasks/WaitingTask.h"
 #include "tasks/WashingTask.h"
+#include "tasks/SleepingTask.h"
 #include "tasks/CheckOutTask.h"
 #include "tasks/CountDown.h"
 #include "tasks/WaitForClickTask.h"
+#include "tasks/WashingTask.h"
+#include "tasks/CheckOutTask.h"
+#include "tasks/ExitTransitTask.h"
+#include "tasks/TemperatureTask.h"
+
 // #include "tasks/ServoTestTask.h"
 
 Scheduler scheduler;
 
 SerialReceiver *serialReceiver;
+LCD *lcd;
 
 void setup()
 {
     Serial.begin(9600);
-    scheduler.init(100); // NOTE: Might be set higher to use less power, needs testing.
+    scheduler.init(50); // NOTE: Might be set higher to use less power, needs testing.
+
     /**CREATE TASKS**/
-    // ServoTestTask *servoTask = new ServoTestTask();
-    BlinkTask *blinkTask = new BlinkTask(L2_PIN);
-    // TODO: BlinkTask *blinkTaskForCheckOutTransit = new BlinkTask(L2_PIN);
+    BlinkTask *blinkTaskTransit = new BlinkTask(L2_PIN);
+    BlinkTask *blinkTaskWashing = new BlinkTask(L2_PIN);
+    // CountDown *countDownTask = new CountDown(N3);
+    TemperatureTask *temperatureTask = new TemperatureTask();
     // SleepingTask *sleepingTask = new SleepingTask();
-    // WaitingTask *waitingTask = new WaitingTask();
     CheckInTask *checkInTask = new CheckInTask();
-    TransitTask *transitTask = new TransitTask(blinkTask);
+    TransitTask *transitTask = new TransitTask(blinkTaskTransit);
     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->setActive(true);               // NOTE: This is just a test.
-
-    /// serialReceiver = new SerialReceiver(); //test test test test receiver
-
-
+    // WashingTask *washingTask = new WashingTask(blinkTaskTransit, nullptr, temperatureTask);
+    // CheckOutTask *checkOutTask = new CheckOutTask();
+    // ExitTransitTask *exitTransitTask = new ExitTransitTask();
 
     /**DEPENDENCIES**/
-    // checkInTask->addDependency(waitingTask);
+    // checkInTask->addDependency(sleepingTask);
     transitTask->addDependency(checkInTask);
     waitForClickTask->addDependency(transitTask);
-    // washingTask->addDependency(transitTask);
+    //washingTask->addDependency(waitForClickTask);
     // checkOutTask->addDependency(washingTask);
+    // exitTransitTask->addDependency(checkOutTask);
 
     /**ADD TASKS TO THE SCHEDULER**/
-    // scheduler.addTask(servoTask);
-    // scheduler.addTask(countDown); // NOTE: This is just a test.
-    // scheduler.addTask(waitingTask);
+    // scheduler.addTask(sleepingTask);
     scheduler.addTask(checkInTask);
-    //Serial.println("err:errore");
     scheduler.addTask(transitTask);
-    scheduler.addTask(blinkTask);
+    scheduler.addTask(blinkTaskTransit);
+    scheduler.addTask(blinkTaskWashing);
+    // scheduler.addTask(countDownTask);
+    scheduler.addTask(temperatureTask);
     scheduler.addTask(waitForClickTask);
-
     // scheduler.addTask(washingTask);
-
-    // TODO: scheduler.addTask(checkOutTask);
-    // TODO: scheduler.addTask(blinkTaskForCheckOutTransit);
+    // scheduler.addTask(checkOutTask);
+    // scheduler.addTask(exitTransitTask);
 }
 
 void loop()
 {
     // 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
+    // read the class briefs
     scheduler.schedule();
 }

smart_bridge/src/tasks/SleepingTask.cpp

@@ -1,7 +1,48 @@
 #include "SleepingTask.h"
 
+SleepingTask* sleepingTaskInstance = nullptr;
+
+static void staticWakeUp() {
+    if (sleepingTaskInstance != nullptr) {
+        sleepingTaskInstance->wakeUp();
+    }
+}
 
 void SleepingTask::tick()
 {
-    /*TODO*/
-}
+    switch (this->getState())
+    {
+        case STARTING:
+            this->goInSleep();
+            break;
+
+        case ALIVE:
+            if (pir->checkDetectedStatus()) {
+                Serial.println("OBJECT revealed");
+                this->setState(OBJECT_DETECTED);
+            }
+            break;
+
+        case OBJECT_DETECTED:
+            this->setState(ALIVE);
+            this->setActive(false);
+            this->setCompleted();
+            break;
+    }
+}
+
+void SleepingTask::goInSleep()
+{
+    set_sleep_mode(SLEEP_MODE_PWR_DOWN);
+    sleepingTaskInstance = this;
+    attachInterrupt(digitalPinToInterrupt(2), staticWakeUp, RISING);
+    sei();
+    sleep_enable();
+    sleep_mode();
+}
+
+void SleepingTask::wakeUp() {
+    detachInterrupt(digitalPinToInterrupt(2));
+    sleep_disable();
+    this->setState(ALIVE);
+}

smart_bridge/src/tasks/SleepingTask.h

@@ -1,38 +1,47 @@
 #ifndef __SLEEPING_TASK__
 #define __SLEEPING_TASK__
 
-#define _MAX_TIME_BEFORE_SLEEP 10
+#define _MAX_TIME_BEFORE_SLEEP 10000 /*ms*/
 
 #include "config/config.h"
 #include "components/api/Pir.h"
+#include "components/api/LCD.h"
 #include "kernel/DependantTaskWithState.h"
+#include "avr/interrupt.h"
+#include "avr/sleep.h"
 
 
 /**
  * @class SleepingTask
- * @brief This task handle the sleeping state using the pir as sensor to detect movement and 
- * wake up arduino
+ * @brief This task handle the sleeping state using the pir as sensor to 
+ * detect movement and wake up arduino
  */
 
-class SleepingTask : public DependantTaskWithState
+class SleepingTask : public TaskWithState
 {
 public:
-    SleepingTask(SleepingTask *sleepingTask) : DependantTaskWithState()
+    SleepingTask() : TaskWithState()
     {
         Serial.println("SleepingTask created");
         this->pir = new Pir(PIR_PIN);
-        this->setState(WAITING_FOR_SOMEONE);
+        this->lcd=new LCD(0x27, 16,2);
+        this->init();
+        this->setActive(true);
+        this->setState(STARTING);
     };
     void tick() override;
+    void wakeUp();
+    void goInSleep();
 
 private:
     enum state
     {
-        WAITING_FOR_SOMEONE,
-        GO_IN_SLEEP,
-        WAKE_UP,
+        STARTING,
+        ALIVE,
+        OBJECT_DETECTED
     };
     Pir *pir;
+    LCD *lcd;
 };
 
 #endif

smart_bridge/src/tasks/WaitingTask.cpp

@@ -3,5 +3,16 @@
 
 void WaitingTask::tick()
 {
-    /*TODO*/
+   if (this->getDependency(0) != nullptr)
+    {
+        if (this->getDependency(0)->isCompleted())
+        {
+            switch (this->getState())
+            {
+                case STARTED:
+                    Serial.println("sono qui in waiting");
+            }
+
+        }
+    }
 }

smart_bridge/src/tasks/WaitingTask.h

@@ -1,16 +1,21 @@
 #ifndef __WAITING_TASK__
 #define __WAITING_TASK__
 
-#include "kernel/TaskWithState.h"
+#include "kernel/DependantTaskWithState.h"
 #include "components/api/Pir.h"
+#include "SleepingTask.h"
 #include "config/config.h"
 
-class WaitingTask : public TaskWithState
+class WaitingTask : public DependantTaskWithState
 {
 public:
-    WaitingTask() : TaskWithState()
+/**
+ * 
+ * 
+*/
+    WaitingTask(SleepingTask *SleepingTask) : DependantTaskWithState()
     {
-        this->pir=new Pir(PIR_PIN); //attached to the INTERRUPT_PIN
+        this->pir=new Pir(PIR_PIN); //attached to the INTERRUPT_PIN 2
         this->init();
         this->setState(STARTED);
         Serial.println("WaitingTask created");
@@ -22,7 +27,7 @@ class WaitingTask : public TaskWithState
     {
         STARTED, //is just left ... so
         IN_SUSPENSION, //is going to go in sleep mode
-        FINSHED //is going to go in checkin state
+        FINISHED //is going to go in checkin state
     };
     Pir *pir;
 };