Merge to the main

smart_bridge/src/main.cpp

@@ -29,38 +29,33 @@ void setup()
     scheduler.init(50); // NOTE: Might be set higher to use less power, needs testing.
 
     /**CREATE TASKS**/
-    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();
     CheckInTask *checkInTask = new CheckInTask();
-    TransitTask *transitTask = new TransitTask(blinkTaskTransit);
+    BlinkTask *blinkTask = new BlinkTask(L2_PIN);
+    TransitTask *transitTask = new TransitTask(blinkTask);
     WaitForClickTask *waitForClickTask = new WaitForClickTask();
-    // WashingTask *washingTask = new WashingTask(blinkTaskTransit, nullptr, temperatureTask);
-    // CheckOutTask *checkOutTask = new CheckOutTask();
-    // ExitTransitTask *exitTransitTask = new ExitTransitTask();
+    CountDown *countDownTask = new CountDown(N3);
+    TemperatureTask *temperatureTask = new TemperatureTask();
+    WashingTask *washingTask = new WashingTask(blinkTask, countDownTask, temperatureTask);
+    CheckOutTask *checkOutTask = new CheckOutTask();
+    ExitTransitTask *exitTransitTask = new ExitTransitTask();
 
     /**DEPENDENCIES**/
-    // checkInTask->addDependency(sleepingTask);
     transitTask->addDependency(checkInTask);
     waitForClickTask->addDependency(transitTask);
-    //washingTask->addDependency(waitForClickTask);
-    // checkOutTask->addDependency(washingTask);
-    // exitTransitTask->addDependency(checkOutTask);
+    washingTask->addDependency(waitForClickTask);
+    checkOutTask->addDependency(washingTask);
+    exitTransitTask->addDependency(checkOutTask);
 
     /**ADD TASKS TO THE SCHEDULER**/
-    // scheduler.addTask(sleepingTask);
     scheduler.addTask(checkInTask);
     scheduler.addTask(transitTask);
-    scheduler.addTask(blinkTaskTransit);
-    scheduler.addTask(blinkTaskWashing);
-    // scheduler.addTask(countDownTask);
-    scheduler.addTask(temperatureTask);
+    scheduler.addTask(blinkTask);
     scheduler.addTask(waitForClickTask);
-    // scheduler.addTask(washingTask);
-    // scheduler.addTask(checkOutTask);
-    // scheduler.addTask(exitTransitTask);
+    scheduler.addTask(washingTask);
+    scheduler.addTask(countDownTask);
+    scheduler.addTask(temperatureTask);
+    scheduler.addTask(checkOutTask);
+    scheduler.addTask(exitTransitTask);
 }
 
 void loop()

smart_bridge/src/tasks/CheckOutTask.cpp

@@ -1,6 +1,9 @@
 #include "CheckOutTask.h"
 
-CheckOutTask::CheckOutTask() : DependantTaskWithState()
+CheckOutTask::CheckOutTask()
+    : DependantTaskWithState(),
+      GATE_OPEN_POSITION(90),
+      GATE_CLOSE_POSITION(0)
 {
     Serial.println("CheckOutTask created");
     this->sonar = new Sonar(SONAR_TRIG_PIN, SONAR_ECHO_PIN, SONAR_MAX_TIME);
@@ -29,6 +32,8 @@ void CheckOutTask::tick()
             }
         }
     }
+    else
+        Serial.println("CheckOutTask::tick()::getDependency(0) is nullptr");
 }
 
 void CheckOutTask::handleTurnOnL3()

smart_bridge/src/tasks/CheckOutTask.h

@@ -32,6 +32,7 @@ class CheckOutTask : public DependantTaskWithState
      */
     void tick() override;
 
+private:
     /**
      * @brief Handles the turning on of the L3 LED.
      *
@@ -46,7 +47,6 @@ class CheckOutTask : public DependantTaskWithState
      */
     void handleOpensGate();
 
-private:
     /**
      * @brief Enum for the possible states of the task.
      *
@@ -57,13 +57,12 @@ class CheckOutTask : public DependantTaskWithState
         OPENS_GATE, ///< The task is currently opening the gate.
     };
 
-    Led *L3;                           ///< Pointer to the L3 LED object
-    Sonar *sonar;                      ///< Pointer to the sonar object
-    ServoImpl *gate;                   ///< Pointer to the ServoImpl object that controls the gate.
-    float distance;                    ///< The current distance read from the sonar sensor.
-    unsigned long timeInExit = 0;      ///< The time in milliseconds when the car entered the exit area.
-    const int GATE_OPEN_POSITION = 90; ///< The position of the gate when it is open.
-    const int GATE_CLOSE_POSITION = 0; ///< The position of the gate when it is closed.
+    Led *L3;                       ///< Pointer to the L3 LED object
+    Sonar *sonar;                  ///< Pointer to the sonar object
+    ServoImpl *gate;               ///< Pointer to the ServoImpl object that controls the gate.
+    float distance;                ///< The current distance read from the sonar sensor.
+    const int GATE_OPEN_POSITION;  ///< The position of the gate when it is open.
+    const int GATE_CLOSE_POSITION; ///< The position of the gate when it is closed.
 };
 
 #endif // __CHECK_OUT_TASK__

smart_bridge/src/tasks/CountDown.cpp

@@ -7,6 +7,7 @@ CountDown::CountDown(int countDown) : Task()
     this->lcd = new LCD(0x27, 16, 2);
     this->resetCountDown(N3);
     this->init(1000);
+    this->setActive(false);
 }
 
 int CountDown::getCountDown()
@@ -50,7 +51,9 @@ void CountDown::startCountDown()
 void CountDown::printCountDown()
 {
     int count = getCountDown();
-    lcd->write(("Countdown: " + String(count)).c_str(), 0, 0);
+    char buffer[3];
+    sprintf(buffer, "%02d", count);
+    lcd->write(("Countdown: " + String(buffer)).c_str(), 0, 0);
 }
 
 void CountDown::endsCountDown()

smart_bridge/src/tasks/ExitTransitTask.cpp

@@ -9,7 +9,7 @@ ExitTransitTask::ExitTransitTask()
     this->sonar = new Sonar(SONAR_TRIG_PIN, SONAR_ECHO_PIN, SONAR_MAX_TIME);
     this->L3 = new Led(L3_PIN);
     this->gate = new ServoImpl(SERVO_PIN);
-    this->init(1000);
+    this->init();
     this->setState(READING_DISTANCE);
 };
 
@@ -39,6 +39,8 @@ void ExitTransitTask::tick()
             }
         }
     }
+    else
+        Serial.println("ExitTransitTask::tick()::getDependency(0) is nullptr");
 }
 
 void ExitTransitTask::handleReadingDistance()
@@ -52,15 +54,13 @@ void ExitTransitTask::handleCheckingDistance()
 {
     if (this->distance > MAXDIST)
     {
-        if (timeInExit == 0)
-        {
-            timeInExit = millis();
-        }
-        else if (millis() - timeInExit >= N4_FOR_DIST * 1000)
+        if (this->elapsedTime() >= N4_FOR_DIST * 1000)
         {
             this->setState(CLOSES_GATE);
         }
     }
+    else
+        this->resetTime();
 }
 
 void ExitTransitTask::handleClosesGate()

smart_bridge/src/tasks/ExitTransitTask.h

@@ -33,6 +33,7 @@ class ExitTransitTask : public DependantTaskWithState
      */
     void tick() override;
 
+private:
     /**
      * @brief Handles the reading of the distance from the sonar sensor.
      *
@@ -61,7 +62,6 @@ class ExitTransitTask : public DependantTaskWithState
      */
     void handleSwitchOffL3();
 
-private:
     /**
      * @brief Enum for the possible states of the task.
      *

smart_bridge/src/tasks/TemperatureTask.cpp

@@ -9,6 +9,7 @@ TemperatureTask::TemperatureTask()
     this->lcd = new LCD(0x27, 16, 2);
     this->setTemperature(this->getTemperature());
     this->init(1000);
+    this->setActive(false);
 }
 
 float TemperatureTask::readVoltage()

smart_bridge/src/tasks/WashingTask.cpp

@@ -12,37 +12,44 @@ WashingTask::WashingTask(BlinkTask *blinkTask,
     this->lcd = new LCD(0x27, 16, 2);
     this->gate = new ServoImpl(SERVO_PIN);
     this->blinkTask = blinkTask;
-    this->blinkTask->init(500);        // Blink every 500 ms the red led
-    this->blinkTask->setActive(false); // TODO: Check if this is necessary
+    this->blinkTask->init(500);
+    this->blinkTask->setActive(false);
     this->countDownTask = countDownTask;
     this->temperatureTask = temperatureTask;
-    this->init(1000);
+    // this->countDownTask->setActive(false); TODO: uncomment if you want to test
+    // this->temperatureTask->setActive(false); TODO: uncomment if you want to test
+    this->init();
     this->setState(START_WASHING);
 }
 
 void WashingTask::tick()
 {
-    if (this->DependantTask::getDependency(0)->isCompleted())
+    if (this->getDependency(0) != nullptr)
     {
-        switch (this->getState())
+        if (this->DependantTask::getDependency(0)->isCompleted())
         {
-        case START_WASHING:
-            handleStartWashing();
-            break;
+            switch (this->getState())
+            {
+            case START_WASHING:
+                handleStartWashing();
+                break;
 
-        case STARTS_COUNTDOWN:
-            handleStartsCountdown();
-            break;
+            case STARTS_COUNTDOWN:
+                handleStartsCountdown();
+                break;
 
-        case ENDS_COUNTDOWN:
-            handleEndsCountdown();
-            break;
+            case ENDS_COUNTDOWN:
+                handleEndsCountdown();
+                break;
 
-        case ERROR:
-            handleError();
-            break;
+            case ERROR:
+                handleError();
+                break;
+            }
         }
     }
+    else
+        Serial.println("WashingTask::tick()::getDependency(0) is nullptr");
 }
 
 void WashingTask::printWashingCompletedMessage()
@@ -60,8 +67,6 @@ void WashingTask::handleStartWashing()
 
 void WashingTask::handleStartsCountdown()
 {
-    // this->countDownTask->tick();
-    // this->temperatureTask->tick();
     if (this->elapsedTime() >= checkInterval)
     {
         this->resetTime();

smart_bridge/src/tasks/WashingTask.h

@@ -39,6 +39,7 @@ class WashingTask : public DependantTaskWithState
      */
     void tick() override;
 
+private:
     /**
      * @brief Handles the start of the washing process.
      *
@@ -73,7 +74,6 @@ class WashingTask : public DependantTaskWithState
      */
     void printWashingCompletedMessage();
 
-private:
     /**
      * @brief Enum for the possible states of the task.
      *