void ros_main(void* p)
{
//xTaskCreate( Monitor, (const signed char*)"load", TSK_Monitor_STACK_SIZE, NULL, TSK_monitor_PRIO, NULL);
xTaskCreate(TerminalTask, (const signed char*)"TerminalTask", 128, NULL, tskIDLE_PRIORITY + 2, NULL);
enableTiming();
// TODO: Why is this delay necessary? Put a signaling mechanism instead, if the tasks below have to wait for some initialization.
vTaskDelay(4000);
XMLRPCServer::start();
//xTaskCreate(highLoadTask, (const signed char*)"HighLoadTask", 128, NULL, tskIDLE_PRIORITY + 3, NULL);
xTaskCreate(InitNodesTask, (const signed char*)"InitNodesTask", 128, NULL, tskIDLE_PRIORITY + 2, NULL);
vTaskDelete(NULL);
}
void loop()
{
if (timing) {
timerTime += millis() - lastTime;
lastTime = millis();
}
if (state == WAITING || state == TIMER_COUNTDOWN) {
if (state == WAITING && timing) disableTiming();
if (readRFID()) {
//Serial.print("RFID: ");
//Serial.println(rfidNum);
convertRFID();
if (serverRequest()) {
state = SERVER_WAIT;
enableTiming();
}
else state = WAITING;
}
}
else if (state == SERVER_WAIT){
//Serial.println(timerTime);
if (timerTime < TIMEOUT) {
if (readServerResponse()) {
disableTiming();
parseResponse();
if (authorized) {
state = TIMER_COUNTDOWN;
turnOn();
}
else state = DENIED;
}
}
else {
state = WAITING;
}
}
else if (state == DENIED) {
Serial.println("DENIED");
state = WAITING;
}
if (state == TIMER_COUNTDOWN && timing && currentOn()) {
disableTiming();
}
else if (state == TIMER_COUNTDOWN && (!timing && !currentOn())) {
enableTiming();
}
if (state == TIMER_COUNTDOWN) {
if ((timing && (timerTime > authorizedTime)) || checkButton()) {
state = WAITING;
disableTiming();
turnOff();
}
}
/*if (timerTime > 0)
Serial.println(timerTime);*/
}
void turnOn() {
Serial.print("Device On: ");
Serial.println(millis());
if (authorizedTime > 0) enableTiming();
digitalWrite(DEVICE_PIN, HIGH);
}