bool Tasks::resolveTasks(Clock *clk, StepperMotor stepper) {
if (this->list[0].time == clk->getTime()) {
// already done once ? don't do it
if (this->list[0].done)
return (false);
stepper.step(683);
// decrease the food
decreaseFoodLevel(0);
// already done once, remember it
this->list[0].done = true;
return (true);
} else if (this->list[1].time == clk->getTime()) {
// already done once ? don't do it
if (this->list[1].done)
return (false);
stepper.step(682);
// decrease the food
decreaseFoodLevel(1);
// already done once, remember it
this->list[1].done = true;
return (true);
} else if (this->list[2].time == clk->getTime()) {
// already done once ? don't do it
if (this->list[2].done)
return (false);
stepper.step(683);
delay(10000);
stepper.step(2048);
// decrease the food
decreaseFoodLevel(2);
// already done once, remember it
this->list[2].done = true;
return (true);
// no task to run ? reset the tokens
} else {
this->list[0].done = false;
this->list[1].done = false;
this->list[2].done = false;
}
// we didn't find a task to launch
return (false);
}
// This thread function is a friend function of the class
void* threadedStep(void *value){
StepperMotor *stepper = static_cast<StepperMotor*>(value);
while(stepper->threadRunning){
stepper->step();
usleep(stepper->threadedStepPeriod * 1000); // convert from ms to us
if(stepper->threadedStepNumber>0) stepper->threadedStepNumber--;
if(stepper->threadedStepNumber==0) stepper->threadRunning = false;
}
return 0;
}
// This thread function is a friend function of the class
void* threadedStep(void *value){
StepperMotor *stepper = static_cast<StepperMotor*>(value);
while(stepper->threadRunning){
if(stepper->gpio_LSW->getValue() == GPIO::LOW){
//switch is tripped...should go right...
stepper->setDirection(StepperMotor::DIRECTION::CLOCKWISE);
}
if(stepper->gpio_RSW->getValue() == GPIO::LOW){
stepper->setDirection(StepperMotor::DIRECTION::ANTICLOCKWISE);
}
stepper->step();
usleep(stepper->threadedStepPeriod * 1000); // convert from ms to us
if(stepper->threadedStepNumber>0) stepper->threadedStepNumber--;
if(stepper->threadedStepNumber==0) stepper->threadRunning = false;
}
return 0;
}