msg_t ControlThread::main() {
// Build and initialize the system
Platform platform;
platform.init();
auto& primaryStream = platform.get<USARTPlatform>().getPrimaryStream();
SDCDriver& sdcd = platform.get<SDCPlatform>().getSDCDriver(); // TODO(yoos): make optional
ParameterRepository params;
GlobalParameters globalParams(params);
// Start the background threads
static HeartbeatThread heartbeatThread(params);
static Communicator communicator(primaryStream);
static Logger logger(sdcd, communicator);
heartbeatThread.start(LOWPRIO);
communicator.start();
logger.start();
// Build the unit
Unit unit(platform, params, communicator, logger);
// Loop at a fixed rate forever
// NOTE: If the deadline is ever missed then the loop will hang indefinitely.
systime_t deadline = chibios_rt::System::getTime();
while(true) {
deadline += MS2ST(params.get(GlobalParameters::PARAM_DT) * 1000);
unit.getSystem().update();
sleepUntil(deadline);
}
}
Platform* Platform::create(cocos2d::Node *node)
{
Platform *pf = new (std::nothrow) Platform;
if (pf && pf->init(node))
{
pf->autorelease();
return pf;
}
CC_SAFE_DELETE(pf);
return nullptr;
}
