Added in a singleton mailbox where services can deliver messages. Worked on gyro service.

Message has been revamped to handle data and get it for askers, the mailbox will be used to ship messages between services and users.

Development/Software/Controller API/Controller API.vcxproj

@@ -16,6 +16,7 @@
     <ClCompile Include="Communications.cpp" />
     <ClCompile Include="GyroService.cpp" />
     <ClCompile Include="LSM9DS0.cpp" />
+    <ClCompile Include="Mailbox.cpp" />
     <ClCompile Include="Message.cpp" />
     <ClCompile Include="Sensors.cpp" />
     <ClCompile Include="Server.cpp" />
@@ -28,6 +29,7 @@
     <ClInclude Include="Communications.h" />
     <ClInclude Include="GyroService.h" />
     <ClInclude Include="LSM9DS0.h" />
+    <ClInclude Include="Mailbox.h" />
     <ClInclude Include="Message.h" />
     <ClInclude Include="Sensors.h" />
     <ClInclude Include="Server.h" />

Development/Software/Controller API/Controller API.vcxproj.filters

@@ -45,6 +45,9 @@
     <ClCompile Include="GyroService.cpp">
       <Filter>Source Files</Filter>
     </ClCompile>
+    <ClCompile Include="Mailbox.cpp">
+      <Filter>Source Files</Filter>
+    </ClCompile>
   </ItemGroup>
   <ItemGroup>
     <ClInclude Include="Communications.h">
@@ -74,6 +77,9 @@
     <ClInclude Include="GyroService.h">
       <Filter>Header Files</Filter>
     </ClInclude>
+    <ClInclude Include="Mailbox.h">
+      <Filter>Header Files</Filter>
+    </ClInclude>
   </ItemGroup>
   <ItemGroup>
     <Text Include="Makefile.txt">

Development/Software/Controller API/GyroService.cpp

 #include "GyroService.h"
 
-GyroService::GyroService(int id, double freq) : Service(id, "Gyro", freq)
+void GyroService::run()
 {
-	sensor = LSM9DS0::instance();
+	while (1)
+	{
+		// Sample the registers to figure out X, Y, and Z
+		short X = _sensor->read_G(0x29) && _sensor->read_G(0x28);
+		short Y = _sensor->read_G(0x2B) && _sensor->read_G(0x2A);
+		short Z = _sensor->read_G(0x2D) && _sensor->read_G(0x2C);
+
+		// Create a message to send with our name, the name of who it needs to go to, and the data to be carried
+		Message* msg = new Message("Gyro Service", "User", { (double)X, (double)Y, (double)Z });
+
+		// Add our msg into the mail to be sent
+		_mailbox->send(msg);
+
+		// Sleep 5 seconds
+		sleep(5);
+	}
 }
 
+void GyroService::stop()
+{
 
-GyroService::~GyroService()
+}
+
+GyroService::GyroService(int id, double freq) : Service(id, "Gyro", freq)
 {
+	// Get the instances for the sensor and the mailbox we need to use
+	_sensor = LSM9DS0::instance();
+	_mailbox = Mailbox::instance();
+
+	_thread = new thread(&run);
 }
 
-void GyroService::run()
+GyroService::~GyroService()
 {
-	short X = sensor.read_G(0x29) && sensor.read_G(0x28);
-	short Y = sensor.read_G(0x2B) && sensor.read_G(0x2A);
-	short Z = sensor.read_G(0x2D) && sensor.read_G(0x2C);
 }

Development/Software/Controller API/GyroService.h

 #pragma once
 #include "Service.h"
 #include "LSM9DS0.h"
+#include "Mailbox.h"
 
 class GyroService :
 	public Service
@@ -9,10 +10,13 @@ public:
 	GyroService(int id, double freq);
 	~GyroService();
 
+	void start();
 	void run();
+	void stop();
 
 private:
-	LSM9DS0 sensor;
-
+	LSM9DS0* _sensor;
+	Mailbox* _mailbox;
+	thread* _thread;
 };
 

Development/Software/Controller API/Mailbox.cpp

+#include "Mailbox.h"
+
+
+Mailbox::Mailbox()
+{
+}
+
+
+Mailbox::~Mailbox()
+{
+}

Development/Software/Controller API/Mailbox.h

+#pragma once
+#include "Message.h"
+class Mailbox
+{
+public:
+	static Mailbox* instance();
+
+	Mailbox();
+	~Mailbox();
+
+	bool send(Message *msg);
+};
+

Development/Software/Controller API/Message.cpp

 #include "Message.h"
 
 
-Message::Message()
+Message::Message(string sender, string destination, list<double> data)
 {
+	_sender = sender;
+	_destination = destination;
+	_data = data;
 }
 
+string Message::getSender()
+{
+	return _sender;
+}
+
+string Message::getDestination()
+{
+	return _destination;
+}
 
-Message::~Message()
+list<double> Message::getData()
 {
+	return _data;
 }

Development/Software/Controller API/Message.h

@@ -9,12 +9,12 @@ using namespace std;
 class Message
 {
 public:
-	Message();
+	Message(string sender, string destination, list<double> data);
 	~Message();
 
 	string getSender();
 	string getDestination();
-	
+	list<double> getData();
 
 	ostream& operator>>(ostream& os);
 
@@ -23,7 +23,7 @@ private:
 	string _sender;
 	string _destination;
 
-	list<double> data;
+	list<double> _data;
 
 };
 

Development/Software/Controller API/Service.h

@@ -3,6 +3,7 @@
 #include <iostream>
 #include <stdio.h>
 #include <list>
+#include <thread>
 
 using namespace std;