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Create httpJoystick class

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create new class for http mode -> move code for http mode from control.cpp to http.cpp
this makes control.cpp and config.cpp more clear
This commit is contained in:
jonny_ji7 2022-06-22 12:29:08 +02:00
parent 73325e08ce
commit 06d0fda8ee
6 changed files with 164 additions and 80 deletions
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21
main/config.cpp
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@ -48,15 +48,23 @@ control_config_t configControl = {
.timeoutMs = 5*60*1000, //time of inactivity after which the mode gets switched to IDLE
.timeoutTolerancePer = 5, //percentage the duty can vary between timeout checks considered still inactive
//--- http mode ---
.http_toleranceZeroX_Per = 3, //percentage around joystick axis the coordinate snaps to 0
.http_toleranceZeroY_Per = 10,
.http_toleranceEndPer = 2, //percentage before joystick end the coordinate snaps to 1/-1
.http_timeoutMs = 3000 //time no new data was received before the motors get turned off
};
//-------------------------------
//----- httpJoystick config -----
//-------------------------------
httpJoystick_config_t configHttpJoystickMain{
.toleranceZeroX_Per = 3, //percentage around joystick axis the coordinate snaps to 0
.toleranceZeroY_Per = 10,
.toleranceEndPer = 2, //percentage before joystick end the coordinate snaps to 1/-1
.timeoutMs = 3000 //time no new data was received before the motors get turned off
};
//--------------------------------------
//------- joystick configuration -------
//--------------------------------------
@ -110,8 +118,11 @@ gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_33, true, false); //pullup true, no
//create buzzer object on pin 12 with gap between queued events of 100ms
buzzer_t buzzer(GPIO_NUM_12, 100);
//create global httpJoystick object
httpJoystick httpJoystickMain(configHttpJoystickMain);
//create global control object
controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight);
controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &httpJoystickMain);

4
main/config.hpp
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@ -8,6 +8,7 @@
#include "buzzer.hpp"
#include "control.hpp"
#include "fan.hpp"
#include "http.hpp"
//create global controlledMotor instances for both motors
@ -26,6 +27,9 @@ extern buzzer_t buzzer;
//create global control object
extern controlledArmchair control;
//create global httpJoystick object
extern httpJoystick httpJoystickMain;
//configuration for fans
extern fan_config_t configFanLeft;
extern fan_config_t configFanRight;

64
main/control.cpp
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@ -12,7 +12,6 @@ extern "C"
#include "config.hpp"
#include "control.hpp"
#include "http.hpp"
//tag for logging
@ -27,7 +26,8 @@ controlledArmchair::controlledArmchair (
control_config_t config_f,
buzzer_t * buzzer_f,
controlledMotor* motorLeft_f,
controlledMotor* motorRight_f
controlledMotor* motorRight_f,
httpJoystick* httpJoystick_f
){
//copy configuration
@ -36,6 +36,7 @@ controlledArmchair::controlledArmchair (
buzzer = buzzer_f;
motorLeft = motorLeft_f;
motorRight = motorRight_f;
httpJoystickMain_l = httpJoystick_f;
//set default mode from config
modePrevious = config.defaultMode;
@ -85,58 +86,25 @@ void controlledArmchair::startHandleLoop() {
break;
case controlMode_t::HTTP:
//TODO: outsource this code to http.cpp?
//create emptry struct for receiving data from http function
joystickData_t dataRead = { };
//--- get joystick data from queue ---
if( xQueueReceive( joystickDataQueue, &dataRead, pdMS_TO_TICKS(500) ) ) {
//reset timestamp lastAction
http_timestamp_lastData = esp_log_timestamp();
//Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned
//TODO: as described above, when changing modes it might delay a few seconds for the change to apply
dataRead = httpJoystickMain_l->getData();
//--- generate motor commands ---
ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
//Note: timeout (no data received) is handled in getData method
commands = joystick_generateCommandsDriving(dataRead);
ESP_LOGD(TAG, "received data (from queue): x=%.3f y=%.3f radius=%.3f angle=%.3f",
dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
//--- apply commands to motors ---
//TODO make motorctl.setTarget also accept motorcommand struct directly
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
break;
//--- scale coordinates ---
//note: scaleCoordinate function currently can not handle negative input -> added offset to input
// scaleCoordinate(input, min, max, center, tolerance_zero_per, tolerance_end_per)
dataRead.x = scaleCoordinate(dataRead.x+1, 0, 2, 1, config.http_toleranceZeroX_Per, config.http_toleranceEndPer);
dataRead.y = scaleCoordinate(dataRead.y+1, 0, 2, 1, config.http_toleranceZeroY_Per, config.http_toleranceEndPer);
//--- re-calculate radius, angle and position with new/scaled coordinates ---
dataRead.radius = sqrt(pow(dataRead.x,2) + pow(dataRead.y,2));
dataRead.angle = (atan(dataRead.y/dataRead.x) * 180) / 3.141;
dataRead.position = joystick_evaluatePosition(dataRead.x, dataRead.y);
ESP_LOGD(TAG, "processed/scaled data: x=%.3f y=%.3f radius=%.3f", dataRead.x, dataRead.y, dataRead.radius);
//--- generate motor commands ---
//pass received joystick data from http queue to generatecommands function from joystick.hpp
ESP_LOGV(TAG, "generating commands...");
ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
commands = joystick_generateCommandsDriving(dataRead);
//--- apply commands to motors ---
//TODO make motorctl.setTarget also accept motorcommand struct directly
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
}
//--- timeout ---
//turn off motors when motor still on and no new data received for some time
if (
(esp_log_timestamp() - http_timestamp_lastData > config.http_timeoutMs) //no data received for x seconds
&& (commands.left.state != motorstate_t::IDLE || commands.right.state != motorstate_t::IDLE) //at least one motor is still running
){
ESP_LOGE(TAG, "TIMEOUT - no data received for 3s -> stopping motors");
//copy preset commands for idling both motors
commands = cmds_bothMotorsIdle;
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
}
break;
//TODO: add other modes here
// //TODO: add other modes here
}

10
main/control.hpp
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@ -3,6 +3,7 @@
#include "motordrivers.hpp"
#include "motorctl.hpp"
#include "buzzer.hpp"
#include "http.hpp"
//--------------------------------------------
@ -19,11 +20,6 @@ typedef struct control_config_t {
//--- timeout ---
uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE
float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive
//--- http mode ---
float http_toleranceZeroX_Per;//percentage around joystick axis the coordinate snaps to 0
float http_toleranceZeroY_Per;
float http_toleranceEndPer; //percentage before joystick end the coordinate snaps to 1/-1
uint32_t http_timeoutMs; //time no new data was received before the motors get turned off
} control_config_t;
@ -41,7 +37,8 @@ class controlledArmchair {
control_config_t config_f,
buzzer_t* buzzer_f,
controlledMotor* motorLeft_f,
controlledMotor* motorRight_f
controlledMotor* motorRight_f,
httpJoystick* httpJoystick_f
);
//--- functions ---
@ -70,6 +67,7 @@ class controlledArmchair {
buzzer_t* buzzer;
controlledMotor* motorLeft;
controlledMotor* motorRight;
httpJoystick* httpJoystickMain_l;
//---variables ---
//struct for motor commands returned by generate functions of each mode

95
main/http.cpp
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@ -3,7 +3,6 @@ extern "C"
#include <stdio.h>
#include "mdns.h"
#include "cJSON.h"
#include "esp_http_server.h"
#include "esp_spiffs.h"
#include "esp_wifi.h"
#include "freertos/FreeRTOS.h"
@ -14,14 +13,13 @@ extern "C"
}
#include "http.hpp"
#include "joystick.hpp"
#include "config.hpp"
//tag for logging
static const char * TAG = "http";
static httpd_handle_t server = NULL;
QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
//joystickData_t http_readFromJoystickQueue
@ -99,12 +97,25 @@ static esp_err_t on_default_url(httpd_req_t *req)
//===============================
//====== joystick endpoint ======
//===============================
//function that is called when data is received with post request at /api/joystick
esp_err_t on_joystick_url(httpd_req_t *req)
{
//==============================
//===== httpJoystick class =====
//==============================
//-----------------------
//----- constructor -----
//-----------------------
httpJoystick::httpJoystick( httpJoystick_config_t config_f ){
//copy config struct
config = config_f;
//initialize queue for joystick data
QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
}
//--------------------------
//---- receiveHttpData -----
//--------------------------
//joystick endpoint - function that is called when data is received with post request at /api/joystick
esp_err_t httpJoystick::receiveHttpData(httpd_req_t *req){
//--- add header ---
//to allow cross origin (otherwise browser fails when app is running on another host)
httpd_resp_set_hdr(req, "Access-Control-Allow-Origin", "*");
@ -134,32 +145,79 @@ esp_err_t on_joystick_url(httpd_req_t *req)
data.y = static_cast<float>(y_json->valuedouble);
data.radius = static_cast<float>(radius_json->valuedouble);
data.angle = static_cast<float>(angle_json->valuedouble);
//--- evaluate joystick position enum ---
//data.position = joystick_evaluatePosition(data.x, data.y);
//log received and parsed values
ESP_LOGI(TAG, "parsed values from received json: \n x=%.3f y=%.3f radius=%.3f angle=%.3f",
ESP_LOGI(TAG, "received values: x=%.3f y=%.3f radius=%.3f angle=%.3f",
data.x, data.y, data.radius, data.angle);
// scaleCoordinate(input, min, max, center, tolerance_zero_per, tolerance_end_per)
data.x = scaleCoordinate(data.x+1, 0, 2, 1, config.toleranceZeroX_Per, config.toleranceEndPer);
data.y = scaleCoordinate(data.y+1, 0, 2, 1, config.toleranceZeroY_Per, config.toleranceEndPer);
//--- re-calculate radius, angle and position with new/scaled coordinates ---
data.radius = sqrt(pow(data.x,2) + pow(data.y,2));
data.angle = (atan(data.y/data.x) * 180) / 3.141;
data.position = joystick_evaluatePosition(data.x, data.y);
//log processed values
ESP_LOGI(TAG, "processed values: x=%.3f y=%.3f radius=%.3f angle=%.3f pos=%s",
data.x, data.y, data.radius, data.angle, joystickPosStr[(int)data.position]);
//--- free memory ---
cJSON_Delete(payload);
//--- send data to control task via queue ---
//xQueueSend( joystickDataQueue, ( void * )&data, ( TickType_t ) 0 );
//changed to length = 1 -> overwrite - older values are no longer relevant
xQueueOverwrite( joystickDataQueue, ( void * )&data );
//--- return http response ---
httpd_resp_set_status(req, "204 NO CONTENT");
httpd_resp_send(req, NULL, 0);
return ESP_OK;
}
//-------------------
//----- getData -----
//-------------------
//wait for and return joystick data from queue, if timeout return NULL
joystickData_t httpJoystick::getData(){
//--- get joystick data from queue ---
if( xQueueReceive( joystickDataQueue, &dataRead, pdMS_TO_TICKS(config.timeoutMs) ) ) {
ESP_LOGD(TAG, "getData: received data (from queue): x=%.3f y=%.3f radius=%.3f angle=%.3f",
dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
}
//--- timeout ---
//no new data received within configured timeout
else {
//send error message when last received data did NOT result in CENTER position
if (dataRead.position != joystickPos_t::CENTER) {
//change data to "joystick center" data to stop the motors
dataRead = dataCenter;
ESP_LOGE(TAG, "TIMEOUT - no data received for 3s -> set to center");
}
}
return dataRead;
}
//--------------------------------------------
//--- receiveHttpData for httpJoystickMain ---
//--------------------------------------------
//function that wraps pointer to member function of httpJoystickMain instance in a "normal" function which the webserver can run on joystick URL
//declare pointer to receiveHttpData method of httpJoystick class
esp_err_t (httpJoystick::*pointerToReceiveFunc)(httpd_req_t *req) = &httpJoystick::receiveHttpData;
esp_err_t on_joystick_url(httpd_req_t *req){
//run pointer to receiveHttpData function of httpJoystickMain instance
return (httpJoystickMain.*pointerToReceiveFunc)(req);
}
//============================
@ -169,9 +227,6 @@ esp_err_t on_joystick_url(httpd_req_t *req)
void http_init_server()
{
//configure webserver
httpd_config_t config = HTTPD_DEFAULT_CONFIG();
config.uri_match_fn = httpd_uri_match_wildcard;

50
main/http.hpp
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@ -1,6 +1,14 @@
#pragma once
extern QueueHandle_t joystickDataQueue;
extern "C"
{
#include "esp_http_server.h"
}
#include "joystick.hpp"
//============================
//===== init http server =====
@ -21,3 +29,43 @@ void start_mdns_service();
//============================
//function that destroys the http server
void http_stop_server();
//==============================
//===== httpJoystick class =====
//==============================
//class that receices that from a HTTP post request, generates and scales joystick data and provides the data in a queue
//struct with configuration parameters
typedef struct httpJoystick_config_t {
float toleranceZeroX_Per;//percentage around joystick axis the coordinate snaps to 0
float toleranceZeroY_Per;
float toleranceEndPer; //percentage before joystick end the coordinate snaps to 1/-1
uint32_t timeoutMs; //time no new data was received before the motors get turned off
} httpJoystick_config_t;
class httpJoystick{
public:
//--- constructor ---
httpJoystick( httpJoystick_config_t config_f );
//--- functions ---
joystickData_t getData(); //wait for and return joystick data from queue, if timeout return CENTER
esp_err_t receiveHttpData(httpd_req_t *req); //function that is called when data is received with post request at /api/joystick
private:
//--- variables ---
httpJoystick_config_t config;
QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
//struct for receiving data from http function, and storing data of last update
joystickData_t dataRead;
const joystickData_t dataCenter = {
.position = joystickPos_t::CENTER,
.x = 0,
.y = 0,
.radius = 0,
.angle = 0
};
};