Create httpJoystick class

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

main/config.cpp

@@ -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);
 
 
 

main/config.hpp

@@ -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;

main/control.cpp

@@ -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) ) ) {
+                //Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned
-                    //reset timestamp lastAction
+                //TODO: as described above, when changing modes it might delay a few seconds for the change to apply
-                    http_timestamp_lastData = esp_log_timestamp();
+                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",
+                //--- apply commands to motors ---
-                            dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
+                //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 ---
+              //  //TODO: add other modes here
-                    //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
         }
 
 

main/control.hpp

@@ -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

main/http.cpp

@@ -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 ======
+//===== httpJoystick class =====
-//===============================
+//==============================
-//function that is called when data is received with post request at /api/joystick
+//-----------------------
-esp_err_t on_joystick_url(httpd_req_t *req)
+//----- 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;

main/http.hpp

@@ -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
+        };
+};