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Rework cControlledRest (for MIN_TIME_ON, MIN_TIME_OFF)

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- split up in more simple methods
- clearer structure
This commit is contained in:
jonny 2024-09-06 11:05:31 +02:00
parent e23d37df4c
commit 89cab00acc
3 changed files with 223 additions and 136 deletions
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4
board_single/main/control.cpp
View File

@ -514,8 +514,8 @@ void controlledArmchair::changeMode(controlMode_t modeNew, bool noBeep)
case controlMode_t::ADJUST_CHAIR:
ESP_LOGW(TAG, "switching from ADJUST_CHAIR mode => turning off adjustment motors...");
// prevent motors from being always on in case of mode switch while joystick is not in center thus motors currently moving
legRest->setState(REST_OFF);
backRest->setState(REST_OFF);
legRest->requestStateChange(REST_OFF);
backRest->requestStateChange(REST_OFF);
break;
}

339
common/chairAdjust.cpp
View File

@ -9,6 +9,9 @@ extern "C"
#define MUTEX_TIMEOUT (10000 / portTICK_PERIOD_MS)
#define MIN_TIME_ON 1000
#define MIN_TIME_OFF 2000
//--- gloabl variables ---
// strings for logging the rest state
const char* restStateStr[] = {"REST_OFF", "REST_DOWN", "REST_UP"};
@ -51,107 +54,39 @@ void cControlledRest::init()
state = REST_OFF;
}
//==========================
//===== updatePosition =====
//==========================
// calculate and update position in percent based of time running in current direction
void cControlledRest::updatePosition(){
uint32_t now = esp_log_timestamp();
uint32_t timeRan = now - timestamp_lastPosUpdate;
timestamp_lastPosUpdate = now;
float positionOld = positionNow;
// calculate new percentage
switch (state)
{
case REST_UP:
positionNow += (float)timeRan / travelDuration * 100;
break;
case REST_DOWN:
positionNow -= (float)timeRan / travelDuration * 100;
break;
case REST_OFF:
//no change
ESP_LOGW(TAG, "updatePosition() unknown direction - cant update position when state is REST_OFF");
break;
}
// clip to 0-100 (because cant actually happen due to limit switches)
if (positionNow < 0)
positionNow = 0;
else if (positionNow > 100)
positionNow = 100;
ESP_LOGD(TAG, "[%s] state='%s' - update pos from %.2f%% to %.2f%% (time ran %dms)", name, restStateStr[state], positionOld, positionNow, timeRan);
}
//============================
//========= setState =========
//============================
void cControlledRest::setState(restState_t targetState)
void cControlledRest::updatePosition()
{
// lock the mutex before accessing shared variables
if (xSemaphoreTakeRecursive(mutex, MUTEX_TIMEOUT) == pdTRUE)
uint32_t now = esp_log_timestamp();
uint32_t timeRan = now - timestamp_lastPosUpdate;
timestamp_lastPosUpdate = now;
float positionOld = positionNow;
// calculate new percentage
switch (state)
{
// TODO: drop this section?
// check if actually changed
if (targetState == state)
{
// update anyways when target is 0 or 100, to trigger movement threshold in case of position tracking is out of sync
if (positionTarget == 0 || positionTarget == 100)
ESP_LOGD(TAG, "[%s] state already at '%s', but updating anyway to trigger move to limit addition", name, restStateStr[state]);
else
{
ESP_LOGV(TAG, "[%s] state already at '%s', nothing to do", name, restStateStr[state]);
return;
}
}
// when switching direction without stop: update position first
if (state != REST_OFF)
updatePosition();
// activate handle task when turning on (previous state is off)
if (state == REST_OFF)
xTaskNotifyGive(taskHandle); // activate handle task that stops the rest-motor again
// apply new state
ESP_LOGI(TAG, "[%s] switching from state '%s' to '%s'", name, restStateStr[state], restStateStr[targetState]);
switch (targetState)
{
case REST_UP:
gpio_set_level(gpio_down, 0);
gpio_set_level(gpio_up, 1);
timestamp_lastPosUpdate = esp_log_timestamp();
break;
case REST_DOWN:
gpio_set_level(gpio_down, 1);
gpio_set_level(gpio_up, 0);
timestamp_lastPosUpdate = esp_log_timestamp();
break;
case REST_OFF:
gpio_set_level(gpio_down, 0);
gpio_set_level(gpio_up, 0);
updatePosition();
positionTarget = positionNow; // disable resuming - no unexpected pos when incrementing
break;
}
state = targetState;
// Release the mutex
xSemaphoreGiveRecursive(mutex);
}
else
{
ESP_LOGE(TAG, "mutex timeout in setState() -> RESTART");
esp_restart();
case REST_UP:
positionNow += (float)timeRan / travelDuration * 100;
break;
case REST_DOWN:
positionNow -= (float)timeRan / travelDuration * 100;
break;
case REST_OFF:
// no change
ESP_LOGW(TAG, "updatePosition() unknown direction - cant update position when state is REST_OFF");
return;
}
// clip to 0-100 (because cant actually happen due to limit switches)
if (positionNow < 0)
positionNow = 0;
else if (positionNow > 100)
positionNow = 100;
ESP_LOGD(TAG, "[%s] state='%s' - update pos from %.2f%% to %.2f%% (time ran %dms)", name, restStateStr[state], positionOld, positionNow, timeRan);
}
//==========================
@ -162,7 +97,6 @@ void cControlledRest::setTargetPercent(float targetPercent)
// lock the mutex before accessing shared variables
if (xSemaphoreTakeRecursive(mutex, MUTEX_TIMEOUT) == pdTRUE)
{
positionTarget = targetPercent;
float positionTargetPrev = positionTarget;
positionTarget = targetPercent;
@ -172,23 +106,21 @@ void cControlledRest::setTargetPercent(float targetPercent)
else if (positionTarget < 0)
positionTarget = 0;
// ignore if unchanged
// if (positionTarget == positionTargetPrev){
// ESP_LOGI(TAG, "[%s] Target position unchanged at %.2f%%", name, positionTarget);
// return;
//}
ESP_LOGI(TAG, "[%s] changed Target position from %.2f%% to %.2f%%", name, positionTargetPrev, positionTarget);
// update actual position positionNow first when already running
if (state != REST_OFF)
updatePosition();
// start rest in required direction
// TODO always run this check in handle()?
// note: when already at 0/100 start anyways (runs for certain threshold in case tracked position out of sync)
if (positionTarget > positionNow || positionTarget >= 100)
setState(REST_UP);
requestStateChange(REST_UP);
else if (positionTarget < positionNow || positionTarget <= 0)
setState(REST_DOWN);
requestStateChange(REST_DOWN);
else // already at exact position
setState(REST_OFF);
requestStateChange(REST_OFF);
// Release the mutex
xSemaphoreGiveRecursive(mutex);
@ -200,20 +132,171 @@ void cControlledRest::setTargetPercent(float targetPercent)
}
}
//======================
//======= handle =======
//======================
//============================
//==== requestStateChange ====
//============================
// queue state change that is executed when valid (respecting min thresholds)
void cControlledRest::requestStateChange(restState_t targetState)
{
// lock the mutex before accessing shared variables
if (xSemaphoreTakeRecursive(mutex, MUTEX_TIMEOUT) == pdTRUE)
{
ESP_LOGV(TAG, "[%s] requesting change to state '%s'", name, restStateStr[targetState]);
nextState = targetState;
// activate handle to process the request when on running already
if (state == REST_OFF)
xTaskNotifyGive(taskHandle); // activate handle task that stops the rest-motor again
// Release the mutex
xSemaphoreGiveRecursive(mutex);
}
else
{
ESP_LOGE(TAG, "mutex timeout while waiting in requestStateChange -> RESTART");
esp_restart();
}
}
//===========================
//==== handleStateChange ====
//===========================
// ensure MIN_TIME_ON and MIN_TIME_OFF has passed between doing the requested state change
// repeatedly run by task if state is requested
void cControlledRest::handleStateChange()
{
// lock the mutex before accessing shared variables
if (xSemaphoreTakeRecursive(mutex, MUTEX_TIMEOUT) == pdTRUE)
{
uint32_t now = esp_log_timestamp();
// already at target state
if (state == nextState)
{
// exit, nothing todo
xSemaphoreGiveRecursive(mutex);
return;
}
// turn off requested
else if (nextState == REST_OFF)
{
// exit if not on long enough
if (now - timestamp_lastStateChange < MIN_TIME_ON)
{
positionTarget = positionNow; // disable resuming - no unexpected pos when incrementing
ESP_LOGV(TAG, "SC: not on long enough, not turning off yet");
xSemaphoreGiveRecursive(mutex);
return;
}
}
// turn on requested
else if (state == REST_OFF && nextState != REST_OFF)
{
// exit if not off long enough
if (now - timestamp_lastStateChange < MIN_TIME_OFF)
{
ESP_LOGV(TAG, "SC: not OFF long enough, not turning on yet");
xSemaphoreGiveRecursive(mutex);
return;
}
}
// direction change requested
else if (state != REST_OFF && nextState != REST_OFF)
{
// exit if not on long enough
if (now - timestamp_lastStateChange < MIN_TIME_ON)
{
ESP_LOGV(TAG, "SC: dir change detected: not ON long enough, not turning off yet");
xSemaphoreGiveRecursive(mutex);
return;
}
// no immediate dir change, turn off first
else
{
ESP_LOGD(TAG, "SC: dir change detected: turning off first");
changeState(REST_OFF);
xSemaphoreGiveRecursive(mutex);
return;
}
}
// not exited by now = no reason to prevent the state change -> update state!
ESP_LOGV(TAG, "SC: change is allowed now -> applying new state '%s'", restStateStr[nextState]);
changeState(nextState);
// Release the mutex
xSemaphoreGiveRecursive(mutex);
}
else
{
ESP_LOGE(TAG, "mutex timeout while waiting in handleStateChange -> RESTART");
esp_restart();
}
}
//=========================
//====== changeState ======
//=========================
// change state (relays, timestamp) without any validation whether change is allowed
void cControlledRest::changeState(restState_t newState)
{
// check if actually changed
if (newState == state)
{
ESP_LOGV(TAG, "[%s] state already at '%s', nothing to do", name, restStateStr[state]);
return;
}
// apply new state to relays
ESP_LOGI(TAG, "[%s] switching Relays from state '%s' to '%s'", name, restStateStr[state], restStateStr[newState]);
switch (newState)
{
case REST_UP:
gpio_set_level(gpio_down, 0);
gpio_set_level(gpio_up, 1);
break;
case REST_DOWN:
gpio_set_level(gpio_down, 1);
gpio_set_level(gpio_up, 0);
break;
case REST_OFF:
gpio_set_level(gpio_down, 0);
gpio_set_level(gpio_up, 0);
break;
}
// apply new state to variables
timestamp_lastStateChange = esp_log_timestamp();
updatePosition();
state = newState;
}
//===============================
//=== handle StopAtPosReached ===
//===============================
// handle automatic stop when target position is reached, should be run repeatedly in a task
#define TRAVEL_TIME_LIMIT_ADDITION_MS 2000 // traveling longer into limit compensates inaccuracies in time based position tracking
void cControlledRest::handle()
void cControlledRest::handleStopAtPosReached()
{
// lock the mutex before accessing shared variables
if (xSemaphoreTakeRecursive(mutex, MUTEX_TIMEOUT) == pdTRUE)
{
// nothing to do when not running atm
// TODO: turn on automatically when position != target?
if (state == REST_OFF)
{
xSemaphoreGiveRecursive(mutex);
return;
}
// calculate time already running and needed time to reach target
uint32_t timeRan = esp_log_timestamp() - timestamp_lastPosUpdate;
@ -226,16 +309,15 @@ void cControlledRest::handle()
// target reached
if (timeRan >= timeTarget)
{
ESP_LOGW(TAG, "[%s] handle: reached target run-time (%dms/%dms) for position %.2f%% -> stopping", name, timeRan, timeTarget, positionTarget);
setState(REST_OFF);
ESP_LOGW(TAG, "[%s] reached target! run-time (%dms/%dms) for position %.2f%% -> requesting stop", name, timeRan, timeTarget, positionTarget);
requestStateChange(REST_OFF);
}
// Release the mutex
xSemaphoreGiveRecursive(mutex);
}
else
{
ESP_LOGE(TAG, "mutex timeout while waiting in handle() -> RESTART");
ESP_LOGE(TAG, "mutex timeout while waiting in handleStopAtPosReached -> RESTART");
esp_restart();
}
}
@ -244,21 +326,25 @@ void cControlledRest::handle()
//===== chairAdjust_task =====
//============================
#define CHAIR_ADJUST_HANDLE_TASK_DELAY 100
void chairAdjust_task( void * pvParameter )
void chairAdjust_task(void *pvParameter)
{
cControlledRest * rest = (cControlledRest *)pvParameter;
ESP_LOGW(TAG, "Starting task for controlling %s...", rest->getName());
cControlledRest *rest = (cControlledRest *)pvParameter;
ESP_LOGW(TAG, "Starting task for controlling %s...", rest->getName());
// provide taskHandle to rest object for wakeup
rest->taskHandle = xTaskGetCurrentTaskHandle();
while (1)
{
ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // wait for wakeup by setState() (rest-motor turned on)
while (1)
{
ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // wait for wakeup by changeState() (rest-motor turned on)
ESP_LOGW(TAG, "task %s: received notification -> activating task!", rest->getName());
while (rest->getState() != REST_OFF){
rest->handle();
// running while 1. motor running or 2. not in target state yet
while ((rest->getState() != REST_OFF) || (rest->getNextState() != rest->getState()))
{
rest->handleStateChange();
rest->handleStopAtPosReached();
vTaskDelay(CHAIR_ADJUST_HANDLE_TASK_DELAY / portTICK_PERIOD_MS);
}
ESP_LOGW(TAG, "task %s: rest turned off -> sleeping task", rest->getName());
ESP_LOGW(TAG, "task %s: motor-off and at target state -> sleeping task", rest->getName());
}
}
@ -269,12 +355,7 @@ void chairAdjust_task( void * pvParameter )
//====================================
//function that controls the two rests according to joystick data (applies threshold, defines direction)
//TODO:
// - add separate task that controls chair adjustment
// - timeout
// - track position
// - auto-adjust: move to position while driving
// - control via app
// - add delay betweem direction change
void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cControlledRest * backRest){
//--- variables ---
float stickThreshold = 0.3; //min coordinate for motor to start
@ -283,10 +364,10 @@ void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cCon
//leg rest (x-axis)
if (data.x > stickThreshold) legRest->setTargetPercent(100);
else if (data.x < -stickThreshold) legRest->setTargetPercent(0);
else legRest->setState(REST_OFF);
else legRest->requestStateChange(REST_OFF);
//back rest (y-axis)
if (data.y > stickThreshold) backRest->setTargetPercent(100);
else if (data.y < -stickThreshold) backRest->setTargetPercent(0);
else backRest->setState(REST_OFF);
else backRest->requestStateChange(REST_OFF);
}

16
common/chairAdjust.hpp
View File

@ -26,18 +26,22 @@ extern const char* restStateStr[];
class cControlledRest {
public:
cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, uint32_t travelDurationMs, const char *name, float defaultPosition = 0);
void setState(restState_t targetState);
void requestStateChange(restState_t targetState); //mutex
restState_t getState() const {return state;};
restState_t getNextState() const {return nextState;};
float getPercent(); //TODO update position first
void setTargetPercent(float targetPercent);
void setTargetPercent(float targetPercent); //mutex
float getTargetPercent() const {return positionTarget;};
void handle();
void handleStopAtPosReached(); //mutex
void handleStateChange(); //mutex
const char * getName() const {return name;};
TaskHandle_t taskHandle = NULL; //task that repeatedly runs the handle() method
TaskHandle_t taskHandle = NULL; //task that repeatedly runs the handle() method, is assigned at task creation
private:
void init();
void updatePosition();
void changeState(restState_t newState);
SemaphoreHandle_t mutex;
@ -46,7 +50,9 @@ private:
const gpio_num_t gpio_down;
const uint32_t travelDuration = 12000;
restState_t state;
restState_t state = REST_OFF;
restState_t nextState = REST_OFF;
uint32_t timestamp_lastStateChange = 0;
uint32_t timestamp_lastPosUpdate = 0;
float positionTarget = 0;
float positionNow = 0;