From 8de4dbbe27a55f6a5ede18672da5ea10a74acfb1 Mon Sep 17 00:00:00 2001
From: jonny_l480 <jonny@wwad.de>
Date: Tue, 20 Feb 2024 09:34:33 +0100
Subject: [PATCH] Fix crash in ADJUST_CHAIR mode, Fix Rest not stopping

While testing the ADJUST_CHAIR mode on actual hardware fixed the
following issues:

- main.cpp: Uninitialized pointer for leg/back-rest were passed to
  control task thus as when a method was called the controller crashed

- chairAdjust.cpp: the state was never reset to REST_OFF when below
  stick threshold
---
 board_single/main/main.cpp | 15 ++++++++-------
 common/chairAdjust.cpp     |  4 ++++
 common/chairAdjust.hpp     |  6 +++---
 3 files changed, 15 insertions(+), 10 deletions(-)

diff --git a/board_single/main/main.cpp b/board_single/main/main.cpp
index 783fc5f..0043b7d 100644
--- a/board_single/main/main.cpp
+++ b/board_single/main/main.cpp
@@ -134,12 +134,12 @@ void createObjects()
 	//sabertoothDriver = new sabertooth2x60a(sabertoothConfig);
 
 	// create controlled motor instances (motorctl.hpp)
-    // with configurations above
+    // with configurations from config.cpp
     motorLeft = new controlledMotor(setLeftFunc, configMotorControlLeft);
     motorRight = new controlledMotor(setRightFunc, configMotorControlRight);
 
     // create speedsensor instances
-    // with configurations above
+    // with configurations from config.cpp
     speedLeft = new speedSensor(speedLeft_config);
     speedRight = new speedSensor(speedRight_config);
 
@@ -153,17 +153,18 @@ void createObjects()
     // create buzzer object on pin 12 with gap between queued events of 100ms
     buzzer = new buzzer_t(GPIO_NUM_12, 100);
 
+    // create objects for controlling the chair position
+    //                       gpio_up, gpio_down, name
+    legRest = new cControlledRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
+    backRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
+
     // create control object (control.hpp)
-    // with configuration above
+    // with configuration from config.cpp
     control = new controlledArmchair(configControl, buzzer, motorLeft, motorRight, joystick, httpJoystickMain, automatedArmchair, legRest, backRest);
 
     // create automatedArmchair_c object (for auto-mode) (auto.hpp)
     automatedArmchair = new automatedArmchair_c(motorLeft, motorRight);
 
-    // create objects for controlling the chair position
-    //                       gpio_up, gpio_down, name
-    legRest = new cControlledRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
-    backRest = new cControlledRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
 }
 
 
diff --git a/common/chairAdjust.cpp b/common/chairAdjust.cpp
index 355959d..6ed7790 100644
--- a/common/chairAdjust.cpp
+++ b/common/chairAdjust.cpp
@@ -48,6 +48,7 @@ void cControlledRest::init()
     // both relays off initially
     gpio_set_level(gpio_down, 0);
     gpio_set_level(gpio_up, 0);
+    state = REST_OFF;
 }
 
 
@@ -105,7 +106,10 @@ void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cCon
     //leg rest (x-axis)
     if (data.x > stickThreshold) legRest->setState(REST_UP);
     else if (data.x < -stickThreshold) legRest->setState(REST_DOWN);
+    else legRest->setState(REST_OFF);
+
     //back rest (y-axis)
     if (data.y > stickThreshold) backRest->setState(REST_UP);
     else if (data.y < -stickThreshold) backRest->setState(REST_DOWN);
+    else backRest->setState(REST_OFF);
 }
diff --git a/common/chairAdjust.hpp b/common/chairAdjust.hpp
index 60bce18..54f9abe 100644
--- a/common/chairAdjust.hpp
+++ b/common/chairAdjust.hpp
@@ -17,12 +17,12 @@ extern const char* restStateStr[];
 //class that controls 2 relays powering a motor that moves a rest of the armchair up or down
 //2 instances will be created one for back and one for leg rest
 class cControlledRest {
-    public:
-    cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, const char * name);
+public:
+    cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, const char *name);
     void setState(restState_t targetState);
     void stop();
 
-    private:
+private:
     void init();
 
     char name[32];