Add task for each rest, sleep/wakeup task only when running

board_single/main/main.cpp

@@ -286,9 +286,9 @@ extern "C" void app_main(void) {
 	//-------------------------------------
 	//-- create task for chairAdjustment --
 	//-------------------------------------
-	//task that stops chair-rest motors when they reach target
-	chairAdjust_task_parameters_t chairAdjust_param = {legRest, backRest};
-	xTaskCreate(&chairAdjust_task, "chairAdjust_task", 2048, &chairAdjust_param, 1, NULL);
+	//tasks that stop chair-rest motors when they reach target (note: they sleep when motors not running)
+	xTaskCreate(&chairAdjust_task, "chairAdjustLeg_task", 2048, legRest, 1, NULL);
+	xTaskCreate(&chairAdjust_task, "chairAdjustBack_task", 2048, backRest, 1, NULL);
 
 	vTaskDelay(200 / portTICK_PERIOD_MS); //wait for all tasks to finish initializing
 	printf("\n");

common/chairAdjust.cpp

@@ -1,8 +1,5 @@
 extern "C"
 {
-#include "freertos/FreeRTOS.h"
-#include "freertos/task.h"
-#include "driver/gpio.h"
 #include "esp_log.h"
 #include <string.h>
 }
@@ -108,6 +105,10 @@ void cControlledRest::setState(restState_t targetState)
     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)
@@ -194,22 +195,23 @@ void cControlledRest::handle(){
 //============================
 //===== chairAdjust_task =====
 //============================
-#define CHAIR_ADJUST_HANDLE_TASK_DELAY 300
-void chairAdjust_task( void * pvParameters )
+#define CHAIR_ADJUST_HANDLE_TASK_DELAY 100
+void chairAdjust_task( void * pvParameter )
 {
-	ESP_LOGW(TAG, "Starting chairAdjust task...");
-	//get struct with pointers to all needed global objects from task parameter
-	chairAdjust_task_parameters_t *objects = (chairAdjust_task_parameters_t *)pvParameters;
+    cControlledRest * rest = (cControlledRest *)pvParameter;
+	ESP_LOGW(TAG, "Starting task for controlling %s...", rest->getName());
+    rest->taskHandle = xTaskGetCurrentTaskHandle();
 
-	// repeatedly update display with content depending on current mode
 	while (1)
 	{
-        //TODO mutex
-        //TODO add queue so task only runs when at least one rest is actually moving
-        objects->legRest->handle();
-        objects->backRest->handle();
+        ulTaskNotifyTake(pdTRUE, portMAX_DELAY); // wait for wakeup by setState() (rest-motor turned on)
+        ESP_LOGW(TAG, "task %s: received notification -> activating task!", rest->getName());
+        while (rest->getState() != REST_OFF){
+            rest->handle();
             vTaskDelay(CHAIR_ADJUST_HANDLE_TASK_DELAY / portTICK_PERIOD_MS);
         }
+        ESP_LOGW(TAG, "task %s: rest turned off -> sleeping task", rest->getName());
+    }
 }
 
 

common/chairAdjust.hpp

@@ -1,4 +1,10 @@
 #pragma once
+extern "C"
+{
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "driver/gpio.h"
+}
 
 #include "joystick.hpp"
 
@@ -20,10 +26,13 @@ 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);
+    restState_t getState() const {return state;};
     float getPercent(); //TODO update position first
     void setTargetPercent(float targetPercent);
     float getTargetPercent() const {return positionTarget;};
     void handle();
+    const char * getName() const {return name;};
+    TaskHandle_t taskHandle = NULL; //task that repeatedly runs the handle() method
 
 private:
     void init();
@@ -40,19 +49,13 @@ private:
 
 };
 
-// struct with variables passed to task from main()
-typedef struct chairAdjust_task_parameters_t {
-    cControlledRest * legRest;
-    cControlledRest * backRest;
-    //buzzer_t *buzzer;
-} chairAdjust_task_parameters_t;
-
 
 
 //===========================
 //==== chairAdjust_task =====
 //===========================
-void chairAdjust_task( void * chairAdjust_task_parameters_t );
+// repeatedly runs handle method of specified ControlledRest object to turn of the rest, when activated by setState()
+void chairAdjust_task( void * cControlledRest );