j/armchair_fw
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

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

Browse Source
This commit is contained in:
jonny 2024-09-05 09:23:22 +02:00
parent 71460bbf87
commit 946fdd6c15
3 changed files with 30 additions and 25 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
board_single/main/main.cpp
View File

@ -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");

30
common/chairAdjust.cpp
View File

@ -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)
@ -194,21 +195,22 @@ 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();
vTaskDelay(CHAIR_ADJUST_HANDLE_TASK_DELAY / portTICK_PERIOD_MS);
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());
}
}

19
common/chairAdjust.hpp
View File

@ -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 );