Rework/simplify chairAdjust - now using a class

- complete rework of chairAdjust.cpp/.hpp
  created a class cControlledRest which is more readable
  and saves a lot of duplicate code

- joystick.cpp: move chair control via joystick to
  chairAdjust.cpp (prevents dependency loop)
- button.cpp: fix bug instant idle when changing to ADJUST_CHAIR

Note: briefly tested this state on a breakout board:
Mode change and call of new class methods works.

board_single/main/button.cpp

@@ -77,8 +77,10 @@ void buttonCommands::action (uint8_t count, bool lastPressLong){
             }
 
             //toggle idle when 2x pressed
+            else {
             ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
             control->toggleIdle(); //toggle between idle and previous/default mode
+            }
             break;
 
         case 3:

board_single/main/config.cpp

@@ -195,5 +195,9 @@ controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joy
 //create global automatedArmchair object (for auto-mode) (auto.hpp)
 automatedArmchair armchair;
 
+//create global objects for controlling the chair position
+//                      gpio_up, gpio_down, name
+cControlledRest legRest(GPIO_NUM_4, GPIO_NUM_16, "legRest");
+cControlledRest backRest(GPIO_NUM_2, GPIO_NUM_15, "backRest");
 
 

board_single/main/config.hpp

@@ -11,11 +11,12 @@
 #include "http.hpp"
 #include "auto.hpp"
 #include "speedsensor.hpp"
+#include "chairAdjust.hpp"
 
 
 //in IDLE mode: set loglevel for evaluatedJoystick to DEBUG 
 //and repeatedly read joystick e.g. for manually calibrating / testing joystick
-#define JOYSTICK_LOG_IN_IDLE
+//#define JOYSTICK_LOG_IN_IDLE
 
 
 //TODO outsource global variables to e.g. global.cpp and only config options here?
@@ -49,3 +50,7 @@ extern fan_config_t configCooling;
 extern speedSensor speedLeft;
 extern speedSensor speedRight;
 
+//create global objects for controlling the chair position
+extern cControlledRest legRest;
+extern cControlledRest backRest;
+

board_single/main/control.cpp

@@ -179,7 +179,7 @@ void controlledArmchair::startHandleLoop() {
                 motorRight->setTarget(commands.right.state, commands.right.duty); 
                 motorLeft->setTarget(commands.left.state, commands.left.duty); 
                 //--- control armchair position with joystick input ---
-                joystick_ControlChairAdjustment(stickData, 0);
+                controlChairAdjustment(joystick_l->getData(), &legRest, &backRest);
                 break;
 
 
@@ -386,8 +386,8 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
         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
-            setLegrestOff();
+            legRest.setState(REST_OFF);
-            setBackrestOff();
+            backRest.setState(REST_OFF);
             break;
 
     }

board_single/main/main.cpp

@@ -154,6 +154,7 @@ void setLoglevels(void){
     esp_log_level_set("display", ESP_LOG_INFO);
     //esp_log_level_set("current-sensors", ESP_LOG_INFO);
     //esp_log_level_set("speedSensor", ESP_LOG_INFO);
+    esp_log_level_set("chair-adjustment", ESP_LOG_INFO);
 }
 
 

common/chairAdjust.cpp

@@ -4,169 +4,108 @@ extern "C"
 #include "freertos/task.h"
 #include "driver/gpio.h"
 #include "esp_log.h"
+#include <string.h>
 }
 
 #include "chairAdjust.hpp"
 
 
 
+//--- gloabl variables ---
+// strings for logging the rest state
+const char* restStateStr[] = {"REST_OFF", "REST_DOWN", "REST_UP"};
 
-//--- config ---
+//--- local variables ---
-//relays that control the motor for electric chair adjustment
-//TODO: add this to config?
-//relays connected to 4x stepper mosfets:
-#define GPIO_LEGREST_UP     GPIO_NUM_4
-#define GPIO_LEGREST_DOWN   GPIO_NUM_16
-#define GPIO_BACKREST_UP    GPIO_NUM_2
-#define GPIO_BACKREST_DOWN  GPIO_NUM_15
-
-//--- variables ---
 //tag for logging
 static const char * TAG = "chair-adjustment";
-//current motor states
-static restState_t stateLegRest = REST_OFF;
-static restState_t stateBackRest = REST_OFF;
-bool isInitialized = false;
 
 
-//TODO Add timestamps or even a task to keep track of current position (estimate)
+
+//=============================
+//======== constructor ========
+//=============================
+cControlledRest::cControlledRest(gpio_num_t gpio_up_f, gpio_num_t gpio_down_f, const char * name_f){
+    strcpy(name, name_f);
+    gpio_up = gpio_up_f;
+    gpio_down = gpio_down_f;
+    init();
+}
 
 
 
 //====================
 //======= init =======
 //====================
-//init gpio pins for relays
+// init gpio pins for relays
-void chairAdjust_init(){
+void cControlledRest::init()
-    ESP_LOGW(TAG, "initializing gpio pins for relays...");
+{
-    gpio_pad_select_gpio(GPIO_LEGREST_UP);
+    ESP_LOGW(TAG, "[%s] initializing gpio pins %d, %d for relays...", name, gpio_up, gpio_down);
-    gpio_set_direction(GPIO_LEGREST_UP, GPIO_MODE_OUTPUT);
+    // configure 2 gpio pins
-    gpio_pad_select_gpio(GPIO_LEGREST_DOWN);
+    gpio_pad_select_gpio(gpio_up);
-    gpio_set_direction(GPIO_LEGREST_DOWN, GPIO_MODE_OUTPUT);
+    gpio_set_direction(gpio_up, GPIO_MODE_OUTPUT);
-    gpio_pad_select_gpio(GPIO_BACKREST_UP);
+    gpio_pad_select_gpio(gpio_down);
-    gpio_set_direction(GPIO_BACKREST_UP, GPIO_MODE_OUTPUT);
+    gpio_set_direction(gpio_down, GPIO_MODE_OUTPUT);
-    gpio_pad_select_gpio(GPIO_BACKREST_DOWN);
+    // both relays off initially
-    gpio_set_direction(GPIO_BACKREST_DOWN, GPIO_MODE_OUTPUT);
+    gpio_set_level(gpio_down, 0);
-    isInitialized = true;
+    gpio_set_level(gpio_up, 0);
 }
 
 
 
-//=============================
+//============================
-//======= set direction =======
+//========= setState =========
-//=============================
+//============================
-//functions for each rest that set the motors to desired direction / state
+void cControlledRest::setState(restState_t targetState)
-//TODO evaluate if separate functions needed, can be merged with run..Rest(state) function?
+{
-//--- leg-rest ---
+    //check if actually changed
-void setLegrestUp(){
+    if (targetState == state){
-    if (!isInitialized) chairAdjust_init();
+        ESP_LOGD(TAG, "[%s] state already at '%s', nothing to do", name, restStateStr[state]);
-    gpio_set_level(GPIO_LEGREST_DOWN, 0);
+        return;
-    gpio_set_level(GPIO_LEGREST_UP, 1);
-    stateLegRest = REST_UP;
-    ESP_LOGD(TAG, "switched relays to move leg-rest UP");
-}
-void setLegrestDown(){
-    if (!isInitialized) chairAdjust_init();
-    gpio_set_level(GPIO_LEGREST_DOWN, 1);
-    gpio_set_level(GPIO_LEGREST_UP, 0);
-    stateLegRest = REST_DOWN;
-    ESP_LOGD(TAG, "switched relays to move leg-rest DOWN");
-}
-void setLegrestOff(){
-    if (!isInitialized) chairAdjust_init();
-    gpio_set_level(GPIO_LEGREST_DOWN, 0);
-    gpio_set_level(GPIO_LEGREST_UP, 0);
-    stateLegRest = REST_OFF;
-    ESP_LOGD(TAG, "switched relays for leg-rest OFF");
-}
-
-//--- back-rest ---
-void setBackrestUp(){
-    if (!isInitialized) chairAdjust_init();
-    gpio_set_level(GPIO_BACKREST_DOWN, 0);
-    gpio_set_level(GPIO_BACKREST_UP, 1);
-    stateBackRest = REST_UP;
-    ESP_LOGD(TAG, "switched relays to move back-rest UP");
-}
-void setBackrestDown(){
-    if (!isInitialized) chairAdjust_init();
-    gpio_set_level(GPIO_BACKREST_DOWN, 1);
-    gpio_set_level(GPIO_BACKREST_UP, 0);
-    stateBackRest = REST_DOWN;
-    ESP_LOGD(TAG, "switched relays to move back-rest DOWN");
-}
-void setBackrestOff(){
-    if (!isInitialized) chairAdjust_init();
-    gpio_set_level(GPIO_BACKREST_DOWN, 0);
-    gpio_set_level(GPIO_BACKREST_UP, 0);
-    stateBackRest = REST_OFF;
-    ESP_LOGD(TAG, "switched relays for back-rest OFF");
-}
-
-
-
-
-//==============================
-//========= runLegrest =========
-//==============================
-//abstract functions that can be used to set the state of leg rest
-// 0 = OFF;  <0 = DOWN;  >0 = UP
-void runLegrest(float targetDirection){
-    if (targetDirection > 0) {
-        setLegrestUp();
-        ESP_LOGD(TAG, "Leg-rest: coordinate = %.1f => run UP", targetDirection);
-    } else if (targetDirection < 0) {
-        setLegrestDown();
-        ESP_LOGD(TAG, "Leg-rest: coordinate = %.1f => run DOWN", targetDirection);
-    } else {
-        setLegrestOff();
-        ESP_LOGD(TAG, "Leg-rest: coordinate = %.1f => OFF", targetDirection);
     }
-}
+
-//set to certain state
+    //apply new state
-void runLegrest(restState_t targetState){
+    ESP_LOGI(TAG, "[%s] switching from state '%s' to '%s'", name, restStateStr[state], restStateStr[targetState]);
-    switch (targetState){
+    state = targetState;
+    timestamp_lastChange = esp_log_timestamp(); //TODO use this to estimate position
+    switch (state)
+    {
     case REST_UP:
-            setLegrestUp();
+        gpio_set_level(gpio_down, 0);
+        gpio_set_level(gpio_up, 1);
         break;
     case REST_DOWN:
-            setLegrestDown();
+        gpio_set_level(gpio_down, 1);
+        gpio_set_level(gpio_up, 0);
         break;
     case REST_OFF:
-            setLegrestOff();
+        gpio_set_level(gpio_down, 1);
+        gpio_set_level(gpio_up, 0);
         break;
     }
 }
 
 
-//==============================
+
-//========= runBackrest =========
+//====================================
-//==============================
+//====== controlChairAdjustment ======
-//abstract functions that can be used to set the state of back rest
+//====================================
-// 0 = OFF;  <0 = DOWN;  >0 = UP
+//function that controls the two rests according to joystick data (applies threshold, defines direction)
-void runBackrest(float targetDirection){
+//TODO:
-    if (targetDirection > 0) {
+// - add separate task that controls chair adjustment
-        setBackrestUp();
+//    - timeout
-        ESP_LOGD(TAG, "Back-rest: coordinate = %.1f => run UP", targetDirection);
+//    - track position
-    } else if (targetDirection < 0) {
+//    - auto-adjust: move to position while driving
-        setBackrestDown();
+//    - control via app
-        ESP_LOGD(TAG, "Back-rest: coordinate = %.1f => run DOWN", targetDirection);
+// - add delay betweem direction change
-    } else {
+void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cControlledRest * backRest){
-        setBackrestOff();
+	//--- variables ---
-        ESP_LOGD(TAG, "back-rest: coordinate = %.1f => off", targetDirection);
+    float stickThreshold = 0.3; //min coordinate for motor to start
-    }
+
-}
+    //--- control rest motors ---
-//set to certain state
+    //leg rest (x-axis)
-void runBackrest(restState_t targetState){
+    if (data.x > stickThreshold) legRest->setState(REST_UP);
-    switch (targetState){
+    else if (data.x < -stickThreshold) legRest->setState(REST_DOWN);
-        case REST_UP:
+    //back rest (y-axis)
-            setBackrestUp();
+    if (data.y > stickThreshold) backRest->setState(REST_UP);
-            break;
+    else if (data.y < -stickThreshold) backRest->setState(REST_DOWN);
-        case REST_DOWN:
-            setBackrestDown();
-            break;
-        case REST_OFF:
-            setBackrestOff();
-            break;
-    }
 }

common/chairAdjust.hpp

@@ -1,28 +1,41 @@
 #pragma once
 
+#include "joystick.hpp"
+
 typedef enum {
     REST_OFF = 0,
-    REST_DOWN = -1,
+    REST_DOWN,
-    REST_UP = 1
+    REST_UP
 } restState_t;
 
-//Set direction functions for leg-rest
+extern const char* restStateStr[];
-void setLegrestUp();
-void setLegrestDown();
-void setLegrestOff();
-
-//Set direction functions for back-rest
-void setBackrestUp();
-void setBackrestDown();
-void setBackrestOff();
 
 
-//Run leg-rest with target direction/state
+//=====================================
-// 0 = OFF;  <0 = DOWN;  >0 = UP
+//======= cControlledRest class =======
-void runLegrest(float targetDirection);
+//=====================================
-void runLegrest(restState_t targetState);
+//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);
+    void setState(restState_t targetState);
+    void stop();
 
-//Run back-rest with target direction/state
+    private:
-// 0 = OFF;  <0 = DOWN;  >0 = UP
+    void init();
-void runBackrest(float targetDirection);
+
-void runBackrest(restState_t targetState);
+    char name[32];
+    gpio_num_t gpio_up;
+    gpio_num_t gpio_down;
+    restState_t state;
+    const uint32_t travelDuration = 5000;
+    uint32_t timestamp_lastChange;
+    float currentPosition = 0;
+};
+
+//====================================
+//====== controlChairAdjustment ======
+//====================================
+//function that controls the two rests according to joystick data (applies threshold, defines direction)
+void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cControlledRest * backRest);

common/joystick.cpp

@@ -570,35 +570,3 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data){
 
     return commands;
 }
-
-
-
-
-
-//=============================================
-//====== joystick_ControlChairAdjustment ======
-//=============================================
-//function that controls the motors for adjusting the chair position using joystick input
-//FIXME: turn off after timeout / function not called anymore? => separate task
-//TODO: store current position
-//FIXME: control with webinterface too -> conflict? => separate task
-void joystick_ControlChairAdjustment(joystickData_t data, bool disable){
-	//--- variables ---
-    float radiusThreshold = 0.5; //min radius where movement starts
-    //TODO: Add additional tolerance range where coordinates snaps to axis (move 1 motor only) -> run scaleCoordinate and evaluagePosition again:
-    //float axisThreshold = 0.2; //axis tolerance (snap to 1 motor only)
-    //float ratio = fabs(data.angle) / 90; //90degree = x=0 || 0degree = y=0
-
-    //--- off threshold ---
-    //do not run when threshold not reached
-    if (data.radius < radiusThreshold){
-        data.x = 0;
-        data.y = 0;
-    }
-
-    //--- run rest motors ---
-    //state/direction depends on coodrdinate sign
-    runLegrest(data.x);
-    runBackrest(data.y);
-
-}

common/joystick.hpp

@@ -12,7 +12,6 @@ extern "C"
 
 #include <cmath>
 #include "types.hpp"
-#include "chairAdjust.hpp"
 
 
 //======================================
@@ -117,14 +116,6 @@ motorCommands_t joystick_generateCommandsShaking(joystickData_t data );
 
 
 
-//=============================================
-//====== joystick_ControlChairAdjustment ======
-//=============================================
-//function that controls the motors for adjusting the chair position using joystick input
-void joystick_ControlChairAdjustment(joystickData_t data, bool disable);
-
-
-
 //==============================
 //====== scaleCoordinate =======
 //==============================