From a5544adeb668f6ac1e71ef4f10dd95719af2ca88 Mon Sep 17 00:00:00 2001
From: jonny <jonny@wwad.de>
Date: Wed, 6 Mar 2024 10:59:21 +0100
Subject: [PATCH] Fix race condition causing bug: motors stay on after
mode-change
Add mutex to fix bug motors stay on when mode-change while driving
due to race condition when handle() still executing while mode change
Change joystick scaling parameters
control:
- add mutex to handle() and changemode() to prevent race condition
- outsource handle() method from createHandleLoop()
- change joystick scaling (reduce 'more detail in slower area')
- comments, formatting
---
board_single/main/control.cpp | 462 ++++++++++++++++++----------------
board_single/main/control.hpp | 10 +-
2 files changed, 254 insertions(+), 218 deletions(-)
diff --git a/board_single/main/control.cpp b/board_single/main/control.cpp
index d7f87cd..a59d91a 100644
--- a/board_single/main/control.cpp
+++ b/board_single/main/control.cpp
@@ -59,6 +59,9 @@ controlledArmchair::controlledArmchair(
// override default config value if maxDuty is found in nvs
loadMaxDuty();
+
+ // create semaphore for preventing race condition: mode-change operations while currently still executing certain mode
+ handleIteration_mutex = xSemaphoreCreateMutex();
}
@@ -75,188 +78,207 @@ void task_control( void * pvParameters ){
}
+
//----------------------------------
//---------- Handle loop -----------
//----------------------------------
-//function that repeatedly generates motor commands depending on the current mode
-void controlledArmchair::startHandleLoop() {
- while (1){
- ESP_LOGV(TAG, "control loop executing... mode=%s", controlModeStr[(int)mode]);
+// start endless loop that repeatedly calls handle() and handleTimeout() methods
+void controlledArmchair::startHandleLoop()
+{
+ while (1)
+ {
+ // mutex to prevent race condition with actions beeing run at mode change and previous mode still beeing executed
+ if (xSemaphoreTake(handleIteration_mutex, portMAX_DELAY) == pdTRUE)
+ {
+ //--- handle current mode ---
+ ESP_LOGV(TAG, "control loop executing... mode='%s'", controlModeStr[(int)mode]);
+ handle();
- switch(mode) {
- default:
- mode = controlMode_t::IDLE;
- break;
+ xSemaphoreGive(handleIteration_mutex);
+ } // end mutex
- case controlMode_t::IDLE:
- //copy preset commands for idling both motors - now done once at mode change
- //commands = cmds_bothMotorsIdle;
- //motorRight->setTarget(commands.right.state, commands.right.duty);
- //motorLeft->setTarget(commands.left.state, commands.left.duty);
- vTaskDelay(500 / portTICK_PERIOD_MS);
-#ifdef JOYSTICK_LOG_IN_IDLE
- // get joystick data and log it
- joystickData_t data joystick_l->getData();
- ESP_LOGI("JOYSTICK_LOG_IN_IDLE", "x=%.3f, y=%.3f, radius=%.3f, angle=%.3f, pos=%s, adcx=%d, adcy=%d",
- data.x, data.y, data.radius, data.angle,
- joystickPosStr[(int)data.position],
- objects->joystick->getRawX(), objects->joystick->getRawY());
-#endif
- break;
- //------- handle JOYSTICK mode -------
- case controlMode_t::JOYSTICK:
- vTaskDelay(50 / portTICK_PERIOD_MS);
- //get current joystick data with getData method of evaluatedJoystick
- stickDataLast = stickData;
- stickData = joystick_l->getData();
- //additionaly scale coordinates (more detail in slower area)
- joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.35); //TODO: add scaling parameters to config
- // generate motor commands
- // only generate when the stick data actually changed (e.g. stick stayed in center)
- if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
- {
- resetTimeout(); //user input -> reset switch to IDLE timeout
- commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
- // apply motor commands
- motorRight->setTarget(commands.right);
- motorLeft->setTarget(commands.left);
- }
- else
- {
- vTaskDelay(20 / portTICK_PERIOD_MS);
- ESP_LOGV(TAG, "analog joystick data unchanged at %s not updating commands", joystickPosStr[(int)stickData.position]);
- }
- break;
-
-
- //------- handle MASSAGE mode -------
- case controlMode_t::MASSAGE:
- vTaskDelay(10 / portTICK_PERIOD_MS);
- //--- read joystick ---
- // only update joystick data when input not frozen
- stickDataLast = stickData;
- if (!freezeInput)
- stickData = joystick_l->getData();
- //--- generate motor commands ---
- // only generate when the stick data actually changed (e.g. stick stayed in center)
- if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
- {
- resetTimeout(); // user input -> reset switch to IDLE timeout
- // pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
- commands = joystick_generateCommandsShaking(stickData);
- // apply motor commands
- motorRight->setTarget(commands.right);
- motorLeft->setTarget(commands.left);
- }
- break;
-
-
- //------- handle HTTP mode -------
- case controlMode_t::HTTP:
- //--- get joystick data from queue ---
- stickDataLast = stickData;
- stickData = httpJoystickMain_l->getData(); //get last stored data from receive queue (waits up to 500ms for new event to arrive)
- //scale coordinates additionally (more detail in slower area)
- joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.4); //TODO: add scaling parameters to config
- ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle);
- //--- generate motor commands ---
- //only generate when the stick data actually changed (e.g. no new data recevied via http)
- if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y ){
- resetTimeout(); // user input -> reset switch to IDLE timeout
- // Note: timeout (no data received) is handled in getData method
- commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
-
- //--- apply commands to motors ---
- motorRight->setTarget(commands.right);
- motorLeft->setTarget(commands.left);
- }
- else
- {
- ESP_LOGD(TAG, "http joystick data unchanged at %s not updating commands", joystickPosStr[(int)stickData.position]);
- }
- break;
-
-
- //------- handle AUTO mode -------
- case controlMode_t::AUTO:
- vTaskDelay(20 / portTICK_PERIOD_MS);
- //generate commands
- commands = automatedArmchair->generateCommands(&instruction);
- //--- apply commands to motors ---
- motorRight->setTarget(commands.right);
- motorLeft->setTarget(commands.left);
-
- //process received instruction
- switch (instruction) {
- case auto_instruction_t::NONE:
- break;
- case auto_instruction_t::SWITCH_PREV_MODE:
- toggleMode(controlMode_t::AUTO);
- break;
- case auto_instruction_t::SWITCH_JOYSTICK_MODE:
- changeMode(controlMode_t::JOYSTICK);
- break;
- case auto_instruction_t::RESET_ACCEL_DECEL:
- //enable downfading (set to default value)
- motorLeft->setFade(fadeType_t::DECEL, true);
- motorRight->setFade(fadeType_t::DECEL, true);
- //set upfading to default value
- motorLeft->setFade(fadeType_t::ACCEL, true);
- motorRight->setFade(fadeType_t::ACCEL, true);
- break;
- case auto_instruction_t::RESET_ACCEL:
- //set upfading to default value
- motorLeft->setFade(fadeType_t::ACCEL, true);
- motorRight->setFade(fadeType_t::ACCEL, true);
- break;
- case auto_instruction_t::RESET_DECEL:
- //enable downfading (set to default value)
- motorLeft->setFade(fadeType_t::DECEL, true);
- motorRight->setFade(fadeType_t::DECEL, true);
- break;
- }
- break;
-
-
- //------- handle ADJUST_CHAIR mode -------
- case controlMode_t::ADJUST_CHAIR:
- vTaskDelay(100 / portTICK_PERIOD_MS);
- //--- read joystick ---
- stickDataLast = stickData;
- stickData = joystick_l->getData();
- //--- control armchair position with joystick input ---
- // dont update when stick data did not change
- if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
- {
- resetTimeout(); // user input -> reset switch to IDLE timeout
- controlChairAdjustment(joystick_l->getData(), legRest, backRest);
- }
- break;
-
-
- //------- handle MENU mode -------
- case controlMode_t::MENU:
- //nothing to do here, display task handles the menu
- vTaskDelay(1000 / portTICK_PERIOD_MS);
- break;
-
- //TODO: add other modes here
- }
-
- //-----------------------
- //------ slow loop ------
- //-----------------------
- //this section is run about every 5s (+500ms)
- if (esp_log_timestamp() - timestamp_SlowLoopLastRun > 5000) {
- ESP_LOGV(TAG, "running slow loop... time since last run: %.1fs", (float)(esp_log_timestamp() - timestamp_SlowLoopLastRun)/1000);
+ //--- slow loop ---
+ // this section is run approx every 5s (+500ms)
+ if (esp_log_timestamp() - timestamp_SlowLoopLastRun > 5000)
+ {
+ ESP_LOGV(TAG, "running slow loop... time since last run: %.1fs", (float)(esp_log_timestamp() - timestamp_SlowLoopLastRun) / 1000);
timestamp_SlowLoopLastRun = esp_log_timestamp();
- //run function that detects timeout (switch to idle, or notify "forgot to turn off")
+ //--- handle timeouts ---
+ // run function that detects timeouts (switch to idle, or notify "forgot to turn off")
handleTimeout();
}
+ vTaskDelay(5 / portTICK_PERIOD_MS); // small delay necessary to give modeChange() a chance to take the mutex
+ // TODO: move mode specific delays from handle() to here, to prevent unnecessary long mutex lock
+ }
+}
- }//end while(1)
-}//end startHandleLoop
+//-------------------------------------
+//---------- Handle control -----------
+//-------------------------------------
+// function that repeatedly generates motor commands and runs actions depending on the current mode
+void controlledArmchair::handle()
+{
+
+ switch (mode)
+ {
+ default:
+ //switch to IDLE mode when current mode is not implemented
+ changeMode(controlMode_t::IDLE);
+ break;
+
+ //------- handle IDLE -------
+ case controlMode_t::IDLE:
+ vTaskDelay(500 / portTICK_PERIOD_MS);
+ // TODO repeatedly set motors to idle, in case driver bugs? Currently 15s motorctl timeout would have to pass
+#ifdef JOYSTICK_LOG_IN_IDLE
+ // get joystick data and log it
+ joystickData_t data joystick_l->getData();
+ ESP_LOGI("JOYSTICK_LOG_IN_IDLE", "x=%.3f, y=%.3f, radius=%.3f, angle=%.3f, pos=%s, adcx=%d, adcy=%d",
+ data.x, data.y, data.radius, data.angle,
+ joystickPosStr[(int)data.position],
+ objects->joystick->getRawX(), objects->joystick->getRawY());
+#endif
+ break;
+
+ //------- handle JOYSTICK mode -------
+ case controlMode_t::JOYSTICK:
+ vTaskDelay(50 / portTICK_PERIOD_MS);
+ // get current joystick data with getData method of evaluatedJoystick
+ stickDataLast = stickData;
+ stickData = joystick_l->getData();
+ // additionaly scale coordinates (more detail in slower area)
+ joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.5); // TODO: add scaling parameters to config
+ // generate motor commands
+ // only generate when the stick data actually changed (e.g. stick stayed in center)
+ if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
+ {
+ resetTimeout(); // user input -> reset switch to IDLE timeout
+ commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
+ // apply motor commands
+ motorRight->setTarget(commands.right);
+ motorLeft->setTarget(commands.left);
+ }
+ else
+ {
+ vTaskDelay(20 / portTICK_PERIOD_MS);
+ ESP_LOGV(TAG, "analog joystick data unchanged at %s not updating commands", joystickPosStr[(int)stickData.position]);
+ }
+ break;
+
+ //------- handle MASSAGE mode -------
+ case controlMode_t::MASSAGE:
+ vTaskDelay(10 / portTICK_PERIOD_MS);
+ //--- read joystick ---
+ // only update joystick data when input not frozen
+ stickDataLast = stickData;
+ if (!freezeInput)
+ stickData = joystick_l->getData();
+ //--- generate motor commands ---
+ // only generate when the stick data actually changed (e.g. stick stayed in center)
+ if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
+ {
+ resetTimeout(); // user input -> reset switch to IDLE timeout
+ // pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
+ commands = joystick_generateCommandsShaking(stickData);
+ // apply motor commands
+ motorRight->setTarget(commands.right);
+ motorLeft->setTarget(commands.left);
+ }
+ break;
+
+ //------- handle HTTP mode -------
+ case controlMode_t::HTTP:
+ //--- get joystick data from queue ---
+ stickDataLast = stickData;
+ stickData = httpJoystickMain_l->getData(); // get last stored data from receive queue (waits up to 500ms for new event to arrive)
+ // scale coordinates additionally (more detail in slower area)
+ joystick_scaleCoordinatesLinear(&stickData, 0.6, 0.4); // TODO: add scaling parameters to config
+ ESP_LOGD(TAG, "generating commands from x=%.3f y=%.3f radius=%.3f angle=%.3f", stickData.x, stickData.y, stickData.radius, stickData.angle);
+ //--- generate motor commands ---
+ // only generate when the stick data actually changed (e.g. no new data recevied via http)
+ if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
+ {
+ resetTimeout(); // user input -> reset switch to IDLE timeout
+ // Note: timeout (no data received) is handled in getData method
+ commands = joystick_generateCommandsDriving(stickData, &joystickGenerateCommands_config);
+
+ //--- apply commands to motors ---
+ motorRight->setTarget(commands.right);
+ motorLeft->setTarget(commands.left);
+ }
+ else
+ {
+ ESP_LOGD(TAG, "http joystick data unchanged at %s not updating commands", joystickPosStr[(int)stickData.position]);
+ }
+ break;
+
+ //------- handle AUTO mode -------
+ case controlMode_t::AUTO:
+ vTaskDelay(20 / portTICK_PERIOD_MS);
+ // generate commands
+ commands = automatedArmchair->generateCommands(&instruction);
+ //--- apply commands to motors ---
+ motorRight->setTarget(commands.right);
+ motorLeft->setTarget(commands.left);
+
+ // process received instruction
+ switch (instruction)
+ {
+ case auto_instruction_t::NONE:
+ break;
+ case auto_instruction_t::SWITCH_PREV_MODE:
+ toggleMode(controlMode_t::AUTO);
+ break;
+ case auto_instruction_t::SWITCH_JOYSTICK_MODE:
+ changeMode(controlMode_t::JOYSTICK);
+ break;
+ case auto_instruction_t::RESET_ACCEL_DECEL:
+ // enable downfading (set to default value)
+ motorLeft->setFade(fadeType_t::DECEL, true);
+ motorRight->setFade(fadeType_t::DECEL, true);
+ // set upfading to default value
+ motorLeft->setFade(fadeType_t::ACCEL, true);
+ motorRight->setFade(fadeType_t::ACCEL, true);
+ break;
+ case auto_instruction_t::RESET_ACCEL:
+ // set upfading to default value
+ motorLeft->setFade(fadeType_t::ACCEL, true);
+ motorRight->setFade(fadeType_t::ACCEL, true);
+ break;
+ case auto_instruction_t::RESET_DECEL:
+ // enable downfading (set to default value)
+ motorLeft->setFade(fadeType_t::DECEL, true);
+ motorRight->setFade(fadeType_t::DECEL, true);
+ break;
+ }
+ break;
+
+ //------- handle ADJUST_CHAIR mode -------
+ case controlMode_t::ADJUST_CHAIR:
+ vTaskDelay(100 / portTICK_PERIOD_MS);
+ //--- read joystick ---
+ stickDataLast = stickData;
+ stickData = joystick_l->getData();
+ //--- control armchair position with joystick input ---
+ // dont update when stick data did not change
+ if (stickData.x != stickDataLast.x || stickData.y != stickDataLast.y)
+ {
+ resetTimeout(); // user input -> reset switch to IDLE timeout
+ controlChairAdjustment(joystick_l->getData(), legRest, backRest);
+ }
+ break;
+
+ //------- handle MENU mode -------
+ case controlMode_t::MENU:
+ // nothing to do here, display task handles the menu
+ vTaskDelay(1000 / portTICK_PERIOD_MS);
+ break;
+
+ // TODO: add other modes here
+ }
+
+} // end - handle method
@@ -383,35 +405,43 @@ void controlledArmchair::handleTimeout()
//----------- changeMode ------------
//-----------------------------------
//function to change to a specified control mode
-void controlledArmchair::changeMode(controlMode_t modeNew) {
+void controlledArmchair::changeMode(controlMode_t modeNew)
+{
- //exit if target mode is already active
- if (mode == modeNew) {
+ // exit if target mode is already active
+ if (mode == modeNew)
+ {
ESP_LOGE(TAG, "changeMode: Already in target mode '%s' -> nothing to change", controlModeStr[(int)mode]);
return;
}
- //copy previous mode
- modePrevious = mode;
- //store time changed (needed for timeout)
- timestamp_lastModeChange = esp_log_timestamp();
+ // mutex to wait for current handle iteration (control-task) to finish
+ // prevents race conditions where operations when changing mode are run but old mode gets handled still
+ ESP_LOGI(TAG, "changeMode: waiting for current handle() iteration to finish...");
+ if (xSemaphoreTake(handleIteration_mutex, portMAX_DELAY) == pdTRUE)
+ {
+ // copy previous mode
+ modePrevious = mode;
+ // store time changed (needed for timeout)
+ timestamp_lastModeChange = esp_log_timestamp();
- ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]);
+ ESP_LOGW(TAG, "=== changing mode from %s to %s ===", controlModeStr[(int)mode], controlModeStr[(int)modeNew]);
- //========== commands change FROM mode ==========
- //run functions when changing FROM certain mode
- switch(modePrevious){
- default:
- ESP_LOGI(TAG, "noting to execute when changing FROM this mode");
- break;
+ //========== commands change FROM mode ==========
+ // run functions when changing FROM certain mode
+ switch (modePrevious)
+ {
+ default:
+ ESP_LOGI(TAG, "noting to execute when changing FROM this mode");
+ break;
- case controlMode_t::IDLE:
+ case controlMode_t::IDLE:
#ifdef JOYSTICK_LOG_IN_IDLE
- ESP_LOGI(TAG, "disabling debug output for 'evaluatedJoystick'");
- esp_log_level_set("evaluatedJoystick", ESP_LOG_WARN); //FIXME: loglevel from config
+ ESP_LOGI(TAG, "disabling debug output for 'evaluatedJoystick'");
+ esp_log_level_set("evaluatedJoystick", ESP_LOG_WARN); // FIXME: loglevel from config
#endif
- buzzer->beep(1,200,100);
- break;
+ buzzer->beep(1, 200, 100);
+ break;
case controlMode_t::HTTP:
ESP_LOGW(TAG, "switching from HTTP mode -> stopping wifi-ap");
@@ -420,41 +450,40 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
case controlMode_t::MASSAGE:
ESP_LOGW(TAG, "switching from MASSAGE mode -> restoring fading, reset frozen input");
- //TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here...
- //enable downfading (set to default value)
+ // TODO: fix issue when downfading was disabled before switching to massage mode - currently it gets enabled again here...
+ // enable downfading (set to default value)
motorLeft->setFade(fadeType_t::DECEL, true);
motorRight->setFade(fadeType_t::DECEL, true);
- //set upfading to default value
+ // set upfading to default value
motorLeft->setFade(fadeType_t::ACCEL, true);
motorRight->setFade(fadeType_t::ACCEL, true);
- //reset frozen input state
+ // reset frozen input state
freezeInput = false;
break;
case controlMode_t::AUTO:
ESP_LOGW(TAG, "switching from AUTO mode -> restoring fading to default");
- //TODO: fix issue when downfading was disabled before switching to auto mode - currently it gets enabled again here...
- //enable downfading (set to default value)
+ // TODO: fix issue when downfading was disabled before switching to auto mode - currently it gets enabled again here...
+ // enable downfading (set to default value)
motorLeft->setFade(fadeType_t::DECEL, true);
motorRight->setFade(fadeType_t::DECEL, true);
- //set upfading to default value
+ // set upfading to default value
motorLeft->setFade(fadeType_t::ACCEL, true);
motorRight->setFade(fadeType_t::ACCEL, true);
break;
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
+ // 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);
break;
+ }
- }
-
-
- //========== commands change TO mode ==========
- //run functions when changing TO certain mode
- switch(modeNew){
+ //========== commands change TO mode ==========
+ // run functions when changing TO certain mode
+ switch (modeNew)
+ {
default:
ESP_LOGI(TAG, "noting to execute when changing TO this mode");
break;
@@ -482,24 +511,25 @@ void controlledArmchair::changeMode(controlMode_t modeNew) {
case controlMode_t::MASSAGE:
ESP_LOGW(TAG, "switching to MASSAGE mode -> reducing fading");
- uint32_t shake_msFadeAccel = 500; //TODO: move this to config
+ uint32_t shake_msFadeAccel = 500; // TODO: move this to config
- //disable downfading (max. deceleration)
+ // disable downfading (max. deceleration)
motorLeft->setFade(fadeType_t::DECEL, false);
motorRight->setFade(fadeType_t::DECEL, false);
- //reduce upfading (increase acceleration)
+ // reduce upfading (increase acceleration)
motorLeft->setFade(fadeType_t::ACCEL, shake_msFadeAccel);
motorRight->setFade(fadeType_t::ACCEL, shake_msFadeAccel);
break;
+ }
- }
+ //--- update mode to new mode ---
+ mode = modeNew;
- //--- update mode to new mode ---
- //TODO: add mutex
- mode = modeNew;
+ // unlock mutex for control task to continue handling modes
+ xSemaphoreGive(handleIteration_mutex);
+ } // end mutex
}
-
//TODO simplify the following 3 functions? can be replaced by one?
//-----------------------------------
@@ -526,7 +556,7 @@ void controlledArmchair::toggleModes(controlMode_t modePrimary, controlMode_t mo
}
//switch to primary mode when any other mode is active
else {
- ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]);
+ ESP_LOGW(TAG, "toggleModes: switching from '%s' to primary mode '%s'", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]);
//buzzer->beep(4,200,100);
changeMode(modePrimary);
}
@@ -542,13 +572,13 @@ void controlledArmchair::toggleMode(controlMode_t modePrimary){
//switch to previous mode when primary is already active
if (mode == modePrimary){
- ESP_LOGW(TAG, "toggleMode: switching from primaryMode %s to previousMode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrevious]);
+ ESP_LOGW(TAG, "toggleMode: switching from primaryMode '%s' to previousMode '%s'", controlModeStr[(int)mode], controlModeStr[(int)modePrevious]);
//buzzer->beep(2,200,100);
changeMode(modePrevious); //switch to previous mode
}
//switch to primary mode when any other mode is active
else {
- ESP_LOGW(TAG, "toggleModes: switching from %s to primary mode %s", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]);
+ ESP_LOGW(TAG, "toggleModes: switching from '%s' to primary mode '%s'", controlModeStr[(int)mode], controlModeStr[(int)modePrimary]);
//buzzer->beep(4,200,100);
changeMode(modePrimary);
}
diff --git a/board_single/main/control.hpp b/board_single/main/control.hpp
index 049055b..ebca9b3 100644
--- a/board_single/main/control.hpp
+++ b/board_single/main/control.hpp
@@ -37,7 +37,7 @@ typedef struct control_config_t {
//=======================================
//task that controls the armchair modes and initiates commands generation and applies them to driver
//parameter: pointer to controlledArmchair object
-void task_control( void * pvParameters );
+void task_control( void * controlledArmchair );
@@ -64,7 +64,7 @@ class controlledArmchair {
);
//--- functions ---
- //task that repeatedly generates motor commands depending on the current mode
+ //endless loop that repeatedly calls handle() and handleTimeout() methods respecting mutex
void startHandleLoop();
//function that changes to a specified control mode
@@ -104,6 +104,9 @@ class controlledArmchair {
private:
//--- functions ---
+ //generate motor commands or run actions depending on the current mode
+ void handle();
+
//function that evaluates whether there is no activity/change on the motor duty for a certain time, if so a switch to IDLE is issued. - has to be run repeatedly in a slow interval
void handleTimeout();
@@ -149,6 +152,9 @@ class controlledArmchair {
//struct with config parameters
control_config_t config;
+ //mutex to prevent race condition between handle() and changeMode()
+ SemaphoreHandle_t handleIteration_mutex;
+
//store joystick data
joystickData_t stickData = joystickData_center;
joystickData_t stickDataLast = joystickData_center;