Add functions to send button-event to control task

- control.cpp:  - Add method sendButtonEvent to control class
                - joystick mode: define joystick center at button event
                - massage mode: toggle freezing of joystick input at
                  button event
- button.cpp: remove reboot command (1x press)
- button.cpp: add command sendButtonEvent to control task (1x press)

main/button.cpp

@@ -44,11 +44,13 @@ void buttonCommands::action (uint8_t count){
             break;
 
         case 1:
-            ESP_LOGW(TAG, "RESTART");
+            //ESP_LOGW(TAG, "RESTART");
-            buzzer->beep(1,1000,1);
+            //buzzer->beep(1,1000,1);
-            vTaskDelay(1000 / portTICK_PERIOD_MS);
+            //vTaskDelay(1000 / portTICK_PERIOD_MS);
-            esp_restart();
+            //esp_restart();
 
+            ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
+            control->sendButtonEvent(count);
             break;
 
         case 2:

main/control.cpp

@@ -61,6 +61,7 @@ void controlledArmchair::startHandleLoop() {
                 mode = controlMode_t::IDLE;
                 break;
 
+
             case controlMode_t::IDLE:
                 //copy preset commands for idling both motors
                 commands = cmds_bothMotorsIdle;
@@ -69,7 +70,9 @@ void controlledArmchair::startHandleLoop() {
                 vTaskDelay(200 / portTICK_PERIOD_MS);
                 break;
 
+
             case controlMode_t::JOYSTICK:
+                vTaskDelay(20 / portTICK_PERIOD_MS);
                 //get current joystick data with getData method of evaluatedJoystick
                 stickData = joystick_l->getData();
                 //additionaly scale coordinates (more detail in slower area)
@@ -80,19 +83,39 @@ void controlledArmchair::startHandleLoop() {
                 motorRight->setTarget(commands.right.state, commands.right.duty); 
                 motorLeft->setTarget(commands.left.state, commands.left.duty); 
                 //TODO make motorctl.setTarget also accept motorcommand struct directly
-                vTaskDelay(20 / portTICK_PERIOD_MS);
+
+                //--- button event ---
+                if (buttonEvent){
+                    joystick_l->defineCenter();
+                    buzzer->beep(2, 200, 100);
+                }
                 break;
 
+
             case controlMode_t::MASSAGE:
-                //generate motor commands
+                vTaskDelay(20 / portTICK_PERIOD_MS);
+                //--- read joystick ---
+                //only update joystick data when input not frozen
+                if (!freezeInput){
+                    stickData = joystick_l->getData();
+                }
+
+                //--- generate motor commands ---
                 //pass joystick data from getData method of evaluatedJoystick to generateCommandsShaking function
-                commands = joystick_generateCommandsShaking(joystick_l->getData());
+                commands = joystick_generateCommandsShaking(stickData);
                 //apply motor commands
                 motorRight->setTarget(commands.right.state, commands.right.duty); 
                 motorLeft->setTarget(commands.left.state, commands.left.duty); 
-                vTaskDelay(20 / portTICK_PERIOD_MS);
+
+                //--- button event ---
+                if (buttonEvent){
+                    //toggle freeze of input (lock joystick at current values)
+                    freezeInput = !freezeInput;
+                    buzzer->beep(2, 200, 100);
+                }
                 break;
 
+
             case controlMode_t::HTTP:
                 //--- get joystick data from queue ---
                 //Note this function waits several seconds (httpconfig.timeoutMs) for data to arrive, otherwise Center data or NULL is returned
@@ -111,9 +134,17 @@ void controlledArmchair::startHandleLoop() {
                 motorLeft->setTarget(commands.left.state, commands.left.duty); 
                break;
 
+
               //  //TODO: add other modes here
         }
 
+        //--- reset button event --- (only one run of handle loop)
+        //TODO: what if variable gets set durin above code? -> mutex around entire handle loop
+        if (buttonEvent == true){
+            ESP_LOGI(TAG, "resetting button event");
+            buttonEvent = false;
+        }
+
 
         //-----------------------
         //------ slow loop ------
@@ -142,10 +173,24 @@ void controlledArmchair::resetTimeout(){
 
 
 
+//------------------------------------
+//--------- sendButtonEvent ----------
+//------------------------------------
+void controlledArmchair::sendButtonEvent(uint8_t count){
+    //TODO mutex - if not replaced with queue
+    ESP_LOGI(TAG, "setting button event");
+    buttonEvent = true;
+    buttonCount = count;
+}
+
+
+
 //------------------------------------
 //---------- handleTimeout -----------
 //------------------------------------
-float inactivityTolerance = 10; //percentage the duty can vary since last timeout check and still counts as incative
+//percentage the duty can vary since last timeout check and still counts as incative 
+//TODO: add this to config
+float inactivityTolerance = 10; 
 
 //local function that checks whether two values differ more than a given tolerance
 bool validateActivity(float dutyOld, float dutyNow, float tolerance){

main/control.hpp

@@ -58,6 +58,10 @@ class controlledArmchair {
         //function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
         void resetTimeout();
 
+        //function for sending a button event (e.g. from button task at event) to control task
+        //TODO: use queue instead?
+        void sendButtonEvent(uint8_t count);
+
     private:
 
         //--- functions ---
@@ -83,6 +87,13 @@ class controlledArmchair {
         //variables for http mode
         uint32_t http_timestamp_lastData = 0;
 
+        //variables for MASSAGE mode
+        bool freezeInput = false;
+        
+        //variable to store button event
+        bool buttonEvent = false;
+        uint8_t buttonCount = 0;
+
         //definition of mode enum
         controlMode_t mode = controlMode_t::IDLE;