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

Add timeout to HTTP mode, Change Queue size

Browse Source 
- control.cpp: Add feature to HTTP mode, that turns motors off when at least one motor is still on
  but no data was received for more than 3 seconds (e.g. wifi connection
  lost)

- change queue size from 20 to 1 - no need to store multiple joystick
  data since only the latest one is relevant

- add "preset command" to control.hpp to set both motors to IDLE
This commit is contained in:
jonny_ji7 2022-06-17 21:10:20 +02:00
parent 3cb5bc410b
commit d0b3b6fb78
3 changed files with 41 additions and 11 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

31
main/control.cpp
View File

@ -50,12 +50,13 @@ void controlledArmchair::startHandleLoop() {
switch(mode) {
default:
mode = controlMode_t::IDLE;
vTaskDelay(200 / portTICK_PERIOD_MS);
break;
case controlMode_t::IDLE:
motorRight->setTarget(motorstate_t::IDLE, 0);
motorLeft->setTarget(motorstate_t::IDLE, 0);
//copy preset commands for idling both motors
commands = cmds_bothMotorsIdle;
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
vTaskDelay(200 / portTICK_PERIOD_MS);
break;
@ -81,19 +82,35 @@ void controlledArmchair::startHandleLoop() {
//create emptry struct for receiving data from http function
joystickData_t dataRead = { };
//get joystick data from queue
//--- get joystick data from queue ---
if( xQueueReceive( joystickDataQueue, &dataRead, pdMS_TO_TICKS(500) ) ) {
ESP_LOGD(TAG, "received data from http queue: x=%.3f y=%.3f radius=%.3f angle=%.3f",
//reset timestamp lastAction
http_timestamp_lastData = esp_log_timestamp();
ESP_LOGD(TAG, "received data from http queue -> generating commands\n x=%.3f y=%.3f radius=%.3f angle=%.3f",
dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
//--- generate motor commands ---
//pass received joystick data from http queue to generatecommands function from joystick.hpp
commands = joystick_generateCommandsDriving(dataRead);
ESP_LOGD(TAG, "generated motor commands");
//apply commands to motor control objects
//--- apply commands to motors ---
//TODO make motorctl.setTarget also accept motorcommand struct directly
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
}
//--- timeout ---
//turn off motors when motor still on and no new data received for some time
if (
(esp_log_timestamp() - http_timestamp_lastData > 3000) //no data received for x seconds
&& (commands.left.state != motorstate_t::IDLE || commands.right.state != motorstate_t::IDLE) //at least one motor is still running
){
ESP_LOGE(TAG, "TIMEOUT - no data received for 3s -> stopping motors");
//copy preset commands for idling both motors
commands = cmds_bothMotorsIdle;
motorRight->setTarget(commands.right.state, commands.right.duty);
motorLeft->setTarget(commands.left.state, commands.left.duty);
}
break;

13
main/control.hpp
View File

@ -50,11 +50,24 @@ class controlledArmchair {
//struct for motor commands returned by generate functions of each mode
motorCommands_t commands;
//variables for http mode
uint32_t http_timestamp_lastData = 0;
//definition of mode enum
controlMode_t mode = controlMode_t::IDLE;
//variable to store mode when toggling IDLE mode
controlMode_t modePrevious = controlMode_t::JOYSTICK; //default mode
//command preset for idling motors
const motorCommand_t cmd_motorIdle = {
.state = motorstate_t::IDLE,
.duty = 0
};
const motorCommands_t cmds_bothMotorsIdle = {
.left = cmd_motorIdle,
.right = cmd_motorIdle
};
};

8
main/http.cpp
View File

@ -21,7 +21,7 @@ extern "C"
static const char * TAG = "http";
static httpd_handle_t server = NULL;
QueueHandle_t joystickDataQueue = xQueueCreate( 20, sizeof( struct joystickData_t ) );
QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
//joystickData_t http_readFromJoystickQueue
@ -148,9 +148,9 @@ esp_err_t on_joystick_url(httpd_req_t *req)
//--- send data to control task via queue ---
xQueueSend( joystickDataQueue, ( void * )&data, ( TickType_t ) 0 );
//xQueueSend( joystickDataQueue, ( void * )&data, ( TickType_t ) 0 );
//changed to length = 1 -> overwrite - older values are no longer relevant
xQueueOverwrite( joystickDataQueue, ( void * )&data );
//--- return http response ---