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Control: Rework button functionality - standalone

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- re-enable button functionality
- make button independent of controlledmotor objects
- disable 2x eject support command
- disable 8x toggle fading command
This commit is contained in:
jonny_jr9 2023-08-30 20:09:19 +02:00
parent 455b6f0456
commit d25f8cd381
3 changed files with 248 additions and 246 deletions
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400
board_control/main/button.cpp
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@ -1,3 +1,4 @@
#include "auto.hpp"
extern "C" extern "C"
{ {
#include <stdio.h> #include <stdio.h>
@ -17,200 +18,205 @@ static const char * TAG = "button";
//FIXME needs rework, motorleft/right objectn not available anymore //FIXME needs rework, motorleft/right objectn not available anymore
// //----------------------------- //-----------------------------
// //-------- constructor -------- //-------- constructor --------
// //----------------------------- //-----------------------------
// buttonCommands::buttonCommands(gpio_evaluatedSwitch * button_f, evaluatedJoystick * joystick_f, controlledArmchair * control_f, buzzer_t * buzzer_f, controlledMotor * motorLeft_f, controlledMotor * motorRight_f){ buttonCommands::buttonCommands(
// //copy object pointers gpio_evaluatedSwitch * button_f,
// button = button_f; evaluatedJoystick * joystick_f,
// joystick = joystick_f; controlledArmchair * control_f,
// control = control_f; buzzer_t * buzzer_f
// buzzer = buzzer_f; ){
// motorLeft = motorLeft_f; //copy object pointers
// motorRight = motorRight_f; button = button_f;
// //TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)? joystick = joystick_f;
// } control = control_f;
// buzzer = buzzer_f;
// //TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
// }
// //----------------------------
// //--------- action -----------
// //----------------------------
// //function that runs commands depending on a count value //----------------------------
// void buttonCommands::action (uint8_t count, bool lastPressLong){ //--------- action -----------
// //--- variable declarations --- //----------------------------
// bool decelEnabled; //for different beeping when toggling //function that runs commands depending on a count value
// commandSimple_t cmds[8]; //array for commands for automatedArmchair void buttonCommands::action (uint8_t count, bool lastPressLong){
// //--- variable declarations ---
// //--- get joystick position --- bool decelEnabled; //for different beeping when toggling
// //joystickData_t stickData = joystick->getData(); commandSimple_t cmds[8]; //array for commands for automatedArmchair
//
// //--- actions based on count --- //--- get joystick position ---
// switch (count){ //joystickData_t stickData = joystick->getData();
// //no such command
// default: //--- actions based on count ---
// ESP_LOGE(TAG, "no command for count=%d defined", count); switch (count){
// buzzer->beep(3, 400, 100); //no such command
// break; default:
// ESP_LOGE(TAG, "no command for count=%d defined", count);
// case 1: buzzer->beep(3, 400, 100);
// //restart contoller when 1x long pressed break;
// if (lastPressLong){
// ESP_LOGW(TAG, "RESTART"); case 1:
// buzzer->beep(1,1000,1); //restart contoller when 1x long pressed
// vTaskDelay(1000 / portTICK_PERIOD_MS); if (lastPressLong){
// esp_restart(); ESP_LOGW(TAG, "RESTART");
// return; buzzer->beep(1,1000,1);
// } vTaskDelay(1000 / portTICK_PERIOD_MS);
// esp_restart();
// ESP_LOGW(TAG, "cmd %d: sending button event to control task", count); return;
// //-> define joystick center or toggle freeze input (executed in control task) }
// control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
// break; ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
// case 2: //-> define joystick center or toggle freeze input (executed in control task)
// //run automatic commands to lift leg support when pressed 1x short 1x long control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
// if (lastPressLong){ break;
// //define commands case 2:
// cmds[0] = //TODO no use for leg support from 1.0 anymore, add other functionality
// { //run automatic commands to lift leg support when pressed 1x short 1x long
// .motorCmds = { //if (lastPressLong){
// .left = {motorstate_t::REV, 90}, // //define commands
// .right = {motorstate_t::REV, 90} // cmds[0] =
// }, // {
// .msDuration = 1200, // .motorCmds = {
// .fadeDecel = 800, // .left = {motorstate_t::REV, 90},
// .fadeAccel = 1300, // .right = {motorstate_t::REV, 90}
// .instruction = auto_instruction_t::NONE // },
// }; // .msDuration = 1200,
// cmds[1] = // .fadeDecel = 800,
// { // .fadeAccel = 1300,
// .motorCmds = { // .instruction = auto_instruction_t::NONE
// .left = {motorstate_t::FWD, 70}, // };
// .right = {motorstate_t::FWD, 70} // cmds[1] =
// }, // {
// .msDuration = 70, // .motorCmds = {
// .fadeDecel = 0, // .left = {motorstate_t::FWD, 70},
// .fadeAccel = 300, // .right = {motorstate_t::FWD, 70}
// .instruction = auto_instruction_t::NONE // },
// }; // .msDuration = 70,
// cmds[2] = // .fadeDecel = 0,
// { // .fadeAccel = 300,
// .motorCmds = { // .instruction = auto_instruction_t::NONE
// .left = {motorstate_t::IDLE, 0}, // };
// .right = {motorstate_t::IDLE, 0} // cmds[2] =
// }, // {
// .msDuration = 10, // .motorCmds = {
// .fadeDecel = 800, // .left = {motorstate_t::IDLE, 0},
// .fadeAccel = 1300, // .right = {motorstate_t::IDLE, 0}
// .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE // },
// }; // .msDuration = 10,
// // .fadeDecel = 800,
// //send commands to automatedArmchair command queue // .fadeAccel = 1300,
// armchair.addCommands(cmds, 3); // .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE
// // };
// //change mode to AUTO
// control->changeMode(controlMode_t::AUTO); // //send commands to automatedArmchair command queue
// return; // armchair.addCommands(cmds, 3);
// }
// // //change mode to AUTO
// //toggle idle when 2x pressed // control->changeMode(controlMode_t::AUTO);
// ESP_LOGW(TAG, "cmd %d: toggle IDLE", count); // return;
// control->toggleIdle(); //toggle between idle and previous/default mode //}
// break;
// //toggle idle when 2x pressed
// ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
// case 3: control->toggleIdle(); //toggle between idle and previous/default mode
// ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count); break;
// control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
// break;
// case 3:
// case 4: ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
// ESP_LOGW(TAG, "cmd %d: toggle between HTTP and JOYSTICK", count); control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
// control->toggleModes(controlMode_t::HTTP, controlMode_t::JOYSTICK); //toggle between HTTP and JOYSTICK mode break;
// break;
// case 4:
// case 6: ESP_LOGW(TAG, "cmd %d: toggle between HTTP and JOYSTICK", count);
// ESP_LOGW(TAG, "cmd %d: toggle between MASSAGE and JOYSTICK", count); control->toggleModes(controlMode_t::HTTP, controlMode_t::JOYSTICK); //toggle between HTTP and JOYSTICK mode
// control->toggleModes(controlMode_t::MASSAGE, controlMode_t::JOYSTICK); //toggle between MASSAGE and JOYSTICK mode break;
// break;
// case 6:
// case 8: ESP_LOGW(TAG, "cmd %d: toggle between MASSAGE and JOYSTICK", count);
// //toggle deceleration fading between on and off control->toggleModes(controlMode_t::MASSAGE, controlMode_t::JOYSTICK); //toggle between MASSAGE and JOYSTICK mode
// decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL); break;
// motorRight->toggleFade(fadeType_t::DECEL);
// ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled); // case 8:
// if (decelEnabled){ // //TODO rework this with uart config
// buzzer->beep(3, 60, 50); // //toggle deceleration fading between on and off
// } else { // decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
// buzzer->beep(1, 1000, 1); // motorRight->toggleFade(fadeType_t::DECEL);
// } // ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
// break; // if (decelEnabled){
// // buzzer->beep(3, 60, 50);
// case 12: // } else {
// ESP_LOGW(TAG, "cmd %d: sending button event to control task", count); // buzzer->beep(1, 1000, 1);
// //-> toggle altStickMapping (executed in control task) // }
// control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1)? break;
// break;
// case 12:
// } ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
// } //-> toggle altStickMapping (executed in control task)
// control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1)?
// break;
//
// }
// //----------------------------- }
// //------ startHandleLoop ------
// //-----------------------------
// //this function has to be started once in a separate task
// //repeatedly evaluates and processes button events then takes the corresponding action
// void buttonCommands::startHandleLoop() { //-----------------------------
// //------ startHandleLoop ------
// while(1) { //-----------------------------
// vTaskDelay(20 / portTICK_PERIOD_MS); //this function has to be started once in a separate task
// //run handle function of evaluatedSwitch object //repeatedly evaluates and processes button events then takes the corresponding action
// button->handle(); void buttonCommands::startHandleLoop() {
//
// //--- count button presses and run action --- while(1) {
// switch(state) { vTaskDelay(20 / portTICK_PERIOD_MS);
// case inputState_t::IDLE: //wait for initial button press //run handle function of evaluatedSwitch object
// if (button->risingEdge) { button->handle();
// count = 1;
// buzzer->beep(1, 65, 0); //--- count button presses and run action ---
// timestamp_lastAction = esp_log_timestamp(); switch(state) {
// state = inputState_t::WAIT_FOR_INPUT; case inputState_t::IDLE: //wait for initial button press
// ESP_LOGI(TAG, "first button press detected -> waiting for further events"); if (button->risingEdge) {
// } count = 1;
// break; buzzer->beep(1, 65, 0);
// timestamp_lastAction = esp_log_timestamp();
// case inputState_t::WAIT_FOR_INPUT: //wait for further presses state = inputState_t::WAIT_FOR_INPUT;
// //button pressed again ESP_LOGI(TAG, "first button press detected -> waiting for further events");
// if (button->risingEdge){ }
// count++; break;
// buzzer->beep(1, 65, 0);
// timestamp_lastAction = esp_log_timestamp(); case inputState_t::WAIT_FOR_INPUT: //wait for further presses
// ESP_LOGI(TAG, "another press detected -> count=%d -> waiting for further events", count); //button pressed again
// } if (button->risingEdge){
// //timeout count++;
// else if (esp_log_timestamp() - timestamp_lastAction > 1000) { buzzer->beep(1, 65, 0);
// state = inputState_t::IDLE; timestamp_lastAction = esp_log_timestamp();
// buzzer->beep(count, 50, 50); ESP_LOGI(TAG, "another press detected -> count=%d -> waiting for further events", count);
// //TODO: add optional "bool wait" parameter to beep function to delay until finished beeping }
// ESP_LOGI(TAG, "timeout - running action function for count=%d", count); //timeout
// //--- run action function --- else if (esp_log_timestamp() - timestamp_lastAction > 1000) {
// //check if still pressed state = inputState_t::IDLE;
// bool lastPressLong = false; buzzer->beep(count, 50, 50);
// if (button->state == true){ //TODO: add optional "bool wait" parameter to beep function to delay until finished beeping
// //run special case when last press was longer than timeout ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
// lastPressLong = true; //--- run action function ---
// } //check if still pressed
// //run action function with current count of button presses bool lastPressLong = false;
// action(count, lastPressLong); if (button->state == true){
// } //run special case when last press was longer than timeout
// break; lastPressLong = true;
// } }
// } //run action function with current count of button presses
// } action(count, lastPressLong);
// }
// break;
// }
// }
}

76
board_control/main/button.hpp
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@ -11,44 +11,40 @@
// //=================================== //===================================
// //====== buttonCommands class ======= //====== buttonCommands class =======
// //=================================== //===================================
// //class which runs commands depending on the count a button was pressed //class which runs commands depending on the count a button was pressed
// class buttonCommands { class buttonCommands {
// public: public:
// //--- constructor --- //--- constructor ---
// buttonCommands ( buttonCommands (
// gpio_evaluatedSwitch * button_f, gpio_evaluatedSwitch * button_f,
// evaluatedJoystick * joystick_f, evaluatedJoystick * joystick_f,
// controlledArmchair * control_f, controlledArmchair * control_f,
// buzzer_t * buzzer_f, buzzer_t * buzzer_f
// controlledMotor * motorLeft_f, );
// controlledMotor * motorRight_f
// ); //--- functions ---
// //the following function has to be started once in a separate task.
// //--- functions --- //repeatedly evaluates and processes button events then takes the corresponding action
// //the following function has to be started once in a separate task. void startHandleLoop();
// //repeatedly evaluates and processes button events then takes the corresponding action
// void startHandleLoop(); private:
// //--- functions ---
// private: void action(uint8_t count, bool lastPressLong);
// //--- functions ---
// void action(uint8_t count, bool lastPressLong); //--- objects ---
// gpio_evaluatedSwitch* button;
// //--- objects --- evaluatedJoystick* joystick;
// gpio_evaluatedSwitch* button; controlledArmchair * control;
// evaluatedJoystick* joystick; buzzer_t* buzzer;
// controlledArmchair * control;
// buzzer_t* buzzer; //--- variables ---
// controlledMotor * motorLeft; uint8_t count = 0;
// controlledMotor * motorRight; uint32_t timestamp_lastAction = 0;
// enum class inputState_t {IDLE, WAIT_FOR_INPUT};
// //--- variables --- inputState_t state = inputState_t::IDLE;
// uint8_t count = 0;
// uint32_t timestamp_lastAction = 0; };
// enum class inputState_t {IDLE, WAIT_FOR_INPUT};
// inputState_t state = inputState_t::IDLE;
//
// };

18
board_control/main/main.cpp
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@ -71,13 +71,13 @@ void task_control( void * pvParameters ){
//============ button task ============= //============ button task =============
//====================================== //======================================
//task that handles the button interface/commands //task that handles the button interface/commands
//void task_button( void * pvParameters ){ void task_button( void * pvParameters ){
// ESP_LOGI(TAG, "Initializing command-button and starting handle loop"); ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
// //create button instance //create button instance
// buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer, &motorLeft, &motorRight); buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer);
// //start handle loop //start handle loop
// commandButton.startHandleLoop(); commandButton.startHandleLoop();
//} }
@ -169,7 +169,7 @@ extern "C" void app_main(void) {
//------------------------------ //------------------------------
//--- create task for buzzer --- //--- create task for buzzer ---
//------------------------------ //------------------------------
//xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL); xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);
//------------------------------- //-------------------------------
//--- create task for control --- //--- create task for control ---
@ -181,7 +181,7 @@ extern "C" void app_main(void) {
//--- create task for button --- //--- create task for button ---
//------------------------------ //------------------------------
//task that evaluates and processes the button input and runs the configured commands //task that evaluates and processes the button input and runs the configured commands
//xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL); xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);
//----------------------------------- //-----------------------------------
//--- create task for fan control --- //--- create task for fan control ---