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Move config parameters from control to config

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- create new struct control_config_t with several variables previously
  hardcoded in control.cpp
- modified constructor: add config parameter
- add definition of config struct in config.cpp

typedef struct control_config_t {
    controlMode_t defaultMode;  //default mode after startup and toggling IDLE
    //--- timeout ---
    uint32_t timeoutMs;         //time of inactivity after which the mode gets switched to IDLE
    float timeoutTolerancePer;  //percentage the duty can vary between timeout checks considered still inactive
    //--- http mode ---
    float http_toleranceZeroPer;//percentage around joystick axis the coordinate snaps to 0
    float http_toleranceEndPer; //percentage before joystick end the coordinate snaps to 1/-1
    uint32_t http_timeoutMs;    //time no new data was received before the motors get turned off
This commit is contained in:
jonny_ji7 2022-06-21 10:32:08 +02:00
parent d32b0c5671
commit f38940b7bf
3 changed files with 51 additions and 10 deletions
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17
main/config.cpp
View File

@ -39,6 +39,21 @@ controlledMotor motorRight(configDriverRight, configMotorControl);
//------------------------------
//------- control config -------
//------------------------------
control_config_t configControl = {
.defaultMode = controlMode_t::JOYSTICK, //default mode after startup and toggling IDLE
//--- timeout ---
.timeoutMs = 30*1000, //time of inactivity after which the mode gets switched to IDLE
.timeoutTolerancePer = 5, //percentage the duty can vary between timeout checks considered still inactive
//--- http mode ---
.http_toleranceZeroPer = 5, //percentage around joystick axis the coordinate snaps to 0
.http_toleranceEndPer = 2, //percentage before joystick end the coordinate snaps to 1/-1
.http_timeoutMs = 3000 //time no new data was received before the motors get turned off
};
//--------------------------------------
@ -95,7 +110,7 @@ gpio_evaluatedSwitch buttonJoystick(GPIO_NUM_33, true, false); //pullup true, no
buzzer_t buzzer(GPIO_NUM_12, 100);
//create global control object
controlledArmchair control(&buzzer, &motorLeft, &motorRight);
controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight);

21
main/control.cpp
View File

@ -24,15 +24,21 @@ const char* controlModeStr[7] = {"IDLE", "JOYSTICK", "MASSAGE", "HTTP", "MQTT",
//-------- constructor --------
//-----------------------------
controlledArmchair::controlledArmchair (
control_config_t config_f,
buzzer_t * buzzer_f,
controlledMotor* motorLeft_f,
controlledMotor* motorRight_f
){
//copy configuration
config = config_f;
//copy object pointers
buzzer = buzzer_f;
motorLeft = motorLeft_f;
motorRight = motorRight_f;
//set default mode from config
modePrevious = config.defaultMode;
//TODO declare / configure controlled motors here instead of config (unnecessary that button object is globally available - only used here)?
}
@ -79,6 +85,7 @@ void controlledArmchair::startHandleLoop() {
break;
case controlMode_t::HTTP:
//TODO: outsource this code to http.cpp?
//create emptry struct for receiving data from http function
joystickData_t dataRead = { };
@ -91,10 +98,10 @@ void controlledArmchair::startHandleLoop() {
dataRead.x, dataRead.y, dataRead.radius, dataRead.angle);
//--- scale coordinates ---
//note: scaleCoordinate function currently can not handle negative input -> add offset to input
//note: scaleCoordinate function currently can not handle negative input -> added offset to input
// scaleCoordinate(input, min, max, center, tolerance_zero_per, tolerance_end_per)
dataRead.x = scaleCoordinate(dataRead.x+1, 0, 2, 1, 5, 2); //TODO: move tolerance to config (virtualJoystick or control_Config_t?)
dataRead.y = scaleCoordinate(dataRead.y+1, 0, 2, 1, 5, 2);
dataRead.x = scaleCoordinate(dataRead.x+1, 0, 2, 1, config.http_toleranceZeroPer, config.http_toleranceEndPer);
dataRead.y = scaleCoordinate(dataRead.y+1, 0, 2, 1, config.http_toleranceZeroPer, config.http_toleranceEndPer);
//--- calculate radius with new coordinates ---
dataRead.radius = sqrt(pow(dataRead.x,2) + pow(dataRead.y,2));
ESP_LOGD(TAG, "processed/scaled data: x=%.3f y=%.3f radius=%.3f", dataRead.x, dataRead.y, dataRead.radius);
@ -113,7 +120,7 @@ void controlledArmchair::startHandleLoop() {
//--- 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 //TODO: move timeout to config
(esp_log_timestamp() - http_timestamp_lastData > config.http_timeoutMs) //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");
@ -124,6 +131,7 @@ void controlledArmchair::startHandleLoop() {
}
break;
//TODO: add other modes here
}
@ -158,7 +166,6 @@ void controlledArmchair::resetTimeout(){
//------------------------------------
//---------- handleTimeout -----------
//------------------------------------
uint32_t msTimeout = 30000; //TODO move this to config #####################
float inactivityTolerance = 10; //percentage the duty can vary since last timeout check and still counts as incative
//local function that checks whether two values differ more than a given tolerance
@ -190,8 +197,8 @@ void controlledArmchair::handleTimeout(){
dutyRight_lastActivity = dutyRightNow;
}
//no activity on any motor and msTimeout exceeded
else if (esp_log_timestamp() - timestamp_lastActivity > msTimeout){
ESP_LOGI(TAG, "timeout check: [TIMEOUT], no activity for more than %.ds -> switch to idle", msTimeout/1000);
else if (esp_log_timestamp() - timestamp_lastActivity > config.timeoutMs){
ESP_LOGI(TAG, "timeout check: [TIMEOUT], no activity for more than %.ds -> switch to idle", config.timeoutMs/1000);
//toggle to idle mode
toggleIdle();
}

23
main/control.hpp
View File

@ -5,11 +5,27 @@
#include "buzzer.hpp"
//--------------------------------------------
//---- struct, enum, variable declarations ---
//--------------------------------------------
//enum that decides how the motors get controlled
enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO};
//extern controlMode_t mode;
//string array representing the mode enum (for printing the state as string)
extern const char* controlModeStr[7];
//struct with config parameters
typedef struct control_config_t {
controlMode_t defaultMode; //default mode after startup and toggling IDLE
//--- timeout ---
uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE
float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive
//--- http mode ---
float http_toleranceZeroPer;//percentage around joystick axis the coordinate snaps to 0
float http_toleranceEndPer; //percentage before joystick end the coordinate snaps to 1/-1
uint32_t http_timeoutMs; //time no new data was received before the motors get turned off
} control_config_t;
//==================================
@ -21,6 +37,7 @@ class controlledArmchair {
public:
//--- constructor ---
controlledArmchair (
control_config_t config_f,
buzzer_t* buzzer_f,
controlledMotor* motorLeft_f,
controlledMotor* motorRight_f
@ -56,6 +73,8 @@ class controlledArmchair {
//---variables ---
//struct for motor commands returned by generate functions of each mode
motorCommands_t commands;
//struct with config parameters
control_config_t config;
//variables for http mode
uint32_t http_timestamp_lastData = 0;
@ -64,7 +83,7 @@ class controlledArmchair {
controlMode_t mode = controlMode_t::IDLE;
//variable to store mode when toggling IDLE mode
controlMode_t modePrevious = controlMode_t::JOYSTICK; //default mode
controlMode_t modePrevious; //default mode
//command preset for idling motors
const motorCommand_t cmd_motorIdle = {