Create class 'automatedArmchair', Add AUTO mode

- Create class automatedArmchair in new files auto.hpp and auto.cpp
  This class currently makes it possible to queue up and run commands
  (motorstate, duty for certaion duration),

- add new file to cmakelists
- create automatedArmchair instance 'armchair' in config.cpp
- add loglevel configuration to main.cpp
- add AUTO mode to control.cpp (no way to change to mode yet)

main/CMakeLists.txt

@@ -11,6 +11,7 @@ idf_component_register(
         "fan.cpp"
         "wifi.c"
         "http.cpp"
+        "auto.cpp"
     INCLUDE_DIRS 
         "."
     )

main/auto.cpp

@@ -0,0 +1,70 @@
+#include "auto.hpp"
+
+//tag for logging
+static const char * TAG = "automatedArmchair";
+
+
+//=============================
+//======== constructor ========
+//=============================
+automatedArmchair::automatedArmchair(void) {
+    //create command queue
+    commandQueue = xQueueCreate( 32, sizeof( commandSimple_t ) ); //TODO add max size to config?
+}
+
+
+
+//==============================
+//====== generateCommands ======
+//==============================
+motorCommands_t automatedArmchair::generateCommands() {
+    //check if previous command is finished
+    if ( esp_log_timestamp() > timestampCmdFinished ) {
+        //get next command from queue
+        if( xQueueReceive( commandQueue, &cmdCurrent, pdMS_TO_TICKS(0) ) ) {
+            ESP_LOGI(TAG, "running next command from queue...");
+            //calculate timestamp the command is finished
+            timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration;
+            //copy the new commands
+            motorCommands = cmdCurrent.commands;
+        } else { //queue empty
+            ESP_LOGD(TAG, "no new command in queue -> set motors to IDLE");
+            motorCommands = cmds_bothMotorsIdle;
+        }
+    } else { //previous command still running
+        ESP_LOGD(TAG, "command still running -> no change");
+    }
+
+    return motorCommands;
+}
+
+
+
+//============================
+//======== addCommand ========
+//============================
+//function that adds a basic command to the queue
+void automatedArmchair::addCommand(commandSimple_t command) {
+    //add command to queue
+     if ( xQueueSend( commandQueue, ( void * )&command, ( TickType_t ) 0 ) ){
+         ESP_LOGI(TAG, "Successfully inserted command to queue");
+     } else {
+         ESP_LOGE(TAG, "Failed to insert new command to queue");
+     }
+}
+
+
+
+//===============================
+//======== clearCommands ========
+//===============================
+//function that deletes all pending/queued commands
+//e.g. when switching modes
+motorCommands_t automatedArmchair::clearCommands() {
+    //clear command queue
+    xQueueReset( commandQueue );
+    ESP_LOGW(TAG, "command queue was successfully emptied");
+    //return commands for idling both motors
+    return cmds_bothMotorsIdle;
+}
+

main/auto.hpp

@@ -0,0 +1,74 @@
+#pragma once
+
+extern "C"
+{
+#include "freertos/FreeRTOS.h"
+#include "freertos/task.h"
+#include "esp_log.h"
+#include "esp_err.h"
+}
+
+#include "freertos/queue.h"
+#include <cmath>
+#include "motorctl.hpp"
+
+
+
+//--------------------------------------------
+//---- struct, enum, variable declarations ---
+//--------------------------------------------
+//struct for a simple command
+//e.g. put motors in a certain state for certain time
+typedef struct {
+    motorCommands_t commands;
+    uint32_t msDuration;
+} commandSimple_t;
+
+
+
+//------------------------------------
+//----- automatedArmchair class  -----
+//------------------------------------
+class automatedArmchair {
+    public:
+        //--- methods ---
+        //constructor
+        automatedArmchair(void);
+        //function to generate motor commands
+        //can be also seen as handle function 
+        //TODO: maybe create separate task for handling at mode switch and communicate with queue?
+        motorCommands_t generateCommands(); //repeatedly called by control task
+
+        //function that adds a basic command to the queue
+        void addCommand(commandSimple_t command);
+
+        //function that deletes all pending/queued commands
+        motorCommands_t clearCommands();
+
+
+    private:
+        //--- methods ---
+        //--- objects ---
+        //TODO: add buzzer here
+        //--- variables ---
+        //queue for storing pending commands
+        QueueHandle_t commandQueue = NULL;
+        //current running command
+        commandSimple_t cmdCurrent;
+        //timestamp current command is finished
+        uint32_t timestampCmdFinished = 0;
+
+        motorCommands_t motorCommands;
+
+        //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
+        };
+};
+
+

main/config.cpp

@@ -126,5 +126,7 @@ httpJoystick httpJoystickMain(configHttpJoystickMain);
 //create global control object
 controlledArmchair control(configControl, &buzzer, &motorLeft, &motorRight, &joystick, &httpJoystickMain);
 
+//create global automatedArmchair object (for auto-mode)
+automatedArmchair armchair;
 
 

main/config.hpp

@@ -9,6 +9,7 @@
 #include "control.hpp"
 #include "fan.hpp"
 #include "http.hpp"
+#include "auto.hpp"
 
 
 //create global controlledMotor instances for both motors
@@ -27,6 +28,9 @@ extern buzzer_t buzzer;
 //create global control object
 extern controlledArmchair control;
 
+//create global automatedArmchair object (for auto-mode)
+extern automatedArmchair armchair;
+
 //create global httpJoystick object
 extern httpJoystick httpJoystickMain;
 

main/control.cpp

@@ -121,6 +121,14 @@ void controlledArmchair::startHandleLoop() {
                 motorLeft->setTarget(commands.left.state, commands.left.duty); 
                break;
 
+
+            case controlMode_t::AUTO:
+                vTaskDelay(20 / portTICK_PERIOD_MS);
+               //generate commands
+               commands = armchair.generateCommands();
+               break;
+
+
               //  //TODO: add other modes here
         }
 

main/control.hpp

@@ -4,6 +4,7 @@
 #include "motorctl.hpp"
 #include "buzzer.hpp"
 #include "http.hpp"
+#include "auto.hpp"
 
 
 //--------------------------------------------

main/main.cpp

@@ -152,6 +152,7 @@ extern "C" void app_main(void) {
     esp_log_level_set("fan-control", ESP_LOG_INFO);
     esp_log_level_set("wifi", ESP_LOG_INFO);
     esp_log_level_set("http", ESP_LOG_INFO);
+    esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
 
     
     //----------------------------------------------