extern "C"
{
#include <stdio.h>
#include <esp_system.h>
#include <esp_event.h>
#include "freertos/FreeRTOS.h"
#include "esp_log.h"
}
#include "button.hpp"
#include "encoder.hpp"
#include "display.hpp"
// tag for logging
static const char *TAG = "button";
//======================================
//============ button task =============
//======================================
// task that handles the button interface/commands
void task_button(void *task_button_parameters)
{
task_button_parameters_t *objects = (task_button_parameters_t *)task_button_parameters;
ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
// create button instance
buttonCommands commandButton(objects->control, objects->joystick, objects->encoderQueue, objects->motorLeft, objects->motorRight, objects->legRest, objects->backRest, objects->buzzer);
// start handle loop
commandButton.startHandleLoop();
}
//-----------------------------
//-------- constructor --------
//-----------------------------
buttonCommands::buttonCommands(
controlledArmchair *control_f,
evaluatedJoystick *joystick_f,
QueueHandle_t encoderQueue_f,
controlledMotor * motorLeft_f,
controlledMotor *motorRight_f,
cControlledRest *legRest_f,
cControlledRest *backRest_f,
buzzer_t *buzzer_f)
{
// copy object pointers
control = control_f;
joystick = joystick_f;
encoderQueue = encoderQueue_f;
motorLeft = motorLeft_f;
motorRight = motorRight_f;
buzzer = buzzer_f;
legRest = legRest_f;
backRest = backRest_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){
//--- variables ---
bool decelEnabled; //for different beeping when toggling
commandSimple_t cmds[8]; //array for commands for automatedArmchair_c
//--- get joystick position ---
//in case joystick is used for additional cases:
//joystickData_t stickData = joystick->getData();
//--- run actions based on count ---
switch (count)
{
// ## no command ##
default:
ESP_LOGE(TAG, "no command for count=%d and long=%d defined", count, lastPressLong);
buzzer->beep(3, 200, 100);
break;
case 1:
// ## switch to MENU_SETTINGS state ##
if (lastPressLong)
{
ESP_LOGW(TAG, "1x long press -> clear encoder queue and change to mode 'menu mode select'");
buzzer->beep(5, 50, 30);
// clear encoder event queue (prevent menu from exiting immediately due to long press event just happend)
vTaskDelay(200 / portTICK_PERIOD_MS);
//TODO move encoder queue clear to changeMode() method?
rotary_encoder_event_t ev;
while (xQueueReceive(encoderQueue, &ev, 0) == pdPASS);
control->changeMode(controlMode_t::MENU_MODE_SELECT);
}
// ## toggle joystick freeze ##
else if (control->getCurrentMode() == controlMode_t::MASSAGE)
{
control->toggleFreezeInputMassage();
}
// ## define joystick center ##
else
{
// note: disabled joystick calibration due to accidential trigger
//joystick->defineCenter();
}
break;
case 2:
// ## switch to ADJUST_CHAIR mode ##
if (lastPressLong)
{
ESP_LOGW(TAG, "cmd %d: switch to ADJUST_CHAIR", count);
control->changeMode(controlMode_t::ADJUST_CHAIR);
}
// ## toggle IDLE ##
else
{
ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
control->toggleIdle(); // toggle between idle and previous/default mode
}
break;
case 3:
// ## switch to JOYSTICK mode ##
ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
break;
case 4:
// ## switch to HTTP mode ##
ESP_LOGW(TAG, "cmd %d: switch to HTTP", count);
control->changeMode(controlMode_t::HTTP); //switch to HTTP mode
break;
case 5:
// ## switch to MENU_SETTINGS state ##
ESP_LOGW(TAG, "5x press -> clear encoder queue and change to mode 'menu settings'");
buzzer->beep(20, 20, 10);
vTaskDelay(200 / portTICK_PERIOD_MS);
// clear encoder event queue (prevent menu from using previous events)
rotary_encoder_event_t ev;
while (xQueueReceive(encoderQueue, &ev, 0) == pdPASS);
control->changeMode(controlMode_t::MENU_SETTINGS);
break;
case 6:
// ## switch to MASSAGE mode ##
ESP_LOGW(TAG, "switch to MASSAGE");
control->changeMode(controlMode_t::MASSAGE); //switch to MASSAGE mode
break;
case 7:
legRest->setTargetPercent(100);
backRest->setTargetPercent(0);
ESP_LOGW(TAG, "7x TESTING: set leg/back rest to 100/0");
break;
case 8:
// ## toggle "sport-mode" ##
//toggle deceleration fading between on and off
//decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
//motorRight->toggleFade(fadeType_t::DECEL);
decelEnabled = motorLeft->toggleFade(fadeType_t::ACCEL); //TODO remove/simplify this using less functions
motorRight->toggleFade(fadeType_t::ACCEL);
ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
if (decelEnabled){
buzzer->beep(3, 60, 50);
} else {
buzzer->beep(1, 1000, 1);
}
break;
case 12:
// ## toggle alternative stick mapping ##
control->toggleAltStickMapping();
break;
}
}
//-----------------------------
//------ startHandleLoop ------
//-----------------------------
// when not in MENU_SETTINGS mode, repeatedly receives events from encoder button
// and takes the corresponding action
// this function has to be started once in a separate task
#define INPUT_TIMEOUT 600 // duration of no button events, after which action is run (implicitly also is 'long-press' time)
#define IGNORE_BUTTON_TIME_SINCE_LAST_ROTATE 2600 // time that has to be passed since last encoder rotate click for button count command to be accepted (e.g. prevent long press action after PRESS+ROTATE was used)
#define IGNORE_ROTATE_COUNT 1 //amount of ignored clicks before action is actually taken (ignore accidental touches)
void buttonCommands::startHandleLoop()
{
//-- variables --
static bool isPressed = false;
static rotary_encoder_event_t event; // store event data
int rotateCount = 0; // temporary count clicks encoder was rotated
uint32_t timestampLastAdjustChange = 0;
// int count = 0; (from class)
while (1)
{
//-- disable functionality when in menu mode --
//(display task uses encoder in that mode)
if (control->getCurrentMode() == controlMode_t::MENU_SETTINGS
|| control->getCurrentMode() == controlMode_t::MENU_MODE_SELECT)
{
//do nothing every loop cycle
ESP_LOGD(TAG, "in MENU_SETTINGS or MENU_MODE_SELECT mode -> button commands disabled");
vTaskDelay(1000 / portTICK_PERIOD_MS);
continue;
}
//-- get events from encoder --
if (xQueueReceive(encoderQueue, &event, INPUT_TIMEOUT / portTICK_PERIOD_MS))
{
control->resetTimeout(); // user input -> reset switch to IDLE timeout
switch (event.type)
{
break;
case RE_ET_BTN_PRESSED:
ESP_LOGD(TAG, "Button pressed");
buzzer->beep(1, 65, 0);
isPressed = true;
count++; // count each pressed event
break;
case RE_ET_BTN_RELEASED:
ESP_LOGD(TAG, "Button released");
isPressed = false; // rest stored state
break;
case RE_ET_CHANGED:
// ignore first clicks (dont ignore when changed position recently)
if ((rotateCount++ < IGNORE_ROTATE_COUNT) && ((esp_log_timestamp() - timestampLastAdjustChange) > IGNORE_BUTTON_TIME_SINCE_LAST_ROTATE))
{
buzzer->beep(1, 20, 0);
break;
}
else {
timestampLastAdjustChange = esp_log_timestamp();
}
if (isPressed){
/////### scroll through status pages when PRESSED + ROTATED ###
///if (event.diff > 0)
/// display_rotateStatusPage(true, true); // select NEXT status screen, stay at last element (dont rotate to first)
///else
/// display_rotateStatusPage(false, true); // select PREVIOUS status screen, stay at first element (dont rotate to last)
//### adjust back support when PRESSED + ROTATED ###
if (event.diff > 0)
backRest->setTargetPercent(backRest->getTargetPercent() - 5);
else
backRest->setTargetPercent(backRest->getTargetPercent() + 5);
// show temporary notification on display
char buf[8];
snprintf(buf, 8, "%.0f%%", backRest->getTargetPercent());
display_showNotification(IGNORE_BUTTON_TIME_SINCE_LAST_ROTATE, "moving Rest:", "BACK", buf);
}
//### adjust leg support when ROTATED ###
else
{
// increment target position each click
if (event.diff > 0)
legRest->setTargetPercent(legRest->getTargetPercent() - 10);
else
legRest->setTargetPercent(legRest->getTargetPercent() + 10);
// show temporary notification on display
char buf[8];
snprintf(buf, 8, "%.0f%%", legRest->getTargetPercent());
display_showNotification(2500, "moving Rest:", "LEG", buf);
}
buzzer->beep(1, 40, 0);
break;
case RE_ET_BTN_LONG_PRESSED:
case RE_ET_BTN_CLICKED:
default:
break;
}
}
else // timeout (no event received within TIMEOUT)
{
rotateCount = 0; // reset rotate count
// ignore button click events when "ROTATE+PRESSED" was just used
if (count > 0 && (esp_log_timestamp() - timestampLastAdjustChange < IGNORE_BUTTON_TIME_SINCE_LAST_ROTATE))
{
ESP_LOGW(TAG, "ignoring button count %d because encoder was rotated less than %d ms ago", count, IGNORE_BUTTON_TIME_SINCE_LAST_ROTATE);
count = 0;
}
// encoder was pressed
else if (count > 0)
{
//-- run action with count of presses --
ESP_LOGI(TAG, "timeout: count=%d, lastPressLong=%d -> running action", count, isPressed);
buzzer->beep(count, 50, 50, 200); //beep count, with 200ms gap before next queued beeps can start
action(count, isPressed); // run action - if currently still on the last press is considered long
count = 0; // reset count
}
else {
ESP_LOGD(TAG, "no button event received in this cycle (count=0)");
}
} //end queue
} //end while(1)
} //end function