#include "auto.hpp"
extern "C"
{
#include <stdio.h>
#include <esp_system.h>
#include <esp_event.h>
#include "freertos/FreeRTOS.h"
#include "esp_log.h"
}
#include "button.hpp"
//tag for logging
static const char * TAG = "button";
//FIXME needs rework, motorleft/right objectn not available anymore
//-----------------------------
//-------- constructor --------
//-----------------------------
buttonCommands::buttonCommands(
gpio_evaluatedSwitch * button_f,
evaluatedJoystick * joystick_f,
controlledArmchair * control_f,
buzzer_t * buzzer_f
){
//copy object pointers
button = button_f;
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){
//--- variable declarations ---
bool decelEnabled; //for different beeping when toggling
commandSimple_t cmds[8]; //array for commands for automatedArmchair
//--- get joystick position ---
//joystickData_t stickData = joystick->getData();
//--- actions based on count ---
switch (count){
//no such command
default:
ESP_LOGE(TAG, "no command for count=%d defined", count);
buzzer->beep(3, 400, 100);
break;
case 1:
//restart contoller when 1x long pressed
if (lastPressLong){
ESP_LOGW(TAG, "RESTART");
buzzer->beep(1,1000,1);
vTaskDelay(1000 / portTICK_PERIOD_MS);
esp_restart();
return;
}
ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
//-> 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;
case 2:
//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
//if (lastPressLong){
// //define commands
// cmds[0] =
// {
// .motorCmds = {
// .left = {motorstate_t::REV, 90},
// .right = {motorstate_t::REV, 90}
// },
// .msDuration = 1200,
// .fadeDecel = 800,
// .fadeAccel = 1300,
// .instruction = auto_instruction_t::NONE
// };
// cmds[1] =
// {
// .motorCmds = {
// .left = {motorstate_t::FWD, 70},
// .right = {motorstate_t::FWD, 70}
// },
// .msDuration = 70,
// .fadeDecel = 0,
// .fadeAccel = 300,
// .instruction = auto_instruction_t::NONE
// };
// cmds[2] =
// {
// .motorCmds = {
// .left = {motorstate_t::IDLE, 0},
// .right = {motorstate_t::IDLE, 0}
// },
// .msDuration = 10,
// .fadeDecel = 800,
// .fadeAccel = 1300,
// .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE
// };
// //send commands to automatedArmchair command queue
// armchair.addCommands(cmds, 3);
// //change mode to AUTO
// control->changeMode(controlMode_t::AUTO);
// return;
//}
//toggle idle when 2x pressed
ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
control->toggleIdle(); //toggle between idle and previous/default mode
break;
case 3:
ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
break;
case 4:
ESP_LOGW(TAG, "cmd %d: toggle between HTTP and JOYSTICK", count);
control->toggleModes(controlMode_t::HTTP, controlMode_t::JOYSTICK); //toggle between HTTP and JOYSTICK mode
break;
case 6:
ESP_LOGW(TAG, "cmd %d: toggle between MASSAGE and JOYSTICK", count);
control->toggleModes(controlMode_t::MASSAGE, controlMode_t::JOYSTICK); //toggle between MASSAGE and JOYSTICK mode
break;
// case 8:
// //TODO rework this with uart config
// //toggle deceleration fading between on and off
// decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
// motorRight->toggleFade(fadeType_t::DECEL);
// 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:
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() {
while(1) {
vTaskDelay(20 / portTICK_PERIOD_MS);
//run handle function of evaluatedSwitch object
button->handle();
//--- count button presses and run action ---
switch(state) {
case inputState_t::IDLE: //wait for initial button press
if (button->risingEdge) {
count = 1;
buzzer->beep(1, 65, 0);
timestamp_lastAction = esp_log_timestamp();
state = inputState_t::WAIT_FOR_INPUT;
ESP_LOGI(TAG, "first button press detected -> waiting for further events");
}
break;
case inputState_t::WAIT_FOR_INPUT: //wait for further presses
//button pressed again
if (button->risingEdge){
count++;
buzzer->beep(1, 65, 0);
timestamp_lastAction = esp_log_timestamp();
ESP_LOGI(TAG, "another press detected -> count=%d -> waiting for further events", count);
}
//timeout
else if (esp_log_timestamp() - timestamp_lastAction > 1000) {
state = inputState_t::IDLE;
buzzer->beep(count, 50, 50);
//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);
//--- run action function ---
//check if still pressed
bool lastPressLong = false;
if (button->state == true){
//run special case when last press was longer than timeout
lastPressLong = true;
}
//run action function with current count of button presses
action(count, lastPressLong);
}
break;
}
}
}