281 lines
11 KiB
C++
281 lines
11 KiB
C++
extern "C"
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{
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#include <stdio.h>
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#include <esp_system.h>
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#include <esp_event.h>
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#include "freertos/FreeRTOS.h"
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#include "esp_log.h"
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}
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#include "button.hpp"
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#include "encoder.hpp"
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#include "display.hpp"
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// tag for logging
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static const char *TAG = "button";
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//======================================
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//============ button task =============
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//======================================
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// task that handles the button interface/commands
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void task_button(void *task_button_parameters)
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{
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task_button_parameters_t *objects = (task_button_parameters_t *)task_button_parameters;
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ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
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// create button instance
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buttonCommands commandButton(objects->control, objects->joystick, objects->encoderQueue, objects->motorLeft, objects->motorRight, objects->legRest, objects->backRest, objects->buzzer);
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// start handle loop
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commandButton.startHandleLoop();
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}
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//-----------------------------
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//-------- constructor --------
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//-----------------------------
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buttonCommands::buttonCommands(
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controlledArmchair *control_f,
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evaluatedJoystick *joystick_f,
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QueueHandle_t encoderQueue_f,
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controlledMotor * motorLeft_f,
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controlledMotor *motorRight_f,
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cControlledRest *legRest_f,
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cControlledRest *backRest_f,
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buzzer_t *buzzer_f)
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{
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// copy object pointers
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control = control_f;
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joystick = joystick_f;
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encoderQueue = encoderQueue_f;
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motorLeft = motorLeft_f;
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motorRight = motorRight_f;
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buzzer = buzzer_f;
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legRest = legRest_f;
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backRest = backRest_f;
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// TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
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}
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//----------------------------
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//--------- action -----------
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//----------------------------
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//function that runs commands depending on a count value
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void buttonCommands::action (uint8_t count, bool lastPressLong){
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//--- variables ---
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bool decelEnabled; //for different beeping when toggling
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commandSimple_t cmds[8]; //array for commands for automatedArmchair_c
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//--- get joystick position ---
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//in case joystick is used for additional cases:
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//joystickData_t stickData = joystick->getData();
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//--- run actions based on count ---
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switch (count)
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{
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// ## no command ##
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default:
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ESP_LOGE(TAG, "no command for count=%d and long=%d defined", count, lastPressLong);
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buzzer->beep(3, 200, 100);
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break;
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case 1:
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// ## switch to MENU_SETTINGS state ##
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if (lastPressLong)
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{
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ESP_LOGW(TAG, "1x long press -> clear encoder queue and change to mode 'menu mode select'");
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buzzer->beep(5, 50, 30);
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// clear encoder event queue (prevent menu from exiting immediately due to long press event just happend)
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vTaskDelay(200 / portTICK_PERIOD_MS);
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//TODO move encoder queue clear to changeMode() method?
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rotary_encoder_event_t ev;
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while (xQueueReceive(encoderQueue, &ev, 0) == pdPASS);
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control->changeMode(controlMode_t::MENU_MODE_SELECT);
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}
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// ## toggle joystick freeze ##
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else if (control->getCurrentMode() == controlMode_t::MASSAGE)
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{
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control->toggleFreezeInputMassage();
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}
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// ## define joystick center ##
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else
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{
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// note: disabled joystick calibration due to accidential trigger
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//joystick->defineCenter();
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}
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break;
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case 2:
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// ## switch to ADJUST_CHAIR mode ##
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if (lastPressLong)
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{
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ESP_LOGW(TAG, "cmd %d: switch to ADJUST_CHAIR", count);
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control->changeMode(controlMode_t::ADJUST_CHAIR);
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}
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// ## toggle IDLE ##
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else
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{
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ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
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control->toggleIdle(); // toggle between idle and previous/default mode
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}
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break;
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case 3:
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// ## switch to JOYSTICK mode ##
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ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
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control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
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break;
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case 4:
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// ## switch to HTTP mode ##
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ESP_LOGW(TAG, "cmd %d: switch to HTTP", count);
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control->changeMode(controlMode_t::HTTP); //switch to HTTP mode
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break;
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case 5:
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// ## switch to MENU_SETTINGS state ##
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ESP_LOGW(TAG, "5x press -> clear encoder queue and change to mode 'menu settings'");
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buzzer->beep(20, 20, 10);
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vTaskDelay(200 / portTICK_PERIOD_MS);
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// clear encoder event queue (prevent menu from using previous events)
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rotary_encoder_event_t ev;
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while (xQueueReceive(encoderQueue, &ev, 0) == pdPASS);
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control->changeMode(controlMode_t::MENU_SETTINGS);
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break;
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case 6:
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// ## switch to MASSAGE mode ##
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ESP_LOGW(TAG, "switch to MASSAGE");
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control->changeMode(controlMode_t::MASSAGE); //switch to MASSAGE mode
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break;
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case 7:
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legRest->setTargetPercent(100);
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backRest->setTargetPercent(0);
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ESP_LOGW(TAG, "7x TESTING: set leg/back rest to 100/0");
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break;
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case 8:
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// ## toggle "sport-mode" ##
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//toggle deceleration fading between on and off
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//decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
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//motorRight->toggleFade(fadeType_t::DECEL);
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decelEnabled = motorLeft->toggleFade(fadeType_t::ACCEL); //TODO remove/simplify this using less functions
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motorRight->toggleFade(fadeType_t::ACCEL);
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ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
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if (decelEnabled){
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buzzer->beep(3, 60, 50);
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} else {
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buzzer->beep(1, 1000, 1);
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}
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break;
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case 12:
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// ## toggle alternative stick mapping ##
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control->toggleAltStickMapping();
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break;
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}
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}
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//-----------------------------
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//------ startHandleLoop ------
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//-----------------------------
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// when not in MENU_SETTINGS mode, repeatedly receives events from encoder button
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// and takes the corresponding action
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// this function has to be started once in a separate task
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#define INPUT_TIMEOUT 500 // duration of no button events, after which action is run (implicitly also is 'long-press' time)
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void buttonCommands::startHandleLoop()
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{
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//-- variables --
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static bool isPressed = false;
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static rotary_encoder_event_t event; // store event data
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int rotateCount = 0; // temporary count clicks encoder was rotated
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// int count = 0; (from class)
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while (1)
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{
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//-- disable functionality when in menu mode --
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//(display task uses encoder in that mode)
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if (control->getCurrentMode() == controlMode_t::MENU_SETTINGS
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|| control->getCurrentMode() == controlMode_t::MENU_MODE_SELECT)
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{
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//do nothing every loop cycle
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ESP_LOGD(TAG, "in MENU_SETTINGS or MENU_MODE_SELECT mode -> button commands disabled");
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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continue;
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}
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//-- get events from encoder --
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if (xQueueReceive(encoderQueue, &event, INPUT_TIMEOUT / portTICK_PERIOD_MS))
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{
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control->resetTimeout(); // user input -> reset switch to IDLE timeout
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switch (event.type)
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{
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break;
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case RE_ET_BTN_PRESSED:
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ESP_LOGD(TAG, "Button pressed");
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buzzer->beep(1, 65, 0);
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isPressed = true;
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count++; // count each pressed event
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break;
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case RE_ET_BTN_RELEASED:
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ESP_LOGD(TAG, "Button released");
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isPressed = false; // rest stored state
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break;
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case RE_ET_CHANGED:
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if (isPressed){
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/////### scroll through status pages when PRESSED + ROTATED ###
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///if (event.diff > 0)
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/// display_rotateStatusPage(true, true); // select NEXT status screen, stay at last element (dont rotate to first)
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///else
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/// display_rotateStatusPage(false, true); // select PREVIOUS status screen, stay at first element (dont rotate to last)
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//### adjust back support when PRESSED + ROTATED ###
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if (event.diff > 0)
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backRest->setTargetPercent(backRest->getTargetPercent() - 5);
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else
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backRest->setTargetPercent(backRest->getTargetPercent() + 5);
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// show temporary notification on display
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char buf[8];
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snprintf(buf, 8, "%.1f%%", backRest->getTargetPercent());
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display_showNotification(1000, "moving Rest:", "LEG", buf);
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}
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//### adjust leg support when ROTATED ###
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else
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{
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// increment target position each click
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// TODO: ignore first 2 clicks
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// TODO: control back rest too?
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if (event.diff > 0)
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legRest->setTargetPercent(legRest->getTargetPercent() - 5);
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else
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legRest->setTargetPercent(legRest->getTargetPercent() + 5);
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// show temporary notification on display
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char buf[8];
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snprintf(buf, 8, "%.1f%%", legRest->getTargetPercent());
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display_showNotification(1000, "moving Rest:", "LEG", buf);
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}
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buzzer->beep(1, 90, 0);
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break;
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case RE_ET_BTN_LONG_PRESSED:
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case RE_ET_BTN_CLICKED:
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default:
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break;
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}
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}
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else // timeout (no event received within TIMEOUT)
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{
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// encoder was pressed
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if (count > 0)
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{
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//-- run action with count of presses --
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ESP_LOGI(TAG, "timeout: count=%d, lastPressLong=%d -> running action", count, isPressed);
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buzzer->beep(count, 50, 50, 200); //beep count, with 200ms gap before next queued beeps can start
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action(count, isPressed); // run action - if currently still on the last press is considered long
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count = 0; // reset count
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}
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else {
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ESP_LOGD(TAG, "no button event received in this cycle (count=0)");
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}
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} //end queue
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} //end while(1)
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} //end function
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