2fcf17feda
- All files:
Modify almost all files to adjust functions and classes to
work with pointers to objects passed at task creation
instead of global variables from config.hpp
- Remove/clear config.hpp to get rid of all global variables
- main.cpp
- Create pointer to all shared (used in multiple tasks) objects in main
- remove evaluatedSwitch button object,
since joystick library is used to get switch events
- changes HTTP-mode
- always init http-server (do not enable/disable at mode change)
- pass url-handle function to init-htpp function
- add lambda function to pass method of instance for thatMajor Rework all files - Remove global variables, pass pointers to tasks
- All files:
Modify almost all files to adjust functions and classes to
work with pointers to objects passed at task creation
instead of global variables from config.hpp
- Remove/clear config.hpp to get rid of all global variables
- main.cpp
- Create pointer to all shared (used in multiple tasks) objects in main
- remove evaluatedSwitch button object,
since joystick library is used to get switch events
- changes HTTP-mode
- always init http-server (do not enable/disable at mode change)
- pass url-handle function to init-htpp function
- add lambda function to pass method of instance for that
NOTES: - tested on breakoutboard only
- known issue that slow encoder events are not recognized
(especially in menu) - slowing down motorctl helps
92 lines
3.2 KiB
C++
92 lines
3.2 KiB
C++
#include "auto.hpp"
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#include "config.hpp"
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//tag for logging
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static const char * TAG = "automatedArmchair";
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//=============================
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//======== constructor ========
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//=============================
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automatedArmchair_c::automatedArmchair_c(controlledMotor *motorLeft_f, controlledMotor *motorRight_f)
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{
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motorLeft = motorLeft_f;
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motorRight = motorRight_f;
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// create command queue
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commandQueue = xQueueCreate(32, sizeof(commandSimple_t)); // TODO add max size to config?
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}
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//==============================
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//====== generateCommands ======
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//==============================
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motorCommands_t automatedArmchair_c::generateCommands(auto_instruction_t * instruction) {
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//reset instruction
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*instruction = auto_instruction_t::NONE;
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//check if previous command is finished
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if ( esp_log_timestamp() > timestampCmdFinished ) {
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//get next command from queue
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if( xQueueReceive( commandQueue, &cmdCurrent, pdMS_TO_TICKS(500) ) ) {
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ESP_LOGI(TAG, "running next command from queue...");
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//copy instruction to be provided to control task
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*instruction = cmdCurrent.instruction;
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//set acceleration / fading parameters according to command
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motorLeft->setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
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motorRight->setFade(fadeType_t::DECEL, cmdCurrent.fadeDecel);
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motorLeft->setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
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motorRight->setFade(fadeType_t::ACCEL, cmdCurrent.fadeAccel);
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//calculate timestamp the command is finished
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timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration;
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//copy the new commands
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motorCommands = cmdCurrent.motorCmds;
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} else { //queue empty
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ESP_LOGD(TAG, "no new command in queue -> set motors to IDLE");
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motorCommands = motorCmds_bothMotorsIdle;
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}
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} else { //previous command still running
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ESP_LOGD(TAG, "command still running -> no change");
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}
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//TODO also return instructions via call by reference
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return motorCommands;
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}
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//============================
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//======== addCommand ========
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//============================
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//function that adds a basic command to the queue
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void automatedArmchair_c::addCommand(commandSimple_t command) {
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//add command to queue
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if ( xQueueSend( commandQueue, ( void * )&command, ( TickType_t ) 0 ) ){
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ESP_LOGI(TAG, "Successfully inserted command to queue");
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} else {
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ESP_LOGE(TAG, "Failed to insert new command to queue");
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}
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}
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void automatedArmchair_c::addCommands(commandSimple_t commands[], size_t count) {
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for (int i = 0; i < count; i++) {
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ESP_LOGI(TAG, "Reading command no. %d from provided array", i);
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addCommand(commands[i]);
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}
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}
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//===============================
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//======== clearCommands ========
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//===============================
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//function that deletes all pending/queued commands
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//e.g. when switching modes
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motorCommands_t automatedArmchair_c::clearCommands() {
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//clear command queue
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xQueueReset( commandQueue );
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ESP_LOGW(TAG, "command queue was successfully emptied");
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//return commands for idling both motors
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motorCommands = motorCmds_bothMotorsIdle;
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return motorCmds_bothMotorsIdle;
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}
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