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
70 lines
2.0 KiB
C++
70 lines
2.0 KiB
C++
#pragma once
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#include "gpio_evaluateSwitch.hpp"
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#include "buzzer.hpp"
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#include "control.hpp"
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#include "motorctl.hpp"
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#include "auto.hpp"
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#include "config.hpp"
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#include "joystick.hpp"
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//===================================
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//====== buttonCommands class =======
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//===================================
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//class which runs commands depending on the count a button was pressed
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class buttonCommands {
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public:
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//--- constructor ---
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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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buzzer_t *buzzer_f);
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//--- functions ---
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//the following function has to be started once in a separate task.
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//repeatedly evaluates and processes button events then takes the corresponding action
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void startHandleLoop();
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private:
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//--- functions ---
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void action(uint8_t count, bool lastPressLong);
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//--- objects ---
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controlledArmchair * control;
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evaluatedJoystick* joystick;
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controlledMotor * motorLeft;
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controlledMotor * motorRight;
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buzzer_t* buzzer;
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QueueHandle_t encoderQueue;
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//--- variables ---
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uint8_t count = 0;
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uint32_t timestamp_lastAction = 0;
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enum class inputState_t {IDLE, WAIT_FOR_INPUT};
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inputState_t state = inputState_t::IDLE;
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};
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//======================================
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//============ button task =============
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//======================================
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// struct with variables passed to task from main
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typedef struct task_button_parameters_t
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{
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controlledArmchair *control;
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evaluatedJoystick *joystick;
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QueueHandle_t encoderQueue;
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controlledMotor *motorLeft;
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controlledMotor *motorRight;
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buzzer_t *buzzer;
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} task_button_parameters_t;
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//task that handles the button interface/commands
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void task_button( void * task_button_parameters ); |