76e8bac113
- outsoruce common files and separate common types from source files (new common/types.hpp) - split source files to 2 board folders (relevant only, no duplicate) - currently boards compile successfull but not functional at all - comment out currently incompatible code
90 lines
3.5 KiB
C++
90 lines
3.5 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::automatedArmchair(void) {
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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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//FIXME motorLeft, Right not available, needs rework to work with uart only
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// //==============================
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// //====== generateCommands ======
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// //==============================
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// motorCommands_t automatedArmchair::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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//
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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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//
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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::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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//
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// void automatedArmchair::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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//
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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::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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//
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