446c246f43
Same functionality as previous commit. But way more stable and clean. Previous proof of concept approach had issues with random partial or too large messages due to time based method Rework send and receive functions to work more stable - send: encode data with frame (start, end byte) - receive: read each byte one after the other, assemble message, handle actual data in handle function - add semaphore to write operation to prevent parallel write of different data when called from other tasks
72 lines
2.2 KiB
C++
72 lines
2.2 KiB
C++
#include "uart.hpp"
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#include "config.hpp"
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#include "types.hpp"
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#include "uart_common.hpp"
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//===== uart board MOTORCTL =====
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static const char * TAG = "uart";
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//handle received payload from uart
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void handleMessage(uint8_t *receivedData, int len) {
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ESP_LOGI(TAG, "complete message received len=%d", len);
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//local variables
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uartData_test_t dataTest;
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motorCommands_t dataMotorCommands;
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//assign data to struct
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switch (len){
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case sizeof(uartData_test_t):
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dataTest = serialData2Struct<uartData_test_t>(receivedData);
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ESP_LOGW(TAG, "received uartDataStruct len=%d DATA: timestamp=%d, id=%d, value=%.1f", len, dataTest.timestamp, dataTest.id, dataTest.value);
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break;
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case sizeof(motorCommands_t):
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dataMotorCommands = serialData2Struct<motorCommands_t>(receivedData);
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ESP_LOGI(TAG, "received motorCommands struct len=%d left=%.2f%% right=%.2f%%, update target...", len, dataMotorCommands.left.duty, dataMotorCommands.right.duty);
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//update target motor state and duty
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motorLeft.setTarget(dataMotorCommands.left.state,
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dataMotorCommands.left.duty);
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motorRight.setTarget(dataMotorCommands.right.state,
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dataMotorCommands.right.duty);
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break;
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//TODO add other received structs here
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default:
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ESP_LOGE(TAG, "received data len=%d cant be associated with configures struct", len);
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break;
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}
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}
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//==============================
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//====== task_uartReceive ======
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//==============================
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//TODO duplicate code, same task in both boards, only handleMessage function has to be passed -> move to uart_common
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void task_uartReceive(void *arg){
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ESP_LOGW(TAG, "receive task started");
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while (1) {
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uint8_t byte;
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//read 1 byte TODO: use uart queue here? data might get lost when below function takes longer than data arrives
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int len = uart_read_bytes(UART_NUM_1, &byte, 1, portMAX_DELAY);
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if (len > 0) {
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//process received byte
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uart_processReceivedByte(byte, handleMessage);
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}
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}
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}
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//=============================
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//======= task_uartSend =======
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//=============================
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//TODO copy send task from board_control/uart.cpp
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void task_uartSend(void *arg){
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ESP_LOGW(TAG, "send task started");
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while (1) {
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vTaskDelay(500 / portTICK_PERIOD_MS);
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}
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}
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