armchair_fw/board_control/main/main.cpp

extern "C"
{
#include <stdio.h>
#include <esp_system.h>
#include <esp_event.h>
#include <nvs_flash.h>
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "driver/gpio.h"
#include "esp_log.h"
#include "sdkconfig.h"
#include "esp_spiffs.h"    


	//custom C files
	#include "wifi.h"
}


#include "uart.hpp"
#include "encoder.hpp"


//=========================
//======= UART TEST =======
//=========================
//only run uart test code at the end
//disables other functionality
//#define UART_TEST_ONLY


//=========================
//====== encoder TEST =====
//=========================
//only start encoder task
#define ENCODER_TEST_ONLY


//tag for logging
static const char * TAG = "main";


#ifndef UART_TEST_ONLY
//custom C++ files
#include "config.hpp"
#include "control.hpp" 
#include "button.hpp"
#include "http.hpp"



//======================================
//============ buzzer task =============
//======================================
//TODO: move the task creation to buzzer class (buzzer.cpp)
//e.g. only have function buzzer.createTask() in app_main
void task_buzzer( void * pvParameters ){
	ESP_LOGI("task_buzzer", "Start of buzzer task...");
	//run function that waits for a beep events to arrive in the queue
	//and processes them
	buzzer.processQueue();
}



//=======================================
//============ control task =============
//=======================================
//task that controls the armchair modes and initiates commands generation and applies them to driver
void task_control( void * pvParameters ){
	ESP_LOGI(TAG, "Initializing controlledArmchair and starting handle loop");
	//start handle loop (control object declared in config.hpp)
	control.startHandleLoop();
}



//======================================
//============ button task =============
//======================================
//task that handles the button interface/commands
void task_button( void * pvParameters ){
	ESP_LOGI(TAG, "Initializing command-button and starting handle loop");
	//create button instance
	buttonCommands commandButton(&buttonJoystick, &joystick, &control, &buzzer);
	//start handle loop
	commandButton.startHandleLoop();
}



//=======================================
//============== fan task ===============
//=======================================
//task that controlls fans for cooling the drivers
//void task_fans( void * pvParameters ){
//	ESP_LOGI(TAG, "Initializing fans and starting fan handle loop");
//	//create fan instances with config defined in config.cpp
//	controlledFan fan(configCooling, &motorLeft, &motorRight);
//	//repeatedly run fan handle function in a slow loop
//	while(1){
//		fan.handle();
//		vTaskDelay(500 / portTICK_PERIOD_MS);
//	}
//}



//=================================
//========== init spiffs ==========
//=================================
//initialize spi flash filesystem (used for webserver)
void init_spiffs(){
	ESP_LOGI(TAG, "init spiffs");
	esp_vfs_spiffs_conf_t esp_vfs_spiffs_conf = {
		.base_path = "/spiffs",
		.partition_label = NULL,
		.max_files = 5,
		.format_if_mount_failed = true};
	esp_vfs_spiffs_register(&esp_vfs_spiffs_conf);

	size_t total = 0;
	size_t used = 0;
	esp_spiffs_info(NULL, &total, &used);

	ESP_LOGI(TAG, "SPIFFS: total %d, used %d", total, used);
	esp_vfs_spiffs_unregister(NULL);
}
#endif



//==================================
//======== define loglevels ========
//==================================
void setLoglevels(void){
	//set loglevel for all tags:
	esp_log_level_set("*", ESP_LOG_WARN);

	//--- set loglevel for individual tags ---
	esp_log_level_set("main", ESP_LOG_INFO);
	esp_log_level_set("buzzer", ESP_LOG_ERROR);
	//esp_log_level_set("motordriver", ESP_LOG_INFO);
	//esp_log_level_set("motor-control", ESP_LOG_DEBUG);
	//esp_log_level_set("evaluatedJoystick", ESP_LOG_DEBUG);
	//esp_log_level_set("joystickCommands", ESP_LOG_DEBUG);
	esp_log_level_set("button", ESP_LOG_INFO);
	esp_log_level_set("control", ESP_LOG_INFO);
	esp_log_level_set("fan-control", ESP_LOG_INFO);
	esp_log_level_set("wifi", ESP_LOG_INFO);
	esp_log_level_set("http", ESP_LOG_INFO);
	esp_log_level_set("automatedArmchair", ESP_LOG_DEBUG);
	esp_log_level_set("uart-common", ESP_LOG_INFO);
	esp_log_level_set("uart", ESP_LOG_INFO);

	//
}






//=================================
//=========== app_main ============
//=================================
extern "C" void app_main(void) {
#if !defined(ENCODER_TEST_ONLY) && !defined(UART_TEST_ONLY)
	//enable 5V volate regulator
	gpio_pad_select_gpio(GPIO_NUM_17);                                                  
	gpio_set_direction(GPIO_NUM_17, GPIO_MODE_OUTPUT);
	gpio_set_level(GPIO_NUM_17, 1);                                                      

	//---- define log levels ----
	setLoglevels();

	//------------------------------
	//--- create task for buzzer ---
	//------------------------------
	xTaskCreate(&task_buzzer, "task_buzzer", 2048, NULL, 2, NULL);

	//-------------------------------
	//--- create task for control ---
	//-------------------------------
	//task that generates motor commands depending on the current mode and sends those to motorctl task
	xTaskCreate(&task_control, "task_control", 5*4096, NULL, 5, NULL);

	//------------------------------
	//--- create task for button ---
	//------------------------------
	//task that evaluates and processes the button input and runs the configured commands
	xTaskCreate(&task_button, "task_button", 4096, NULL, 4, NULL);

	//-----------------------------------
	//--- create task for fan control ---
	//-----------------------------------
	//task that evaluates and processes the button input and runs the configured commands
	//xTaskCreate(&task_fans, "task_fans", 2048, NULL, 1, NULL);


	//beep at startup
	buzzer.beep(3, 70, 50);

	//--- initialize nvs-flash and netif (needed for wifi) ---
	wifi_initNvs_initNetif();

	//--- initialize spiffs ---
	init_spiffs();

	//--- initialize and start wifi ---
	//FIXME: run wifi_init_client or wifi_init_ap as intended from control.cpp when switching state 
	//currently commented out because of error "assert failed: xQueueSemaphoreTake queue.c:1549 (pxQueue->uxItemSize == 0)" when calling control->changeMode from button.cpp
	//when calling control.changeMode(http) from main.cpp it worked without error for some reason?
	ESP_LOGI(TAG,"starting wifi...");
	//wifi_init_client(); //connect to existing wifi
	wifi_init_ap(); //start access point
	ESP_LOGI(TAG,"done starting wifi");


	//--- testing http server ---
	//    wifi_init_client(); //connect to existing wifi
	//    vTaskDelay(2000 / portTICK_PERIOD_MS);
	//    ESP_LOGI(TAG, "initializing http server");
	//    http_init_server();
#endif


	//-------------------------------------------
	//--- create tasks for uart communication ---
	//-------------------------------------------
#ifndef ENCODER_TEST_ONLY
	uart_init();
	xTaskCreate(task_uartReceive, "task_uartReceive", 4096, NULL, 10, NULL);
	xTaskCreate(task_uartSend, "task_uartSend", 4096, NULL, 10, NULL);
#endif


	//--------------------------------------------
	//----- create task that handles encoder -----
	//--------------------------------------------
#ifndef UART_TEST_ONLY
	encoder_init();
	xTaskCreate(task_encoder, "task_encoder", 4096, NULL, 10, NULL);
#endif



	//--- main loop ---
	//does nothing except for testing things
	
	//--- testing force http mode after startup ---
		vTaskDelay(5000 / portTICK_PERIOD_MS);
	//control.changeMode(controlMode_t::HTTP);
	while(1){
		vTaskDelay(1000 / portTICK_PERIOD_MS);
		//---------------------------------
		//-------- TESTING section --------
		//---------------------------------

	}

}