b03baa4687
- add second pcb board_control, currently copy of previous board - not enough pins -> board_control handle ui send motorcommands via uart board_motorctl handle motors
131 lines
4.5 KiB
C++
131 lines
4.5 KiB
C++
#pragma once
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#include "motordrivers.hpp"
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#include "motorctl.hpp"
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#include "buzzer.hpp"
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#include "http.hpp"
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#include "auto.hpp"
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//--------------------------------------------
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//---- struct, enum, variable declarations ---
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//--------------------------------------------
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//enum that decides how the motors get controlled
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enum class controlMode_t {IDLE, JOYSTICK, MASSAGE, HTTP, MQTT, BLUETOOTH, AUTO};
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//string array representing the mode enum (for printing the state as string)
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extern const char* controlModeStr[7];
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//--- control_config_t ---
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//struct with config parameters
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typedef struct control_config_t {
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controlMode_t defaultMode; //default mode after startup and toggling IDLE
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//timeout options
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uint32_t timeoutMs; //time of inactivity after which the mode gets switched to IDLE
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float timeoutTolerancePer; //percentage the duty can vary between timeout checks considered still inactive
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} control_config_t;
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//==================================
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//========= control class ==========
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//==================================
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//controls the mode the armchair operates
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//repeatedly generates the motor commands corresponding to current mode and sends those to motorcontrol
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class controlledArmchair {
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public:
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//--- constructor ---
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controlledArmchair (
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control_config_t config_f,
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buzzer_t* buzzer_f,
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controlledMotor* motorLeft_f,
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controlledMotor* motorRight_f,
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evaluatedJoystick* joystick_f,
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httpJoystick* httpJoystick_f
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);
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//--- functions ---
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//task that repeatedly generates motor commands depending on the current mode
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void startHandleLoop();
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//function that changes to a specified control mode
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void changeMode(controlMode_t modeNew);
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//function that toggle between IDLE and previous active mode (or default if not switched to certain mode yet)
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void toggleIdle();
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//function that toggles between two modes, but prefers first argument if entirely different mode is currently active
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void toggleModes(controlMode_t modePrimary, controlMode_t modeSecondary);
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//toggle between certain mode and previous mode
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void toggleMode(controlMode_t modePrimary);
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//function that restarts timer which initiates the automatic timeout (switch to IDLE) after certain time of inactivity
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void resetTimeout();
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//function for sending a button event (e.g. from button task at event) to control task
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//TODO: use queue instead?
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void sendButtonEvent(uint8_t count);
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private:
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//--- functions ---
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//function that evaluates whether there is no activity/change on the motor duty for a certain time, if so a switch to IDLE is issued. - has to be run repeatedly in a slow interval
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void handleTimeout();
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//--- objects ---
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buzzer_t* buzzer;
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controlledMotor* motorLeft;
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controlledMotor* motorRight;
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httpJoystick* httpJoystickMain_l;
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evaluatedJoystick* joystick_l;
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//---variables ---
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//struct for motor commands returned by generate functions of each mode
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motorCommands_t commands;
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//struct with config parameters
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control_config_t config;
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//store joystick data
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joystickData_t stickData;
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bool altStickMapping; //alternative joystick mapping (reverse mapped differently)
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//variables for http mode
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uint32_t http_timestamp_lastData = 0;
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//variables for MASSAGE mode
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bool freezeInput = false;
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//variables for AUTO mode
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auto_instruction_t instruction = auto_instruction_t::NONE; //variable to receive instructions from automatedArmchair
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//variable to store button event
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uint8_t buttonCount = 0;
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//definition of mode enum
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controlMode_t mode = controlMode_t::IDLE;
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//variable to store mode when toggling IDLE mode
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controlMode_t modePrevious; //default mode
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//command preset for idling motors
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const motorCommand_t cmd_motorIdle = {
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.state = motorstate_t::IDLE,
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.duty = 0
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};
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const motorCommands_t cmds_bothMotorsIdle = {
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.left = cmd_motorIdle,
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.right = cmd_motorIdle
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};
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//variable for slow loop
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uint32_t timestamp_SlowLoopLastRun = 0;
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//variables for detecting timeout (switch to idle, after inactivity)
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float dutyLeft_lastActivity = 0;
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float dutyRight_lastActivity = 0;
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uint32_t timestamp_lastActivity = 0;
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};
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