89 lines
2.7 KiB
C++
89 lines
2.7 KiB
C++
#pragma once
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extern "C"
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{
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "freertos/semphr.h"
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#include "driver/gpio.h"
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}
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#include "joystick.hpp"
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typedef enum {
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REST_OFF = 0,
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REST_DOWN,
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REST_UP
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} restState_t;
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extern const char* restStateStr[];
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//=====================================
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//======= cControlledRest class =======
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//=====================================
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//class that controls 2 relays powering a motor that moves a rest of the armchair up or down
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//2 instances will be created one for back and one for leg rest
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class cControlledRest {
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public:
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cControlledRest(gpio_num_t gpio_up, gpio_num_t gpio_down, uint32_t travelDurationMs, const char *name, float defaultPosition = 0);
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// control the rest:
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void requestStateChange(restState_t targetState); //mutex
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restState_t getState() const {return state;};
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const char * getName() const {return name;};
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void setTargetPercent(float targetPercent); //mutex
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float getTargetPercent() const {return positionTarget;};
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float getPercent(); //TODO update position first
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// required for task controlling the rest:
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void setTaskHandle(TaskHandle_t handle) {taskHandle = handle;};
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void setTaskIsRunning() {taskIsRunning = true;};
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void clearTaskIsRunning() {taskIsRunning = false;};
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void handleStopAtPosReached(); //mutex
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void handleStateChange(); //mutex
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restState_t getNextState() const {return nextState;};
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private:
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void init();
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void updatePosition();
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void changeState(restState_t newState);
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// task related:
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TaskHandle_t taskHandle = NULL; //task that repeatedly runs the handle() method, is assigned at task creation
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bool taskIsRunning = false;
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SemaphoreHandle_t mutex;
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// config:
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char name[32];
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const gpio_num_t gpio_up;
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const gpio_num_t gpio_down;
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const uint32_t travelDuration = 12000;
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// variables:
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restState_t state = REST_OFF;
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restState_t nextState = REST_OFF;
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uint32_t timestamp_lastStateChange = 0;
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uint32_t timestamp_lastPosUpdate = 0;
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float positionTarget = 0;
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float positionNow = 0;
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};
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//===========================
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//==== chairAdjust_task =====
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//===========================
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// repeatedly runs handle methods of specified ControlledRest object to turn of the rest, when activated by changeState() method
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void chairAdjust_task( void * cControlledRest );
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//====================================
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//====== controlChairAdjustment ======
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//====================================
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//function that controls the two rests according to joystick data (applies threshold, defines direction)
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void controlChairAdjustment(joystickData_t data, cControlledRest * legRest, cControlledRest * backRest); |