d25f8cd381
- re-enable button functionality - make button independent of controlledmotor objects - disable 2x eject support command - disable 8x toggle fading command
223 lines
8.2 KiB
C++
223 lines
8.2 KiB
C++
#include "auto.hpp"
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extern "C"
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{
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#include <stdio.h>
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#include <esp_system.h>
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#include <esp_event.h>
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#include "freertos/FreeRTOS.h"
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#include "esp_log.h"
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}
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#include "button.hpp"
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//tag for logging
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static const char * TAG = "button";
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//FIXME needs rework, motorleft/right objectn not available anymore
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//-----------------------------
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//-------- constructor --------
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//-----------------------------
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buttonCommands::buttonCommands(
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gpio_evaluatedSwitch * button_f,
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evaluatedJoystick * joystick_f,
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controlledArmchair * control_f,
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buzzer_t * buzzer_f
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){
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//copy object pointers
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button = button_f;
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joystick = joystick_f;
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control = control_f;
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buzzer = buzzer_f;
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//TODO declare / configure evaluatedSwitch here instead of config (unnecessary that button object is globally available - only used here)?
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}
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//----------------------------
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//--------- action -----------
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//----------------------------
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//function that runs commands depending on a count value
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void buttonCommands::action (uint8_t count, bool lastPressLong){
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//--- variable declarations ---
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bool decelEnabled; //for different beeping when toggling
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commandSimple_t cmds[8]; //array for commands for automatedArmchair
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//--- get joystick position ---
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//joystickData_t stickData = joystick->getData();
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//--- actions based on count ---
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switch (count){
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//no such command
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default:
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ESP_LOGE(TAG, "no command for count=%d defined", count);
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buzzer->beep(3, 400, 100);
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break;
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case 1:
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//restart contoller when 1x long pressed
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if (lastPressLong){
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ESP_LOGW(TAG, "RESTART");
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buzzer->beep(1,1000,1);
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vTaskDelay(1000 / portTICK_PERIOD_MS);
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esp_restart();
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return;
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}
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ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
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//-> define joystick center or toggle freeze input (executed in control task)
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control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1) -> control.cpp has to be changed
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break;
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case 2:
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//TODO no use for leg support from 1.0 anymore, add other functionality
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//run automatic commands to lift leg support when pressed 1x short 1x long
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//if (lastPressLong){
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// //define commands
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// cmds[0] =
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// {
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// .motorCmds = {
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// .left = {motorstate_t::REV, 90},
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// .right = {motorstate_t::REV, 90}
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// },
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// .msDuration = 1200,
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// .fadeDecel = 800,
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// .fadeAccel = 1300,
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// .instruction = auto_instruction_t::NONE
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// };
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// cmds[1] =
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// {
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// .motorCmds = {
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// .left = {motorstate_t::FWD, 70},
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// .right = {motorstate_t::FWD, 70}
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// },
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// .msDuration = 70,
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// .fadeDecel = 0,
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// .fadeAccel = 300,
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// .instruction = auto_instruction_t::NONE
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// };
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// cmds[2] =
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// {
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// .motorCmds = {
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// .left = {motorstate_t::IDLE, 0},
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// .right = {motorstate_t::IDLE, 0}
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// },
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// .msDuration = 10,
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// .fadeDecel = 800,
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// .fadeAccel = 1300,
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// .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE
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// };
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// //send commands to automatedArmchair command queue
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// armchair.addCommands(cmds, 3);
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// //change mode to AUTO
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// control->changeMode(controlMode_t::AUTO);
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// return;
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//}
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//toggle idle when 2x pressed
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ESP_LOGW(TAG, "cmd %d: toggle IDLE", count);
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control->toggleIdle(); //toggle between idle and previous/default mode
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break;
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case 3:
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ESP_LOGW(TAG, "cmd %d: switch to JOYSTICK", count);
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control->changeMode(controlMode_t::JOYSTICK); //switch to JOYSTICK mode
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break;
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case 4:
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ESP_LOGW(TAG, "cmd %d: toggle between HTTP and JOYSTICK", count);
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control->toggleModes(controlMode_t::HTTP, controlMode_t::JOYSTICK); //toggle between HTTP and JOYSTICK mode
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break;
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case 6:
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ESP_LOGW(TAG, "cmd %d: toggle between MASSAGE and JOYSTICK", count);
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control->toggleModes(controlMode_t::MASSAGE, controlMode_t::JOYSTICK); //toggle between MASSAGE and JOYSTICK mode
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break;
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// case 8:
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// //TODO rework this with uart config
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// //toggle deceleration fading between on and off
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// decelEnabled = motorLeft->toggleFade(fadeType_t::DECEL);
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// motorRight->toggleFade(fadeType_t::DECEL);
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// ESP_LOGW(TAG, "cmd %d: toggle deceleration fading to: %d", count, (int)decelEnabled);
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// if (decelEnabled){
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// buzzer->beep(3, 60, 50);
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// } else {
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// buzzer->beep(1, 1000, 1);
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// }
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break;
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case 12:
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ESP_LOGW(TAG, "cmd %d: sending button event to control task", count);
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//-> toggle altStickMapping (executed in control task)
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control->sendButtonEvent(count); //TODO: always send button event to control task (not just at count=1)?
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break;
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}
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}
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//-----------------------------
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//------ startHandleLoop ------
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//-----------------------------
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//this function has to be started once in a separate task
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//repeatedly evaluates and processes button events then takes the corresponding action
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void buttonCommands::startHandleLoop() {
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while(1) {
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vTaskDelay(20 / portTICK_PERIOD_MS);
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//run handle function of evaluatedSwitch object
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button->handle();
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//--- count button presses and run action ---
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switch(state) {
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case inputState_t::IDLE: //wait for initial button press
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if (button->risingEdge) {
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count = 1;
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buzzer->beep(1, 65, 0);
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timestamp_lastAction = esp_log_timestamp();
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state = inputState_t::WAIT_FOR_INPUT;
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ESP_LOGI(TAG, "first button press detected -> waiting for further events");
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}
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break;
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case inputState_t::WAIT_FOR_INPUT: //wait for further presses
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//button pressed again
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if (button->risingEdge){
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count++;
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buzzer->beep(1, 65, 0);
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timestamp_lastAction = esp_log_timestamp();
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ESP_LOGI(TAG, "another press detected -> count=%d -> waiting for further events", count);
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}
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//timeout
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else if (esp_log_timestamp() - timestamp_lastAction > 1000) {
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state = inputState_t::IDLE;
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buzzer->beep(count, 50, 50);
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//TODO: add optional "bool wait" parameter to beep function to delay until finished beeping
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ESP_LOGI(TAG, "timeout - running action function for count=%d", count);
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//--- run action function ---
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//check if still pressed
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bool lastPressLong = false;
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if (button->state == true){
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//run special case when last press was longer than timeout
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lastPressLong = true;
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}
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//run action function with current count of button presses
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action(count, lastPressLong);
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}
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break;
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}
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}
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}
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