armchair_fw/board_single/main/auto.hpp

#pragma once

extern "C"
{
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "esp_log.h"
#include "esp_err.h"
}

#include "freertos/queue.h"
#include <cmath>
#include "motorctl.hpp"



//--------------------------------------------
//---- struct, enum, variable declarations ---
//--------------------------------------------
//enum for special instructions / commands to be run in control task
enum class auto_instruction_t { NONE, SWITCH_PREV_MODE, SWITCH_JOYSTICK_MODE, RESET_ACCEL_DECEL, RESET_ACCEL, RESET_DECEL };

//struct for a simple command
//e.g. put motors in a certain state for certain time
typedef struct commandSimple_t{
    motorCommands_t motorCmds;
    uint32_t msDuration;
    uint32_t fadeDecel;
    uint32_t fadeAccel;
    auto_instruction_t instruction;
} commandSimple_t;



//------------------------------------
//----- automatedArmchair_c class  -----
//------------------------------------
class automatedArmchair_c {
    public:
        //--- methods ---
        //constructor
        automatedArmchair_c(controlledMotor * motorLeft, controlledMotor * motorRight);
        //function to generate motor commands
        //can be also seen as handle function 
        //TODO: go with other approach: separate task for handling auto mode
        //  - receive commands with queue anyways
        //  - => use delay function
        //  - have a queue that outputs current motor state/commands -> repeatedly check the queue in control task
        //function that handles automatic driving and returns motor commands
        //also provides instructions to be executed in control task via pointer
        motorCommands_t generateCommands(auto_instruction_t * instruction);

        //function that adds a basic command to the queue
        void addCommand(commandSimple_t command);
        //function that adds an array of basic commands to queue
        void addCommands(commandSimple_t commands[], size_t count);

        //function that deletes all pending/queued commands
        motorCommands_t clearCommands();


    private:
        //--- methods ---
        //--- objects ---
        controlledMotor * motorLeft;
        controlledMotor * motorRight;
        //TODO: add buzzer here
        //--- variables ---
        //queue for storing pending commands
        QueueHandle_t commandQueue = NULL;
        //current running command
        commandSimple_t cmdCurrent;
        //timestamp current command is finished
        uint32_t timestampCmdFinished = 0;

        motorCommands_t motorCommands;

        //command preset for idling motors
        const motorCommand_t motorCmd_motorIdle = {
            .state = motorstate_t::IDLE,
            .duty = 0
        };
        const motorCommands_t motorCmds_bothMotorsIdle = {
            .left = motorCmd_motorIdle,
            .right = motorCmd_motorIdle
        };
};


//=========== EXAMPLE USAGE ============
//the following was once used in button.cpp to make move that ejects the leg support of armchair v1
/**
if (trigger){
    //define commands
    cmds[0] =
    {
        .motorCmds = {
            .left = {motorstate_t::REV, 90},
            .right = {motorstate_t::REV, 90}
        },
        .msDuration = 1200,
        .fadeDecel = 800,
        .fadeAccel = 1300,
        .instruction = auto_instruction_t::NONE
    };
    cmds[1] =
    {
        .motorCmds = {
            .left = {motorstate_t::FWD, 70},
            .right = {motorstate_t::FWD, 70}
        },
        .msDuration = 70,
        .fadeDecel = 0,
        .fadeAccel = 300,
        .instruction = auto_instruction_t::NONE
    };
    cmds[2] =
    {
        .motorCmds = {
            .left = {motorstate_t::IDLE, 0},
            .right = {motorstate_t::IDLE, 0}
        },
        .msDuration = 10,
        .fadeDecel = 800,
        .fadeAccel = 1300,
        .instruction = auto_instruction_t::SWITCH_JOYSTICK_MODE
    };

    //send commands to automatedArmchair_c command queue
    armchair.addCommands(cmds, 3);

    //change mode to AUTO
    control->changeMode(controlMode_t::AUTO);
    return;
}
*/