bc014befb7
Major changes in motorctl and control to optimize performance
by freeing unnecessary cpu usage by motorctl task
Needs testing on actual hardware!
motorctl:
- slow down handle loop when duty is at target (wait for new command)
- create separate task for each motor
- setTarget method also accepts motorCommand directly now
control.cpp:
- redurce stress on motorctl by removing unnecessary commands
- set motors to idle at mode change only, instead of every iteration (IDLE, MENU, ADJUST)
- HTTP, JOYSTICK: only update motors when stick data actually changed
- simplify code
- add method for idling both motors
- use motorcommands directly in setTarget()
http:cpp:
- dont block control task with getData() method
- handle timeout independent of one queue event
- prevents unresponsive system for http-timeout when changing mode from HTTP
82 lines
2.8 KiB
C++
82 lines
2.8 KiB
C++
#pragma once
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extern "C"
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{
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#include "esp_http_server.h"
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}
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#include "joystick.hpp"
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//============================
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//===== init http server =====
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//============================
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//function that initializes http server and configures available urls
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//parameter: provide pointer to function that handles incomming joystick data (for configuring the url)
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//TODO add handle functions to future additional endpoints/urls here too
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typedef esp_err_t (*http_handler_t)(httpd_req_t *req);
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void http_init_server(http_handler_t onJoystickUrl);
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//example with lambda function to pass method of a class instance:
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//esp_err_t (httpJoystick::*pointerToReceiveFunc)(httpd_req_t *req) = &httpJoystick::receiveHttpData;
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//esp_err_t on_joystick_url(httpd_req_t *req){
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// //run pointer to receiveHttpData function of httpJoystickMain instance
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// return (httpJoystickMain->*pointerToReceiveFunc)(req);
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//}
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//http_init_server(on_joystick_url);
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//==============================
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//===== start mdns service =====
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//==============================
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//function that initializes and starts mdns server for host discovery
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void start_mdns_service();
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//============================
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//===== stop http server =====
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//============================
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//function that destroys the http server
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void http_stop_server(httpd_handle_t * httpServer);
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//==============================
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//===== httpJoystick class =====
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//==============================
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//class that receices that from a HTTP post request, generates and scales joystick data and provides the data in a queue
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//struct with configuration parameters
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typedef struct httpJoystick_config_t {
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float toleranceZeroX_Per;//percentage around joystick axis the coordinate snaps to 0
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float toleranceZeroY_Per;
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float toleranceEndPer; //percentage before joystick end the coordinate snaps to 1/-1
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uint32_t timeoutMs; //time no new data was received before the motors get turned off
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} httpJoystick_config_t;
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class httpJoystick{
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public:
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//--- constructor ---
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httpJoystick(httpJoystick_config_t config_f);
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//--- functions ---
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joystickData_t getData(); //wait for and return joystick data from queue, if timeout return CENTER
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esp_err_t receiveHttpData(httpd_req_t *req); //function that is called when data is received with post request at /api/joystick
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private:
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//--- variables ---
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httpJoystick_config_t config;
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QueueHandle_t joystickDataQueue = xQueueCreate( 1, sizeof( struct joystickData_t ) );
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//struct for receiving data from http function, and storing data of last update
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uint32_t timeLastData = 0;
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const joystickData_t dataCenter = {
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.position = joystickPos_t::CENTER,
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.x = 0,
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.y = 0,
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.radius = 0,
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.angle = 0
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};
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joystickData_t dataRead = dataCenter;
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}; |