f8415655c2
- Create class automatedArmchair in new files auto.hpp and auto.cpp This class currently makes it possible to queue up and run commands (motorstate, duty for certaion duration), - add new file to cmakelists - create automatedArmchair instance 'armchair' in config.cpp - add loglevel configuration to main.cpp - add AUTO mode to control.cpp (no way to change to mode yet)
71 lines
2.2 KiB
C++
71 lines
2.2 KiB
C++
#include "auto.hpp"
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//tag for logging
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static const char * TAG = "automatedArmchair";
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//=============================
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//======== constructor ========
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//=============================
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automatedArmchair::automatedArmchair(void) {
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//create command queue
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commandQueue = xQueueCreate( 32, sizeof( commandSimple_t ) ); //TODO add max size to config?
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}
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//==============================
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//====== generateCommands ======
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//==============================
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motorCommands_t automatedArmchair::generateCommands() {
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//check if previous command is finished
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if ( esp_log_timestamp() > timestampCmdFinished ) {
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//get next command from queue
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if( xQueueReceive( commandQueue, &cmdCurrent, pdMS_TO_TICKS(0) ) ) {
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ESP_LOGI(TAG, "running next command from queue...");
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//calculate timestamp the command is finished
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timestampCmdFinished = esp_log_timestamp() + cmdCurrent.msDuration;
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//copy the new commands
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motorCommands = cmdCurrent.commands;
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} else { //queue empty
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ESP_LOGD(TAG, "no new command in queue -> set motors to IDLE");
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motorCommands = cmds_bothMotorsIdle;
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}
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} else { //previous command still running
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ESP_LOGD(TAG, "command still running -> no change");
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}
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return motorCommands;
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}
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//============================
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//======== addCommand ========
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//============================
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//function that adds a basic command to the queue
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void automatedArmchair::addCommand(commandSimple_t command) {
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//add command to queue
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if ( xQueueSend( commandQueue, ( void * )&command, ( TickType_t ) 0 ) ){
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ESP_LOGI(TAG, "Successfully inserted command to queue");
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} else {
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ESP_LOGE(TAG, "Failed to insert new command to queue");
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}
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}
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//===============================
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//======== clearCommands ========
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//===============================
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//function that deletes all pending/queued commands
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//e.g. when switching modes
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motorCommands_t automatedArmchair::clearCommands() {
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//clear command queue
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xQueueReset( commandQueue );
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ESP_LOGW(TAG, "command queue was successfully emptied");
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//return commands for idling both motors
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return cmds_bothMotorsIdle;
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}
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