fab75661c2
- use evaluatedSwitch class for position switch instead of reading gpio directly because it triggered incorrectly too often - cutter_stop() only switch to CANCELED when not in IDLE already
159 lines
4.2 KiB
C++
159 lines
4.2 KiB
C++
#include "cutter.hpp"
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const char* cutter_stateStr[5] = {"IDLE", "START", "CUTTING", "CANCELED", "TIMEOUT"}; //define strings for logging the state
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//---------------------------
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//----- local functions -----
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//---------------------------
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//declare local functions
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void setState(cutter_state_t stateNew);
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bool checkTimeout();
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//---------------------------
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//----- local variables -----
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//---------------------------
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cutter_state_t cutter_state = cutter_state_t::IDLE;
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uint32_t timestamp_turnedOn;
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uint32_t msTimeout = 3000;
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static const char *TAG = "cutter"; //tag for logging
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gpio_evaluatedSwitch POSITION_SW(GPIO_CUTTER_POS_SW, true, false); //pullup true, not inverted (switch to GND, internal pullup used)
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//=========================
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//========= start =========
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//=========================
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void cutter_start(){
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setState(cutter_state_t::START);
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//starts motor on state change
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}
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//========================
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//========= stop =========
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//========================
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void cutter_stop(){
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if(cutter_state =! cutter_state_t::IDLE){
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setState(cutter_state_t::CANCELED);
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}
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//starts motor on state change
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}
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//===========================
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//===== cutter_getState =====
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//===========================
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cutter_state_t cutter_getState(){
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return cutter_state;
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}
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//---------------------------
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//-------- setState ---------
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//---------------------------
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//local function for changing state, taking corresponding actions and sending log output
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void setState(cutter_state_t stateNew){
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//only proceed and send log output when state or direction actually changed
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if ( cutter_state == stateNew) {
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//already at target state -> do nothing
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return;
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}
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//log old and new state
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ESP_LOGI(TAG, "CHANGING state from: %s",cutter_stateStr[(int)cutter_state]);
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ESP_LOGI(TAG, "CHANGING state to: %s",cutter_stateStr[(int)stateNew]);
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//update stored state
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cutter_state = stateNew;
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switch(stateNew){
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case cutter_state_t::IDLE:
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case cutter_state_t::TIMEOUT:
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case cutter_state_t::CANCELED:
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//--- turn motor off ---
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gpio_set_level(GPIO_RELAY, 0);
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break;
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case cutter_state_t::START:
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case cutter_state_t::CUTTING:
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//--- turn motor on ---
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gpio_set_level(GPIO_RELAY, 1);
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//update state, timestamp
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timestamp_turnedOn = esp_log_timestamp();
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break;
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}
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}
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//--------------------------
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//------ checkTimeout ------
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//--------------------------
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//local function that checks for timeout
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bool checkTimeout(){
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if (esp_log_timestamp() - timestamp_turnedOn > msTimeout){
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setState(cutter_state_t::TIMEOUT);
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return true;
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} else {
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return false;
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}
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}
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//========================
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//======== handle ========
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//========================
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//function that handles the cutter logic -> has to be run repeatedly
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void cutter_handle(){
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//handle evaluated switch (position switch)
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POSITION_SW.handle();
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//TODO add custom thresholds once at initialization?
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//POSITION_SW.minOnMs = 10;
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//POSITION_SW.minOffMs = 10;
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switch(cutter_state){
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case cutter_state_t::IDLE:
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case cutter_state_t::TIMEOUT:
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case cutter_state_t::CANCELED:
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//wait for state change via cutter_start();
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break;
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case cutter_state_t::START:
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//--- moved away from idle position ---
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//if (gpio_get_level(GPIO_CUTTER_POS_SW) == 0){ //contact closed
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if (POSITION_SW.state == true) { //contact closed -> not at idle pos
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setState(cutter_state_t::CUTTING);
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}
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//--- timeout ---
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else {
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checkTimeout();
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}
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break;
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case cutter_state_t::CUTTING:
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//--- idle position reached ---
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//if (gpio_get_level(GPIO_CUTTER_POS_SW) == 1){ //contact not closed
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//TODO: add min on duration
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if (POSITION_SW.state == false) { //contact open -> at idle pos
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setState(cutter_state_t::IDLE);
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}
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//--- timeout ---
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else {
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checkTimeout();
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}
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break;
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}
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}
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