exodus/1NiM-WatingRoom-WatchController
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fix: bringup with full project

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This commit is contained in:
Jakob Gegeniger
2025-04-02 19:55:29 +02:00
parent 5ca595eddc
commit decaf80d1f
16 changed files with 79 additions and 75 deletions
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components/spit/src/SPIT_Client.cpp
+16 -16
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@@ -1583,24 +1583,24 @@ void SPIT_Client::processSocketTask(SPIT_Client &instance) {
auto nextWdTrigger = fos::Timing::getMilliSec() + WATCHDOGTIME;
auto nextWdCheck = nextWdTrigger + WATCHDOGTIME;
while (true) {
auto time = fos::Timing::getMilliSec();
if (time > nextWdTrigger) {
instance.sAnswered = false;
instance.sendWatchdog();
nextWdTrigger = nextWdCheck + WATCHDOGTIME;
}
// auto time = fos::Timing::getMilliSec();
// if (time > nextWdTrigger) {
// instance.sAnswered = false;
// // instance.sendWatchdog();
// nextWdTrigger = nextWdCheck + WATCHDOGTIME;
// }
if (time > nextWdCheck) {
if (!instance.sAnswered) {
ESP_LOGW(TAG, "TimeOut");
instance.eventWatchdogLost();
break;
}
nextWdCheck = nextWdTrigger + WATCHDOGTIME;
}
// if (time > nextWdCheck) {
// if (!instance.sAnswered) {
// ESP_LOGW(TAG, "TimeOut");
// instance.eventWatchdogLost();
// break;
// }
// nextWdCheck = nextWdTrigger + WATCHDOGTIME;
// }
fos::Task::delayMs(25);
if (instance.m_StopReceiveSPITMessages)
break;
// if (instance.m_StopReceiveSPITMessages)
// break;
}
}
}
components/watchFace/watchFace.hpp
+3
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@@ -40,6 +40,9 @@ class WatchMotor {
_currentIndex = sign;
}
float getScaled() { return _stepper.getScaledPos() * 6; }
uint8_t getIndex() { return _currentIndex; }
private:
StepperMotor &_stepper;
OutputPort &_motorSleep;
doc/LiveShowProject/CatasWatchProject.ldv
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main/watchMain.cpp
+57 -56
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@@ -77,17 +77,16 @@ struct DeviceState {
uint8_t minJumps{6};
uint8_t maxJumps{32};
uint8_t profile{};
uint8_t restTime{};
uint8_t shuffleRate{};
float speed = 1.0; // Rad/sec
float accel = 1.0; // Rad/sec^2
Color color{0x80, 0x80, 0x80};
uint8_t pictogram{}; // 0..5 active Pictogramm
};
enum class MoveType {
StepTo,
Demo,
Shuffle,
Demo
};
enum class ResponseType {
StepAt,
@@ -98,7 +97,7 @@ struct MoveCommand {
// 1..6
uint8_t pos;
};
struct Arrived {
struct WatchIndex {
ResponseType type;
// 1..6
uint8_t pos;
@@ -108,7 +107,7 @@ struct PictoIllumCommand {
};
static fos::Queue<MoveCommand> commandQueue(8);
static fos::Queue<Arrived> responseQueue(8);
static fos::Queue<WatchIndex> responseQueue(8);
static fos::Queue<PictoIllumCommand> pictoIllumQue(2);
DeviceState activeState;
@@ -286,7 +285,7 @@ static void UniverseCallback(const uint8_t *data, const uint16_t size) {
Syslog::logv(Syslog::Severity::Debug, "Got DMX: r%0x g%0x b%0x i%0x m%i M%i p%i a%i w%i r%i",
/* RGB*/ data[0], data[1], data[2], /*Intens*/ data[3],
/* MinMaxJumps */ data[4], data[5], /*profile*/ data[6], /*accel/speed*/ data[7], data[8],
/*RestTime*/ data[9]);
/*shuffleRate*/ data[9]);
float intens = (float)data[3] / UINT8_MAX;
activeState.color = Color{
@@ -304,7 +303,7 @@ static void UniverseCallback(const uint8_t *data, const uint16_t size) {
activeState.accel = (float)accel / 100 + 0.5; // min .5 / max 3
activeState.speed = (float)velo / 100 + 0.5; // min .5 / max 3
activeState.restTime = data[9];
activeState.shuffleRate = data[9];
}
void moveToSubs(std::string data) {
@@ -521,16 +520,16 @@ void LightingTask() {
Effect::macStartFlicker,
Effect::macDemoPulse}; // 6
uint8_t lastPicto = 0;
uint8_t lastPicto = 1;
std::array<uint16_t *, 6> startPoints{
&(values[0][4]), // 1
&(values[1][12]),
&(values[1][8]),
&(values[1][4]),
&(values[0][12]),
&(values[0][8]), // 6
};
std::array<uint16_t *, 6> startPoints{
&(values[0][4]), // 1
&(values[1][12]),
&(values[1][8]),
&(values[1][4]),
&(values[0][12]),
&(values[0][8]), // 6
};
while (true) {
auto onPos = pictoIllumQue.dequeue(0);
@@ -592,16 +591,27 @@ void MovementTask() {
StepperMotor stepper(stepperCfg, stepperDriver, initSens);
WatchMotor watch(stepper, motorSleep);
ESP_LOGI("Stepper", "Find Home");
stepper.findRef();
// Illum 1
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(6));
// Todo Set by User-Interface
for (size_t i = 0; i < 7; i++) {
stepper.fullStep(1);
fos::Task::delayMs(40);
}
(void)stepper.zeroPosition();
while (!stepper.isIdle()) {
fos::Task::delayMs(40);
}
// watch.moveTo(1, ProfileGenerator::Unitform);
ESP_LOGI("Stepper", "Got to 1");
// Illum 6
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(0));
ESP_LOGI(TAG, "Fist Position is %f.2", stepper.getScaledPos() * 6);
ESP_LOGI(TAG, "Fist Position is %.2f", watch.getScaled());
fos::Task::delayMs(1000);
activeState.pictogram = 0;
while (true) {
ESP_LOGD(TAG, "Waiting for command");
auto cmd = commandQueue.dequeue();
@@ -609,7 +619,6 @@ void MovementTask() {
if (stepper.isIdle()) {
int newPos = cmd->pos;
if ((newPos >= 1) && (newPos <= 6)) {
auto idx = newPos - 1;
Syslog::logv(Syslog::Severity::Informational,
"Triggered movement to picto pos:%i ", newPos);
} else {
@@ -617,43 +626,35 @@ void MovementTask() {
"Got invalid index for illuminated pictogram =%i ", newPos);
continue;
}
int delta = newPos - activeState.pictogram;
if (delta <= 0) {
delta += 6;
int jumps = newPos - watch.getIndex();
if (jumps <= 0) {
jumps += 6;
}
delta = delta + (activeState.minJumps % 6) * 6;
if (delta < activeState.minJumps) {
delta += 6;
jumps = jumps + (activeState.minJumps % 6) * 6;
if (jumps < activeState.minJumps) {
jumps += 6;
}
Syslog::logv(Syslog::Severity::Notice,
"Running Stepper by %i steps with prof=%i a=%.2f w=%.2f",
delta, activeState.profile, activeState.accel, activeState.speed);
jumps, activeState.profile, activeState.accel, activeState.speed);
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(0));
responseQueue.enqueue(std::make_unique<Arrived>(ResponseType::StartMoving, 0));
stepper.moveBy(delta * std::numbers::pi / 3,
activeState.profile, activeState.accel, activeState.speed);
responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StartMoving, 0));
watch.moveTo(newPos, activeState.profile);
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos));
responseQueue.enqueue(std::make_unique<Arrived>(ResponseType::StepAt, newPos));
activeState.pictogram = newPos;
responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, newPos));
}
} else if (cmd->type == MoveType::Demo) {
int i = 0;
while (i++ < 80) {
stepperDriver.step(1);
stepperDriver.getSubPos();
fos::Task::delayMs(100);
}
ESP_LOGI("Stepper", "Find Home");
stepper.findRef();
activeState.pictogram = -1;
stepper.findRef();
fos::Task::delayMs(1000);
for (size_t i = 0; i < 6; i++) {
stepper.moveBy(std::numbers::pi / 3);
while (!stepper.isIdle()) {
fos::Task::delayMs(100);
ESP_LOGI(TAG, "Running Demo");
for (size_t i = ProfileGenerator::Smooth; i < ProfileGenerator::NumProfiles; i++) {
ESP_LOGI(TAG, "Running Profile %d ", i);
fos::Task::delayMs(1000);
int steps[3]{4, 2, 0};
for (size_t j = 0; j < 3; j++) {
watch.moveTo(steps[j], i);
fos::Task::delayMs(1000);
}
ESP_LOGI(TAG, "Position is %f.2", stepper.getScaledPos() * 6);
}
} else {
fos::Task::delayMs(100);
@@ -731,7 +732,7 @@ void onProjectUpdate(SPIT_Client::ProjUpdate state, string projectId) {
*/
bool onCheckSpitTypeVeto(SPIT_Message::ReportSPITType *p_ReportSPITType) {
return true; // Bypass veto
if (p_ReportSPITType == NULL)
return true;
SPITType *ptrSPITType;
@@ -742,7 +743,7 @@ bool onCheckSpitTypeVeto(SPIT_Message::ReportSPITType *p_ReportSPITType) {
// ESP_LOGW(TAG, "ObjectVeto NoSpitType");
return false;
}
if (ptrSPITType->getCreatedByClient() == false){
if (ptrSPITType->getCreatedByClient() == false) {
// ESP_LOGW(TAG, "getCreatedByClient");
return false;
}
@@ -913,7 +914,7 @@ void onPlaySpitType(string p_PlayerID, string spitTypeId, bool p_PlayerIsRunning
auto command = ProvidedSpitActions[spitTypeId];
ESP_LOGI(TAG, "Player: %s is running: %s Object", p_PlayerID.data(), spitTypeId.c_str());
commandQueue.enqueue(std::make_unique<MoveCommand>(command));
ESP_LOGI(TAG, "MyApp AKTION 1 started Value: %f and running: %d", p_Value, p_PlayerIsRunning);
Syslog::logv(Syslog::Severity::Informational, "Got SPIT command for move ot : r%d", command.pos);
}
}
@@ -980,7 +981,6 @@ void SpitClientApp() {
}
while (true) {
fos::Task::delayMs(10000);
auto res = responseQueue.dequeue();
if (res->type == ResponseType::StartMoving) {
spitClient.sendRemoteObject(ExpectedObjects[expected.changingPos]);
@@ -999,10 +999,11 @@ void app_main(void) {
ESP_ERROR_CHECK(ret);
initialize_ethernet();
NvsApi::init();
static fos::Task lightingTask(LightingTask, "Lights", 0x4000uL);
static fos::Task movementTask(MovementTask, "Motor", 0x4000uL);
static fos::Task lightingTask(LightingTask, "Lights", 0x8000uL);
static fos::Task movementTask(MovementTask, "Motor", 0x8000uL);
etherActive.take();
fos::Task::delayMs(10000);
ESP_LOGI(TAG, "Start net services");
static int ipVersion = AF_INET;
test/integration/main/movementTests.cpp
+3 -3
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@@ -247,7 +247,7 @@ void testMovementTask() {
}
///
///
/// Homing
///
ESP_LOGD(TAG, "Find Home");
stepper.findRef();
@@ -289,8 +289,8 @@ void testMovementTask() {
/// All other Profiles
///
if constexpr (DoTurnProfiles) {
// for (size_t i = ProfileGenerator::Smooth; i < ProfileGenerator::NumProfiles; i++) {
for (size_t i = ProfileGenerator::JumpIn; i < ProfileGenerator::NumProfiles; i++) {
for (size_t i = ProfileGenerator::Smooth; i < ProfileGenerator::NumProfiles; i++) {
// for (size_t i = ProfileGenerator::JumpIn; i < ProfileGenerator::NumProfiles; i++) { // If only part is needed
ESP_LOGI(TAG, "Running Profile %d ", i);
ESP_LOGD(TAG, "Fist Position is %3d / %.2f / Micro %d", stepper.getQuanted(), stepper.getScaledPos() * 6, stepper.getSubPos());
fos::Task::delayMs(1000);