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 nextWdTrigger = fos::Timing::getMilliSec() + WATCHDOGTIME;
auto nextWdCheck = nextWdTrigger + WATCHDOGTIME; auto nextWdCheck = nextWdTrigger + WATCHDOGTIME;
while (true) { while (true) {
auto time = fos::Timing::getMilliSec(); // auto time = fos::Timing::getMilliSec();
if (time > nextWdTrigger) { // if (time > nextWdTrigger) {
instance.sAnswered = false; // instance.sAnswered = false;
instance.sendWatchdog(); // // instance.sendWatchdog();
nextWdTrigger = nextWdCheck + WATCHDOGTIME; // nextWdTrigger = nextWdCheck + WATCHDOGTIME;
} // }
if (time > nextWdCheck) { // if (time > nextWdCheck) {
if (!instance.sAnswered) { // if (!instance.sAnswered) {
ESP_LOGW(TAG, "TimeOut"); // ESP_LOGW(TAG, "TimeOut");
instance.eventWatchdogLost(); // instance.eventWatchdogLost();
break; // break;
} // }
nextWdCheck = nextWdTrigger + WATCHDOGTIME; // nextWdCheck = nextWdTrigger + WATCHDOGTIME;
} // }
fos::Task::delayMs(25); fos::Task::delayMs(25);
if (instance.m_StopReceiveSPITMessages) // if (instance.m_StopReceiveSPITMessages)
break; // break;
} }
} }
} }
components/watchFace/watchFace.hpp
+3
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@@ -40,6 +40,9 @@ class WatchMotor {
_currentIndex = sign; _currentIndex = sign;
} }
float getScaled() { return _stepper.getScaledPos() * 6; }
uint8_t getIndex() { return _currentIndex; }
private: private:
StepperMotor &_stepper; StepperMotor &_stepper;
OutputPort &_motorSleep; OutputPort &_motorSleep;
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main/watchMain.cpp
+46 -45
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@@ -77,17 +77,16 @@ struct DeviceState {
uint8_t minJumps{6}; uint8_t minJumps{6};
uint8_t maxJumps{32}; uint8_t maxJumps{32};
uint8_t profile{}; uint8_t profile{};
uint8_t restTime{}; uint8_t shuffleRate{};
float speed = 1.0; // Rad/sec float speed = 1.0; // Rad/sec
float accel = 1.0; // Rad/sec^2 float accel = 1.0; // Rad/sec^2
Color color{0x80, 0x80, 0x80}; Color color{0x80, 0x80, 0x80};
uint8_t pictogram{}; // 0..5 active Pictogramm
}; };
enum class MoveType { enum class MoveType {
StepTo, StepTo,
Demo,
Shuffle, Shuffle,
Demo
}; };
enum class ResponseType { enum class ResponseType {
StepAt, StepAt,
@@ -98,7 +97,7 @@ struct MoveCommand {
// 1..6 // 1..6
uint8_t pos; uint8_t pos;
}; };
struct Arrived { struct WatchIndex {
ResponseType type; ResponseType type;
// 1..6 // 1..6
uint8_t pos; uint8_t pos;
@@ -108,7 +107,7 @@ struct PictoIllumCommand {
}; };
static fos::Queue<MoveCommand> commandQueue(8); static fos::Queue<MoveCommand> commandQueue(8);
static fos::Queue<Arrived> responseQueue(8); static fos::Queue<WatchIndex> responseQueue(8);
static fos::Queue<PictoIllumCommand> pictoIllumQue(2); static fos::Queue<PictoIllumCommand> pictoIllumQue(2);
DeviceState activeState; 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", 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], /* RGB*/ data[0], data[1], data[2], /*Intens*/ data[3],
/* MinMaxJumps */ data[4], data[5], /*profile*/ data[6], /*accel/speed*/ data[7], data[8], /* 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; float intens = (float)data[3] / UINT8_MAX;
activeState.color = Color{ 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.accel = (float)accel / 100 + 0.5; // min .5 / max 3
activeState.speed = (float)velo / 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) { void moveToSubs(std::string data) {
@@ -521,7 +520,7 @@ void LightingTask() {
Effect::macStartFlicker, Effect::macStartFlicker,
Effect::macDemoPulse}; // 6 Effect::macDemoPulse}; // 6
uint8_t lastPicto = 0; uint8_t lastPicto = 1;
std::array<uint16_t *, 6> startPoints{ std::array<uint16_t *, 6> startPoints{
&(values[0][4]), // 1 &(values[0][4]), // 1
@@ -592,16 +591,27 @@ void MovementTask() {
StepperMotor stepper(stepperCfg, stepperDriver, initSens); StepperMotor stepper(stepperCfg, stepperDriver, initSens);
WatchMotor watch(stepper, motorSleep);
ESP_LOGI("Stepper", "Find Home"); ESP_LOGI("Stepper", "Find Home");
stepper.findRef(); stepper.findRef();
// Illum 1 // Todo Set by User-Interface
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(6)); 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); fos::Task::delayMs(1000);
activeState.pictogram = 0;
while (true) { while (true) {
ESP_LOGD(TAG, "Waiting for command"); ESP_LOGD(TAG, "Waiting for command");
auto cmd = commandQueue.dequeue(); auto cmd = commandQueue.dequeue();
@@ -609,7 +619,6 @@ void MovementTask() {
if (stepper.isIdle()) { if (stepper.isIdle()) {
int newPos = cmd->pos; int newPos = cmd->pos;
if ((newPos >= 1) && (newPos <= 6)) { if ((newPos >= 1) && (newPos <= 6)) {
auto idx = newPos - 1;
Syslog::logv(Syslog::Severity::Informational, Syslog::logv(Syslog::Severity::Informational,
"Triggered movement to picto pos:%i ", newPos); "Triggered movement to picto pos:%i ", newPos);
} else { } else {
@@ -617,43 +626,35 @@ void MovementTask() {
"Got invalid index for illuminated pictogram =%i ", newPos); "Got invalid index for illuminated pictogram =%i ", newPos);
continue; continue;
} }
int delta = newPos - activeState.pictogram;
if (delta <= 0) { int jumps = newPos - watch.getIndex();
delta += 6; if (jumps <= 0) {
jumps += 6;
} }
delta = delta + (activeState.minJumps % 6) * 6; jumps = jumps + (activeState.minJumps % 6) * 6;
if (delta < activeState.minJumps) { if (jumps < activeState.minJumps) {
delta += 6; jumps += 6;
} }
Syslog::logv(Syslog::Severity::Notice, Syslog::logv(Syslog::Severity::Notice,
"Running Stepper by %i steps with prof=%i a=%.2f w=%.2f", "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)); pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(0));
responseQueue.enqueue(std::make_unique<Arrived>(ResponseType::StartMoving, 0)); responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StartMoving, 0));
stepper.moveBy(delta * std::numbers::pi / 3, watch.moveTo(newPos, activeState.profile);
activeState.profile, activeState.accel, activeState.speed);
pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos)); pictoIllumQue.enqueue(std::make_unique<PictoIllumCommand>(newPos));
responseQueue.enqueue(std::make_unique<Arrived>(ResponseType::StepAt, newPos)); responseQueue.enqueue(std::make_unique<WatchIndex>(ResponseType::StepAt, newPos));
activeState.pictogram = newPos;
} }
} else if (cmd->type == MoveType::Demo) { } else if (cmd->type == MoveType::Demo) {
int i = 0; ESP_LOGI(TAG, "Running Demo");
while (i++ < 80) { for (size_t i = ProfileGenerator::Smooth; i < ProfileGenerator::NumProfiles; i++) {
stepperDriver.step(1); ESP_LOGI(TAG, "Running Profile %d ", i);
stepperDriver.getSubPos(); fos::Task::delayMs(1000);
fos::Task::delayMs(100); int steps[3]{4, 2, 0};
} for (size_t j = 0; j < 3; j++) {
ESP_LOGI("Stepper", "Find Home"); watch.moveTo(steps[j], i);
stepper.findRef();
activeState.pictogram = -1;
stepper.findRef();
fos::Task::delayMs(1000); 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, "Position is %f.2", stepper.getScaledPos() * 6);
} }
} else { } else {
fos::Task::delayMs(100); fos::Task::delayMs(100);
@@ -913,7 +914,7 @@ void onPlaySpitType(string p_PlayerID, string spitTypeId, bool p_PlayerIsRunning
auto command = ProvidedSpitActions[spitTypeId]; auto command = ProvidedSpitActions[spitTypeId];
ESP_LOGI(TAG, "Player: %s is running: %s Object", p_PlayerID.data(), spitTypeId.c_str()); ESP_LOGI(TAG, "Player: %s is running: %s Object", p_PlayerID.data(), spitTypeId.c_str());
commandQueue.enqueue(std::make_unique<MoveCommand>(command)); 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) { while (true) {
fos::Task::delayMs(10000);
auto res = responseQueue.dequeue(); auto res = responseQueue.dequeue();
if (res->type == ResponseType::StartMoving) { if (res->type == ResponseType::StartMoving) {
spitClient.sendRemoteObject(ExpectedObjects[expected.changingPos]); spitClient.sendRemoteObject(ExpectedObjects[expected.changingPos]);
@@ -999,10 +999,11 @@ void app_main(void) {
ESP_ERROR_CHECK(ret); ESP_ERROR_CHECK(ret);
initialize_ethernet(); initialize_ethernet();
NvsApi::init(); NvsApi::init();
static fos::Task lightingTask(LightingTask, "Lights", 0x4000uL); static fos::Task lightingTask(LightingTask, "Lights", 0x8000uL);
static fos::Task movementTask(MovementTask, "Motor", 0x4000uL); static fos::Task movementTask(MovementTask, "Motor", 0x8000uL);
etherActive.take(); etherActive.take();
fos::Task::delayMs(10000);
ESP_LOGI(TAG, "Start net services"); ESP_LOGI(TAG, "Start net services");
static int ipVersion = AF_INET; 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"); ESP_LOGD(TAG, "Find Home");
stepper.findRef(); stepper.findRef();
@@ -289,8 +289,8 @@ void testMovementTask() {
/// All other Profiles /// All other Profiles
/// ///
if constexpr (DoTurnProfiles) { if constexpr (DoTurnProfiles) {
// for (size_t i = ProfileGenerator::Smooth; i < ProfileGenerator::NumProfiles; i++) { 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::JumpIn; i < ProfileGenerator::NumProfiles; i++) { // If only part is needed
ESP_LOGI(TAG, "Running Profile %d ", i); ESP_LOGI(TAG, "Running Profile %d ", i);
ESP_LOGD(TAG, "Fist Position is %3d / %.2f / Micro %d", stepper.getQuanted(), stepper.getScaledPos() * 6, stepper.getSubPos()); ESP_LOGD(TAG, "Fist Position is %3d / %.2f / Micro %d", stepper.getQuanted(), stepper.getScaledPos() * 6, stepper.getSubPos());
fos::Task::delayMs(1000); fos::Task::delayMs(1000);