509 lines
18 KiB
C++
509 lines
18 KiB
C++
/**
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* @file watchMain.cpp
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* @author Gustice
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* @brief ChaosWatch Application
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*
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* @copyright Copyright (c) 2024
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*/
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#include "watchMain.hpp"
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extern "C" { // This switch allows the ROS C-implementation to find this main
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void app_main(void);
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}
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struct DeviceState {
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int jumps;
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int pictogram;
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int profile;
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float speed = 1.0; // Rad/sec
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float accel = 1.0; // Rad/sec^2
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Color color{16, 16, 16};
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};
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enum class MoveType {
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Step,
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Demo
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};
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struct MoveCommand {
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MoveType type;
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uint8_t deltaPic;
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uint8_t profile;
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Color color;
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};
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static fos::Queue<MoveCommand> commandQueue(8);
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DeviceState activeState;
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static const char *TAG = "Watch";
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static bool EthernetIsConnected = false;
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std::unique_ptr<Cli> shellPtr;
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void onCommand(std::string name, Cli::CArgs args) {
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ESP_LOGI(TAG, "Invoking: %s", name.c_str());
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}
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void startUpdate(Cli::CArgs args) {
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ESP_LOGI(TAG, "Invoking Update");
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if (args.size() != 1) {
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shellPtr->write("Need URL to application'\n");
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return;
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}
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// @ToDo: Start Update here
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}
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void setLogServerConfig(Cli::CArgs args) {
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ESP_LOGI(TAG, "on showLogServerConfig:");
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if (args.size() != 1) {
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shellPtr->write("Need IP address to syslog server'\n");
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// auto &store = NvsApi::getInstance();
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// auto logger = store.getValue("syslogDst");
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// shellPtr->write(std::string{"syslog destination = '"} + logger + "'\n");
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return;
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}
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// auto &store = NvsApi::getInstance();
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// shellPtr->write(std::string{"setting syslog destination to = '"} + args[0] + "'\n");
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// store.setValue("syslogDst", args[0]);
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}
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void setDynamics(Cli::CArgs args) {
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ESP_LOGI(TAG, "on setDynamics:");
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if (args.size() != 2) {
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shellPtr->write("need float values for velocity and acceleration'\n");
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return;
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}
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try {
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float v = std::stof(args[0]);
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float a = std::stof(args[1]);
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activeState.accel = a;
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activeState.speed = v;
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} catch (const std::exception &e) {
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ESP_LOGI(TAG, "Failed to parse %s and %s", args[0].c_str(), args[1].c_str());
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}
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}
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void triggerMovement(Cli::CArgs args) {
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ESP_LOGI(TAG, "on triggerMovement:");
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if (args.size() != 2) {
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shellPtr->write("need profile index and steps'\n");
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return;
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}
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try {
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int p = std::stoi(args[0]);
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int j = std::stoi(args[1]);
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activeState.profile = p;
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activeState.jumps = j;
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commandQueue.enqueue(std::make_unique<MoveCommand>(MoveType::Step, j, p, activeState.color));
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} catch (const std::exception &e) {
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ESP_LOGI(TAG, "Failed to parse %s and %s", args[0].c_str(), args[1].c_str());
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}
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}
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void startDemoMovement(Cli::CArgs args) {
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ESP_LOGI(TAG, "on startDemoMovement:");
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commandQueue.enqueue(std::make_unique<MoveCommand>(MoveType::Demo));
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}
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/**
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* @brief Telnet socket via TCP/IP
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*
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* @details The ini-file for TeraTerm only changes CRReceive and CRSend values both to "=CR"
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* @param arg ignored task argument
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*/
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static void telnetSocketTask(int addrFamily) {
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ESP_LOGI(TAG, "Starting Telnet task");
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try {
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TelnetServer telnet(addrFamily);
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telnet.run(
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[](TcpSession &session) {
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shellPtr = std::make_unique<Cli>(session, [](std::string n, Cli::CArgs a) { onCommand(n, a); });
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shellPtr->addBinding(
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{"update", "Start OTA-Update-Process",
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[](Cli::CArgs a) { startUpdate(a); }});
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shellPtr->addBinding(
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{"logserver_set", "Set log server config ip",
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[](Cli::CArgs a) { setLogServerConfig(a); }});
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shellPtr->addBinding(
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{"dyn_set", "set dynamics of movement (velocity,accelerations) as floats",
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[](Cli::CArgs a) { setDynamics(a); }});
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shellPtr->addBinding(
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{"move", "start movement (profile-idx,steps) as integers ",
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[](Cli::CArgs a) { triggerMovement(a); }});
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},
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[](TcpSession &session) {
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shellPtr->process();
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Syslog::setupTask(session.getOther());
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});
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} catch (const std::exception &e) {
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ESP_LOGE("TCP", "%s", e.what());
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}
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vTaskDelete(NULL);
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}
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constexpr uint32_t DmxUniverse = 0;
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constexpr int DmxChannelCount = 9;
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uint8_t scaledRgbChannel(uint8_t value, float scale) {
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return static_cast<uint8_t>(value * scale);
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}
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/**
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* @brief Callback for ArtNet DMX-socket. Does not send data only updates the image
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*
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* @param data Pointer to dmx-values
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* @param size length of dmx-values
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*/
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static void UniverseCallback(const uint8_t *data, const uint16_t size) {
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int len = std::min(static_cast<int>(size), DmxChannelCount);
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ESP_LOGD(TAG, "Got DMX");
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ESP_LOG_BUFFER_HEXDUMP("DMX", data, len, ESP_LOG_DEBUG);
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Syslog::logv(Syslog::Severity::Debug, "Got DMX: r%0x g%0x b%0x i%0x trig%i j%i p%i a%i w%i",
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data[0], data[1], data[2], data[3], data[4], data[5], data[6], data[7], data[8]);
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float intens = (float)data[3] / UINT8_MAX;
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activeState.color = Color{
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scaledRgbChannel(data[0], intens),
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scaledRgbChannel(data[1], intens),
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scaledRgbChannel(data[2], intens),
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0};
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static uint8_t lastTrig = 0;
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uint8_t thisTrig = data[4];
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if (thisTrig == lastTrig) {
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return;
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}
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lastTrig = thisTrig;
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uint8_t jumps = data[5];
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activeState.jumps = jumps;
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uint8_t profile = data[6];
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uint8_t accel = data[7];
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uint8_t velo = data[8];
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activeState.accel = (float)accel / 100 + 0.5; // min .5 / max 3
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activeState.speed = (float)velo / 100 + 0.5; // min .5 / max 3
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activeState.profile = profile;
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Syslog::logv(Syslog::Severity::Notice, "Command detected step=%i prof=%i accel=%.1f velo=%.1f", jumps, profile, activeState.accel, activeState.speed);
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commandQueue.enqueue(std::make_unique<MoveCommand>(MoveType::Step, jumps, profile, activeState.color));
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}
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/**
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* @brief DMX-Socket for ArtNet TCP/IP
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*
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* @details Tested with [Q Light Controller+](https://www.qlcplus.org/)
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* @param args ignored task argument
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*/
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static void dmxSocketSenderTask(UdpSocket &socket) {
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try {
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ArtnetSender artnet(socket);
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std::array<uint8_t, 16> data;
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while (socket.isActive()) {
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data[0]++;
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artnet.send("", 0, data.data(), data.size());
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fos::Task::delayMs(500);
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}
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} catch (const std::exception &e) {
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ESP_LOGE("UDP", "%s", e.what());
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}
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}
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/**
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* @brief DMX-Socket for ArtNet TCP/IP
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*
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* @details Tested with [Q Light Controller+](https://www.qlcplus.org/)
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* @param args ignored task argument
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*/
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static void dmxSocketTask(int addrFamily) {
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ESP_LOGI(TAG, "Starting ArtNet task");
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constexpr uint16_t ArtNetPort = arx::artnet::DEFAULT_PORT;
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IpAdr address = addrFamily == AF_INET ? IpAdr(INADDR_ANY, ArtNetPort) : IpAdr(ArtNetPort);
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try {
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while (true) {
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UdpSocket socket(address);
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socket.bindTo();
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ArtnetReceiver artnet(socket);
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artnet.subscribe(DmxUniverse, UniverseCallback);
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artnet.parse();
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// auto msg = std::make_unique<Display::Message>(Display::Message::Type::UpdateInfo, "DMX-IP-Mode");
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// displayEvents.enqueue(std::move(msg));
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// deviceState.setNewState(DeviceState::Mode::Remote);
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// xTaskCreate(valueRefresherTask, "valueRefresher", 4096, nullptr, 5, NULL);
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// static TaskT<UdpSocket &> dmxSender(dmxSocketSenderTask, socket, "dmxSender", 4096);
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// parse artnet as long socket is active, then restart socket
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while (socket.isActive()) {
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ESP_LOGD(TAG, "Waiting for data");
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artnet.parse();
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// socket.write(data);
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}
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// deviceState.fallbackToLast();
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}
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} catch (const std::exception &e) {
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ESP_LOGE("UDP", "%s", e.what());
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}
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}
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void startServerTasks() {
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static int ipVersion = AF_INET;
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static fos::TaskT<int> telnetSocket(telnetSocketTask, ipVersion, "tcpServer", 4096);
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static fos::TaskT<int> dmxNode(dmxSocketTask, ipVersion, "dmxNode", 4096);
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// static Task otaUpdate(SystemFunctions::OtaTaskEntry, "otaTask", 8192);
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}
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/** Event handler for IP_EVENT_ETH_GOT_IP */
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static void got_ip_event_handler(void *arg, esp_event_base_t event_base,
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int32_t event_id, void *event_data) {
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ip_event_got_ip_t *event = (ip_event_got_ip_t *)event_data;
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const esp_netif_ip_info_t *ip_info = &event->ip_info;
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ESP_LOGI(TAG, "Ethernet Got IP Address");
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ESP_LOGI(TAG, "~~~~~~~~~~~");
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ESP_LOGI(TAG, "ETHIP:" IPSTR, IP2STR(&ip_info->ip));
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ESP_LOGI(TAG, "ETHMASK:" IPSTR, IP2STR(&ip_info->netmask));
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ESP_LOGI(TAG, "ETHGW:" IPSTR, IP2STR(&ip_info->gw));
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ESP_LOGI(TAG, "~~~~~~~~~~~");
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startServerTasks();
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}
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// Event handler for Ethernet
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static void eth_event_handler(void *arg, esp_event_base_t event_base,
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int32_t event_id, void *event_data) {
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uint8_t mac_addr[6] = {0};
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switch (event_id) {
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case ETHERNET_EVENT_CONNECTED:
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ESP_LOGI(TAG, "Ethernet Link Up");
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EthernetIsConnected = true;
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ESP_LOGI(TAG, "Ethernet Link Up");
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ESP_LOGI(TAG, "Ethernet HW Addr %02x:%02x:%02x:%02x:%02x:%02x",
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mac_addr[0], mac_addr[1], mac_addr[2], mac_addr[3], mac_addr[4], mac_addr[5]);
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break;
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case ETHERNET_EVENT_DISCONNECTED:
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ESP_LOGI(TAG, "Ethernet Link Down");
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EthernetIsConnected = false;
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break;
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case ETHERNET_EVENT_START:
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ESP_LOGI(TAG, "Ethernet Started");
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break;
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case ETHERNET_EVENT_STOP:
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ESP_LOGI(TAG, "Ethernet Stopped");
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break;
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default:
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break;
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}
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}
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static void initialize_ethernet(void) {
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uint8_t eth_port_cnt = 0;
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esp_eth_handle_t *eth_handles;
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ESP_ERROR_CHECK(example_eth_init(ð_handles, ð_port_cnt));
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if (eth_port_cnt > 1) {
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ESP_LOGW(TAG, "multiple Ethernet devices detected, the first initialized is to be used!");
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}
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static esp_eth_handle_t s_eth_handle = NULL;
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s_eth_handle = eth_handles[0];
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free(eth_handles);
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// Initialize TCP/IP network interface aka the esp-netif (should be called only once in application)
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ESP_ERROR_CHECK(esp_netif_init());
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// Create default event loop that running in background
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ESP_ERROR_CHECK(esp_event_loop_create_default());
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// Use ESP_NETIF_DEFAULT_ETH when just one Ethernet interface is used and you don't need to modify
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// default esp-netif configuration parameters.
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esp_netif_config_t cfg = ESP_NETIF_DEFAULT_ETH();
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esp_netif_t *eth_netif = esp_netif_new(&cfg);
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// Attach Ethernet driver to TCP/IP stack
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ESP_ERROR_CHECK(esp_netif_attach(eth_netif, esp_eth_new_netif_glue(s_eth_handle)));
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ESP_ERROR_CHECK(esp_event_handler_register(ETH_EVENT, ESP_EVENT_ANY_ID, eth_event_handler, NULL));
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ESP_ERROR_CHECK(esp_event_handler_register(IP_EVENT, IP_EVENT_ETH_GOT_IP, &got_ip_event_handler, NULL));
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ESP_ERROR_CHECK(esp_eth_start(s_eth_handle));
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}
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namespace Effect {
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extern const WaveForm_t OffsetPulseWave{gau8_offsetPulse, cu16_TemplateLength};
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extern const WaveForm_t InitSlopeWave{gau8_initSlope, cu16_TemplateLength};
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extern const WaveForm_t OffsetSlopeWave{gau8_offsetSlope, cu16_TemplateLength};
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extern const WaveForm_t FullSlopeWave{gau8_fullSlope, cu16_TemplateLength};
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extern const WaveForm_t FullPulseWave{gau8_fullPulse, cu16_TemplateLength};
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const Macro macDemoStart = {
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{64, 1, &InitSlopeWave, StateMachine::UpdateWave, 0xFF},
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{32, 1, StateMachine::UpdateIdle, 0xFF},
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};
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const Macro macDemoPulse = {
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{64, 1, &InitSlopeWave, StateMachine::UpdateWave, 0xFF},
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{32, 2, StateMachine::UpdateIdle, 0xFF},
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{64, 1, &OffsetPulseWave, StateMachine::UpdateWave, 0xFF},
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};
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const Macro macDemoFlicker = {
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{64, 1, &InitSlopeWave, StateMachine::UpdateWave, 0xFF},
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{32, 1, StateMachine::UpdateFlicker, 0xFF},
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};
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}
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void LightingTask() {
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ESP_LOGI(TAG, "Start Lighting");
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static I2cMaster master(I2C_NUM_0,
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/*sda=*/GPIO_NUM_10,
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/*scl=*/GPIO_NUM_11);
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// static PmwExpanderPca9685 pca9685(master);
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static PmwExpanderPca9685 ledDriver1(master, /*iverted=*/false);
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static PmwExpanderPca9685 ledDriver2(master, /*iverted=*/false, 0x41);
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PmwExpanderPca9685::GrayValues values[2];
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OutputPort pwmEnable(GPIO_NUM_1, GpioPort::Logic::Inverted);
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pwmEnable.write(true);
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auto const &colorSource = activeState.color;
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std::array<Effect::EffectProcessor, 6> processors{
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Effect::EffectProcessor(8),
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Effect::EffectProcessor(8),
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Effect::EffectProcessor(8),
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Effect::EffectProcessor(8),
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Effect::EffectProcessor(8),
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Effect::EffectProcessor(8)};
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processors[0].setEffect(Effect::macDemoStart, &colorSource, 16);
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processors[1].setEffect(Effect::macDemoStart, &colorSource, 32);
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processors[2].setEffect(Effect::macDemoPulse, &colorSource, 48);
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processors[3].setEffect(Effect::macDemoPulse, &colorSource, 64);
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processors[4].setEffect(Effect::macStartFlicker, &colorSource, 80);
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processors[5].setEffect(Effect::macStartIdle, &colorSource, 96);
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// processors[1].setEffect(Effect::macDark, &colorSource, 32);
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// processors[2].setEffect(Effect::macDark, &colorSource, 48);
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// processors[3].setEffect(Effect::macDark, &colorSource, 64);
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// processors[4].setEffect(Effect::macDark, &colorSource, 80);
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// processors[1].setEffect(Effect::macDemoStart, &colorSource, 32);
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// processors[2].setEffect(Effect::macDemoPulse, &colorSource, 48);
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// processors[3].setEffect(Effect::macDemoPulse, &colorSource, 64);
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// processors[4].setEffect(Effect::macStartFlicker, &colorSource, 80);
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while (true) {
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values[0].fill(0);
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values[1].fill(0);
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// values[x][4] = 0x200; // Actually first
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values[0][4] = activeState.color.getRed() * 257;
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values[0][5] = activeState.color.getGreen() * 257;
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values[0][6] = activeState.color.getBlue() * 257;
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// values[1][4] = 0x100; // Actually first
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values[1][4] = activeState.color.getRed() * 257;
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values[1][5] = activeState.color.getGreen() * 257;
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values[1][6] = activeState.color.getBlue() * 257;
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ledDriver1.sendImage(values[0]);
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ledDriver2.sendImage(values[1]);
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fos::Task::delayMs(40);
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}
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}
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void MovementTask() {
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ESP_LOGI(TAG, "Start Stepper");
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constexpr int MicroSteps = 32;
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StepperDriverDrv8833::Pins stepperPins{
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LEDC_TIMER_0,
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{LEDC_CHANNEL_0, LEDC_CHANNEL_1, LEDC_CHANNEL_2, LEDC_CHANNEL_3},
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{GPIO_NUM_23, GPIO_NUM_22, GPIO_NUM_21, GPIO_NUM_20},
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};
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StepperDriverDrv8833 stepperDriver(stepperPins, MicroSteps, 0.25F);
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stepperDriver.setPos(0);
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StepperConfig stepperCfg{1.8F, MicroSteps};
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InputPort initSens(GPIO_NUM_18);
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InputPort motorFault(GPIO_NUM_8);
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motorFault.setLogic(GpioPort::Logic::Inverted);
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OutputPort motorSleep(GPIO_NUM_15, GpioPort::Logic::Inverted);
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motorSleep.write(false);
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StepperMotor stepper(stepperCfg, stepperDriver, initSens);
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ESP_LOGI("Stepper", "Find Home");
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stepper.findRef();
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ESP_LOGI(TAG, "Fist Position is %f.2", stepper.getScaledPos() * 6);
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fos::Task::delayMs(1000);
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while (true) {
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ESP_LOGD(TAG, "Waiting for command");
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auto cmd = commandQueue.dequeue();
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if (cmd->type == MoveType::Step) {
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if (stepper.isIdle()) {
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auto delta = cmd->deltaPic;
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auto profile = cmd->profile;
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// activeState.pictogram = ledPos;
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// ledRing.send(ledStrip);
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delta = std::min<uint8_t>(delta, 128);
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Syslog::logv(Syslog::Severity::Notice,
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"Running Stepper by %i steps with prof=%i a=%.2f w=%.2f",
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delta, profile, activeState.accel, activeState.speed);
|
|
stepper.moveBy(delta * std::numbers::pi / 3,
|
|
profile, activeState.accel, activeState.speed);
|
|
} else {
|
|
fos::Task::delayMs(100);
|
|
}
|
|
} 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, "Position is %f.2", stepper.getScaledPos() * 6);
|
|
}
|
|
} else {
|
|
fos::Task::delayMs(100);
|
|
}
|
|
}
|
|
}
|
|
|
|
void IoTest() {
|
|
ESP_LOGI(TAG, "Start IO");
|
|
InputPort in2(GPIO_NUM_19);
|
|
OutputPort nReset(GPIO_NUM_9);
|
|
|
|
while (true) {
|
|
nReset.write(in2.read());
|
|
fos::Task::delayMs(100);
|
|
}
|
|
}
|
|
|
|
void app_main(void) {
|
|
esp_err_t ret = nvs_flash_init();
|
|
if (ret == ESP_ERR_NVS_NO_FREE_PAGES || ret == ESP_ERR_NVS_NEW_VERSION_FOUND) {
|
|
ESP_ERROR_CHECK(nvs_flash_erase());
|
|
ret = nvs_flash_init();
|
|
}
|
|
ESP_ERROR_CHECK(ret);
|
|
initialize_ethernet();
|
|
// static fos::Task lightingTask(LightingTask, "Lights", 0x4000uL);
|
|
static fos::Task movementTask(MovementTask, "Motor", 0x4000uL);
|
|
// static fos::Task ioTask(IoTest, "IO", 0x4000uL);
|
|
}
|