Merge pull request #137 from bobbycar-graz/taskmanager

Taskmanager

main/CMakeLists.txt

@@ -167,6 +167,7 @@ set(headers
     modes/motortestmode.h
     modes/remotecontrolmode.h
     modes/tempomatmode.h
+    mosfets.h
     newsettings.h
     ota.h
     presets.h
@@ -179,6 +180,7 @@ set(headers
     statistics.h
     statustexthelper.h
     stringsettings.h
+    taskmanager.h
     texts.h
     time_bobbycar.h
     types.h
@@ -367,6 +369,7 @@ set(sources
     modes/motortestmode.cpp
     modes/remotecontrolmode.cpp
     modes/tempomatmode.cpp
+    mosfets.cpp
     newsettings.cpp
     ota.cpp
     presets.cpp
@@ -379,6 +382,7 @@ set(sources
     statistics.cpp
     statustexthelper.cpp
     stringsettings.cpp
+    taskmanager.cpp
     texts.cpp
     time_bobbycar.cpp
     types.cpp

main/buttons.cpp

@@ -16,6 +16,11 @@ int upPressRepeat{};
 std::optional<espchrono::millis_clock::time_point> downPressedSince;
 int downPressRepeat{};
 
+void InputDispatcher::init()
+{
+
+}
+
 void InputDispatcher::update()
 {
     if (upPressedSince && espchrono::ago(*upPressedSince) > (upPressRepeat > 2 ? 50ms : 400ms))

main/buttons.h

@@ -32,6 +32,8 @@ extern int downPressRepeat;
 class InputDispatcher
 {
 public:
+    static void init();
+
     static void update();
 
     static void rotate(int offset);

main/main.cpp

@@ -8,7 +8,6 @@ constexpr const char * const TAG = "BOBBY";
 #include <cstdio>
 
 // esp-idf includes
-#include <esp_wifi_types.h>
 #include <esp_log.h>
 
 // Arduino includes
@@ -18,6 +17,7 @@ constexpr const char * const TAG = "BOBBY";
 #include <espchrono.h>
 using namespace std::chrono_literals;
 #include <espwifistack.h>
+#include <schedulertask.h>
 
 // local includes
 #include "bobbycar-common.h"
@@ -25,22 +25,6 @@ using namespace std::chrono_literals;
 #include "macros_bobbycar.h"
 #include "globals.h"
 #include "screens.h"
-#include "dpad.h"
-#ifdef FEATURE_DPAD_3WIRESW
-#include "dpad3wire.h"
-#endif
-#ifdef FEATURE_DPAD_5WIRESW
-#include "dpad5wire.h"
-#endif
-#ifdef FEATURE_DPAD_5WIRESW_2OUT
-#include "dpad5wire_2out.h"
-#endif
-#ifdef FEATURE_DPAD_6WIRESW
-#include "dpad6wire.h"
-#endif
-#ifdef FEATURE_ROTARY
-#include "rotary.h"
-#endif
 #include "serialhandler.h"
 #ifdef FEATURE_OTA
 #include "ota.h"
@@ -81,9 +65,9 @@ using namespace std::chrono_literals;
 #endif
 #include "drivingstatistics.h"
 #include "newsettings.h"
+#include "taskmanager.h"
 
 namespace {
-std::optional<espchrono::millis_clock::time_point> lastWifiUpdate;
 std::optional<espchrono::millis_clock::time_point> lastPotiRead;
 std::optional<espchrono::millis_clock::time_point> lastModeUpdate;
 std::optional<espchrono::millis_clock::time_point> lastStatsUpdate;
@@ -151,54 +135,11 @@ extern "C" void app_main()
     else
         ESP_LOGE("MAIN", "get_default_mac_addr() failed: %.*s", result.error().size(), result.error().data());
 
-    bootLabel.redraw("wifi");
+    for (const auto &task : schedulerTasks)
-    wifi_begin();
+    {
-
+        bootLabel.redraw(task.name());
-#ifdef FEATURE_DPAD
+        task.setup();
-    bootLabel.redraw("dpad");
+    }
-    dpad::init();
-#endif
-
-#ifdef FEATURE_DPAD_3WIRESW
-    bootLabel.redraw("dpad3wire");
-    dpad3wire::init();
-#endif
-
-#ifdef FEATURE_DPAD_5WIRESW
-    bootLabel.redraw("dpad5wire");
-    dpad5wire::init();
-#endif
-
-#ifdef FEATURE_DPAD_5WIRESW_2OUT
-    bootLabel.redraw("dpad5wire_2out");
-    dpad5wire_2out::init();
-#endif
-
-#ifdef FEATURE_DPAD_6WIRESW
-    bootLabel.redraw("dpad6wire");
-    dpad6wire::init();
-#endif
-
-#ifdef FEATURE_ROTARY
-    bootLabel.redraw("rotary");
-    initRotary();
-#endif
-
-#ifdef FEATURE_MOSFETS
-    bootLabel.redraw("mosfets");
-    pinMode(PINS_MOSFET0, OUTPUT);
-    pinMode(PINS_MOSFET1, OUTPUT);
-    pinMode(PINS_MOSFET2, OUTPUT);
-
-    digitalWrite(PINS_MOSFET0, LOW);
-    digitalWrite(PINS_MOSFET1, LOW);
-    digitalWrite(PINS_MOSFET2, LOW);
-#endif
-
-#ifdef FEATURE_SERIAL
-    bootLabel.redraw("swap front back");
-    updateSwapFrontBack();
-#endif
 
 #ifdef FEATURE_BLUETOOTH
     if (settings.bluetoothSettings.autoBluetoothMode == BluetoothMode::Master)
@@ -231,6 +172,9 @@ extern "C" void app_main()
 
     bootLabel.redraw("back Serial begin");
     controllers.back.serial.get().begin(38400, SERIAL_8N1, PINS_RX2, PINS_TX2);
+
+    bootLabel.redraw("swap front back");
+    updateSwapFrontBack();
 #endif
 
 #ifdef FEATURE_LEDSTRIP
@@ -296,33 +240,12 @@ extern "C" void app_main()
     {
         const auto now = espchrono::millis_clock::now();
 
-        if (!lastWifiUpdate || now - *lastWifiUpdate >= 100ms)
+        for (auto &schedulerTask : schedulerTasks)
         {
-            wifi_update();
+            schedulerTask.loop();
 
-            lastWifiUpdate = now;
         }
 
-        InputDispatcher::update();
-
-#ifdef FEATURE_DPAD
-        dpad::update();
-#endif
-
-#ifdef FEATURE_DPAD_3WIRESW
-        dpad3wire::update();
-#endif
-
-#ifdef FEATURE_DPAD_5WIRESW
-        dpad5wire::update();
-#endif
-#ifdef FEATURE_DPAD_5WIRESW_2OUT
-        dpad5wire_2out::update();
-#endif
-#ifdef FEATURE_DPAD_6WIRESW
-        dpad6wire::update();
-#endif
-
         if (!lastPotiRead || now - *lastPotiRead >= 1000ms/settings.boardcomputerHardware.timersSettings.potiReadRate)
         {
             readPotis();

main/mosfets.cpp

@@ -0,0 +1,22 @@
+#include "mosfets.h"
+
+// Arduino includes
+#include <Arduino.h>
+
+#ifdef FEATURE_MOSFETS
+void init_mosfets()
+{
+    pinMode(PINS_MOSFET0, OUTPUT);
+    pinMode(PINS_MOSFET1, OUTPUT);
+    pinMode(PINS_MOSFET2, OUTPUT);
+
+    digitalWrite(PINS_MOSFET0, LOW);
+    digitalWrite(PINS_MOSFET1, LOW);
+    digitalWrite(PINS_MOSFET2, LOW);
+}
+
+void update_mosfets()
+{
+
+}
+#endif

main/mosfets.h

@@ -0,0 +1,6 @@
+#pragma once
+
+#ifdef FEATURE_MOSFETS
+void init_mosfets();
+void update_mosfets();
+#endif

main/rotary.h

@@ -84,5 +84,10 @@ void initRotary()
     attachInterrupt(decltype(rotary)::ClkPin, updateRotate, CHANGE);
     attachInterrupt(decltype(rotary)::SwPin, updateSwitch, CHANGE);
 }
+
+void updateRotary()
+{
+
+}
 #endif
 }

main/taskmanager.cpp

@@ -0,0 +1,82 @@
+#include "taskmanager.h"
+
+#include "sdkconfig.h"
+
+// system includes
+#include <iterator>
+#include <chrono>
+
+// esp-idf includes
+#include <esp_log.h>
+
+// 3rdparty lib includes
+#include <schedulertask.h>
+
+// local includes
+#include "wifi_bobbycar.h"
+#include "buttons.h"
+#include "dpad.h"
+#ifdef FEATURE_DPAD_3WIRESW
+#include "dpad3wire.h"
+#endif
+#ifdef FEATURE_DPAD_5WIRESW
+#include "dpad5wire.h"
+#endif
+#ifdef FEATURE_DPAD_5WIRESW_2OUT
+#include "dpad5wire_2out.h"
+#endif
+#ifdef FEATURE_DPAD_6WIRESW
+#include "dpad6wire.h"
+#endif
+#ifdef FEATURE_ROTARY
+#include "rotary.h"
+#endif
+#ifdef FEATURE_MOSFETS
+#include "mosfets.h"
+#endif
+
+using namespace std::chrono_literals;
+
+namespace {
+constexpr const char * const TAG = "TASKS";
+
+espcpputils::SchedulerTask schedulerTasksArr[] {
+    espcpputils::SchedulerTask { "wifi",           wifi_begin,            wifi_update,             100ms },
+    espcpputils::SchedulerTask { "input",          InputDispatcher::init, InputDispatcher::update, {}    },
+#ifdef FEATURE_DPAD
+    espcpputils::SchedulerTask { "dpad",           dpad::init,            dpad::update,            {}    },
+#endif
+#ifdef FEATURE_DPAD_3WIRESW
+    espcpputils::SchedulerTask { "dpad3wire",      dpad3wire::init,       dpad3wire::update,       {}    },
+#endif
+#ifdef FEATURE_DPAD_5WIRESW
+    espcpputils::SchedulerTask { "dpad5wire",      dpad5wire::init,       dpad5wire::update,       {}    },
+#endif
+#ifdef FEATURE_DPAD_5WIRESW_2OUT
+    espcpputils::SchedulerTask { "dpad5wire_2out", dpad5wire_2out::init,  dpad5wire_2out::update,  {}    },
+#endif
+#ifdef FEATURE_DPAD_6WIRESW
+    espcpputils::SchedulerTask { "dpad6wire",      dpad6wire::init,       dpad6wire::update,       {}    },
+#endif
+#ifdef FEATURE_ROTARY
+    espcpputils::SchedulerTask { "rotary",         initRotary,            updateRotary,            {}    },
+#endif
+#ifdef FEATURE_MOSFETS
+    espcpputils::SchedulerTask { "mosfets",        init_mosfets,          update_mosfets,          {}    },
+#endif
+};
+} // namespace
+
+cpputils::ArrayView<espcpputils::SchedulerTask> schedulerTasks{std::begin(schedulerTasksArr), std::end(schedulerTasksArr)};
+
+void sched_pushStats(bool printTasks)
+{
+    if (printTasks)
+        ESP_LOGI(TAG, "begin listing tasks...");
+
+    for (auto &schedulerTask : schedulerTasks)
+        schedulerTask.pushStats(printTasks);
+
+    if (printTasks)
+        ESP_LOGI(TAG, "end listing tasks");
+}

main/taskmanager.h

@@ -0,0 +1,11 @@
+#pragma once
+
+// 3rdparty lib includes
+#include <arrayview.h>
+
+// forward declares
+namespace espcpputils { class SchedulerTask; }
+
+extern cpputils::ArrayView<espcpputils::SchedulerTask> schedulerTasks;
+
+void sched_pushStats(bool printTasks);