groundwork for BMS

2026-02-22 23:00:10 -06:00
parent 0179b767e9
commit 4481a22f6b
17 changed files with 194 additions and 10 deletions
--- a/src/mainEventLoop.cpp
+++ b/src/mainEventLoop.cpp
@@ -0,0 +1,176 @@
+#include "mainEventLoop.hpp"
+#include "calibration.hpp"
+#include "setup.hpp"
+#include "servo.hpp"
+#include "bmHTTP.hpp"
+#include "cJSON.h"
+#include "encoder.hpp"
+#include "WiFi.hpp"
+#include "socketIO.hpp"
+
+TaskHandle_t wakeTaskHandle = NULL;
+
+void wakeTimer(void* pvParameters) {
+  while (1) {
+    vTaskDelay(pdMS_TO_TICKS(60000));
+    // avoid accumulating events during re-setup or calibration
+    if (setupTaskHandle != NULL || socketIOactive 
+        || uxQueueMessagesWaiting(main_event_queue) > 2) continue; 
+    main_event_type_t evt = EVENT_REQUEST_POS;
+    xQueueSend(main_event_queue, &evt, portMAX_DELAY);
+  }
+}
+
+bool postServoPos(uint8_t currentAppPos) {
+  // Create POST data
+  cJSON* posData = cJSON_CreateObject();
+  cJSON_AddNumberToObject(posData, "port", 1);
+  cJSON_AddNumberToObject(posData, "pos", currentAppPos);
+  
+  // Send position update
+  cJSON* response = nullptr;
+  bool success = httpPOST("position", webToken, posData, response);
+  cJSON_Delete(posData);
+  
+  if (success && response != nullptr) {
+    // Parse await_calib from response
+    cJSON* awaitCalibItem = cJSON_GetObjectItem(response, "await_calib");
+    bool awaitCalib = false;
+    if (cJSON_IsBool(awaitCalibItem)) {
+      awaitCalib = awaitCalibItem->valueint != 0;
+    }
+    
+    printf("Position update sent: %d, await_calib=%d\n", currentAppPos, awaitCalib);
+    cJSON_Delete(response);
+    
+    if (awaitCalib) {
+      Calibration::clearCalibrated();
+      if (!calibrate()) {
+        if (!WiFi::attemptDHCPrenewal())
+          setupAndCalibrate();
+        else {
+          if (!calibrate()) {
+            printf("ERROR OCCURED: EVEN AFTER SETUP, SOCKET OPENING FAIL\n");
+            setupAndCalibrate();
+          }
+        }
+      }
+    }
+  }
+  return success;
+}
+
+bool getServoPos() {
+  cJSON* response = nullptr;
+  bool success = httpGET("position", webToken, response);
+
+  if (success && response != NULL) {
+    // Check if response is an array
+    if (cJSON_IsArray(response)) {
+      int arraySize = cJSON_GetArraySize(response);
+      
+      // Condition 1: More than one object in array
+      if (arraySize > 1) {
+        printf("Multiple peripherals detected, entering setup.\n");
+        cJSON_Delete(response);
+        return false;
+      }
+      // Condition 2: Check peripheral_number in first object
+      else if (arraySize > 0) {
+        cJSON *firstObject = cJSON_GetArrayItem(response, 0);
+        if (firstObject != NULL) {
+          cJSON *peripheralNum = cJSON_GetObjectItem(firstObject, "peripheral_number");
+          if (cJSON_IsNumber(peripheralNum) && peripheralNum->valueint != 1) {
+            printf("Peripheral number is not 1, entering setup.\n");
+            cJSON_Delete(response);
+            return false;
+          }
+          printf("Verified new token!\n");
+
+          cJSON *awaitCalib = cJSON_GetObjectItem(firstObject, "await_calib");
+          if (cJSON_IsBool(awaitCalib)) {
+            if (awaitCalib->valueint) {
+              Calibration::clearCalibrated();
+              if (!calibrate()) {
+                if (!WiFi::attemptDHCPrenewal())
+                  setupAndCalibrate();
+                else {
+                  if (!calibrate()) {
+                    printf("ERROR OCCURED: EVEN AFTER SETUP, SOCKET OPENING FAIL\n");
+                    setupAndCalibrate();
+                  }
+                }
+              }
+            }
+            else {
+              cJSON* pos = cJSON_GetObjectItem(firstObject, "last_pos");
+              runToAppPos(pos->valueint);
+            }
+          }
+          cJSON_Delete(response);
+        }
+      }
+    }
+  }
+  return success;
+}
+
+QueueHandle_t main_event_queue = NULL;
+
+void mainEventLoop() {
+  main_event_queue = xQueueCreate(10, sizeof(main_event_type_t));
+  main_event_type_t received_event_type;
+
+  while (true) {
+    if (xQueueReceive(main_event_queue, &received_event_type, portMAX_DELAY)) {
+      if (received_event_type == EVENT_CLEAR_CALIB) {
+        Calibration::clearCalibrated();
+        if (!calibrate()) {
+          if (!WiFi::attemptDHCPrenewal())
+            setupAndCalibrate();
+          else {
+            if (!calibrate()) {
+              printf("ERROR OCCURED: EVEN AFTER SETUP, SOCKET OPENING FAIL\n");
+              setupAndCalibrate();
+            }
+          }
+        }
+      }
+      else if (received_event_type == EVENT_SAVE_POS) {
+        servoSavePos();
+
+        uint8_t currentAppPos = Calibration::convertToAppPos(topEnc->getCount());
+        
+        if (!postServoPos(currentAppPos)) {
+          printf("Failed to send position update\n");
+          if (!WiFi::attemptDHCPrenewal()) {
+            setupAndCalibrate();
+            postServoPos(currentAppPos);
+          }
+          else {
+            if (!postServoPos(currentAppPos)) {
+              printf("renewed dhcp successfully, but still failed to post\n");
+              setupAndCalibrate();
+            }
+          }
+        }
+      }
+      else if (received_event_type == EVENT_REQUEST_POS) {
+        if (!getServoPos()) {
+          printf("Failed to send position update\n");
+          if (!WiFi::attemptDHCPrenewal()) {
+            setupAndCalibrate();
+            getServoPos();
+          }
+          else {
+            if (!getServoPos()) {
+              printf("renewed dhcp successfully, but still failed to post\n");
+              setupAndCalibrate();
+            }
+          }
+        }
+      }
+    }
+  }
+  vTaskDelete(NULL);
+}