amikhalev/uas-ugv
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create main loop

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This commit is contained in:
Alex Mikhalev 2019-01-24 19:16:18 -08:00
parent 3fc065d212
commit fac5b63e62
6 changed files with 57 additions and 25 deletions
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4
main/ugv_comms.cc
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@ -12,8 +12,6 @@
namespace ugv {
namespace comms {
CommsClass Comms;
static const char *TAG = "ugv_comms";
CommsClass::CommsClass()
@ -167,7 +165,7 @@ void CommsClass::RunTask() {
if (ret != ESP_OK) {
ESP_LOGE(TAG, "error sending packet: %d", ret);
} else {
ESP_LOGI(TAG, "lora wrote UGV_Message packet");
ESP_LOGV(TAG, "lora wrote UGV_Message packet");
}
current_tick = xTaskGetTickCount();

2
main/ugv_comms.hh
View File

@ -69,7 +69,5 @@ class CommsClass {
static void CommsTask(void* arg);
};
extern CommsClass Comms;
} // namespace comms
} // namespace ugv

2
main/ugv_io.cc
View File

@ -88,7 +88,7 @@ void IOClass::WriteOutputs(const Outputs &outputs) {
ERROR_CHECK(ret);
ret = gpio_set_level(MOTOR_RIGHT_DIR, right_dir);
ERROR_CHECK(ret);
ESP_LOGD(TAG, "motor outputs: (%f, %f)", outputs.left_motor,
ESP_LOGV(TAG, "motor outputs: (%f, %f)", outputs.left_motor,
outputs.right_motor);
}

2
main/ugv_io.hh
View File

@ -35,7 +35,5 @@ class IOClass {
void InitMotors();
};
extern IOClass IO;
} // namespace io
} // namespace ugv

2
main/ugv_io_gps.cc
View File

@ -73,7 +73,7 @@ void UART_GPS::Init() {
ESP_LOGI(TAG, "gps uart configured");
BaseType_t xRet = xTaskCreate(UART_GPS::GPS_Task, "ugv_io_gps", 2 * 1024,
this, 1, &this->task_);
this, 3, &this->task_);
if (xRet != pdTRUE) {
ESP_LOGE(TAG, "error creating GPS task");
return;

70
main/ugv_main.cc
View File

@ -1,31 +1,69 @@
#include <esp_log.h>
#include <string.h>
#include <u8g2.h>
#include <esp_timer.h>
#include "ugv_comms.hh"
#include "ugv_display.hh"
#include "ugv_io.hh"
namespace ugv {
using ugv::comms::Comms;
using ugv::io::IO;
DisplayClass *display;
using ugv::comms::CommsClass;
using ugv::io::IOClass;
static const char *TAG = "ugv_main";
constexpr uint64_t LOOP_PERIOD_US = 1e6 / 1;
void setup(void) {
ESP_LOGI(TAG, "setup");
extern "C" void OnTimeout(void *arg);
Comms.Init();
IO.Init();
display = new DisplayClass(&Comms, &IO);
display->Init();
struct State {
public:
CommsClass * comms;
IOClass * io;
DisplayClass * display;
esp_timer_handle_t timer_handle;
io::Inputs inputs;
io::Outputs outputs;
State() {
comms = new CommsClass();
io = new IOClass();
display = new DisplayClass(comms, io);
}
void Init() {
comms->Init();
io->Init();
display->Init();
esp_timer_init();
esp_timer_create_args_t timer_args;
timer_args.callback = OnTimeout;
timer_args.arg = this;
timer_args.dispatch_method = ESP_TIMER_TASK;
timer_args.name = "ugv_main_loop";
esp_timer_create(&timer_args, &this->timer_handle);
esp_timer_start_periodic(timer_handle, LOOP_PERIOD_US);
}
void OnTick() {
ESP_LOGD(TAG, "OnTick");
}
};
extern "C" void OnTimeout(void *arg) {
State *state = (State*)arg;
state->OnTick();
}
State *state;
void Setup(void) {
ESP_LOGI(TAG, "Starting UAS UGV");
state = new State();
state->Init();
ESP_LOGI(TAG, "Setup finished");
}
} // namespace ugv
extern "C" void app_main() {
ugv::setup();
}
extern "C" void app_main() { ugv::Setup(); }