added challenge_com,

JSON parsing not yet implemented,
improved main workflow for challenge_app,
updated CMakeLists

ADIS_ESP32_Eclipse/main/CMakeLists.txt

@@ -18,6 +18,9 @@ idf_component_register(
         "robot.c"
         "myMqtt.c"
         "application.c"
+        "challenge_app.c"
+        "splitflap_wrapper.c"
+        "challenge_com.c"
         
         INCLUDE_DIRS 
         "."

ADIS_ESP32_Eclipse/main/challenge_app.c

@@ -12,6 +12,7 @@
 #include "freertos/task.h"
 #include "myMqtt.h"
 #include "wifi.h"
+#include "challenge_com.h"
 
 /* LOCAL Var */
 /* identifies robot Mode for the challenge: true = robot is stationary, false = robot is moveable */
@@ -22,38 +23,44 @@ static TaskHandle_t appTaskHandle;   /* task handle */
 
 
 static void appTask(void *pv){
-	if(pv != NULL){
+	/*Task argument not used
+	 * if(pv != NULL){
 		printf("task argument: %s\n", (char*)pv);
-	}
-
-	printf("Application was started");
-	fflush(stdout);
+	}*/
 
+	bool myMqttInitSuccess = false;
+	ESP_LOGI("Challenge application was started. Waiting for WiFi connection....");
 	while(WiFi_isConnected() == false){
 		vTaskDelay(pdMS_TO_TICKS(1000));
 	}
-
 	// wifi now connected
-	printf("Application task detected that WiFi is connected\n");
-	if(MyMqtt_Init()){
-		vTaskDelay(pdMS_TO_TICKS(1000));
-		printf("5s done\n");
-
+	ESP_LOGI("Challenge Application task detected that WiFi is connected.");
+	// endless loop: always reconnect to MQTT when something fails
+	while(1){
+
+		ESP_LOGI("MyMqtt Initializing....");
+		myMqttInitSuccess = MyMqtt_Init();
+		if(myMqttInitSuccess){
+			ESP_LOGI("MyMqtt Initialization successful.");
+			ESP_LOGI("Challenge Application started.");
+
+			MyMqtt_Subscribe(MQTT_TOPIC_SF_INITALL);
+			MyMqtt_Subscribe(MQTT_TOPIC_SF_DISPLAY);
+			MyMqtt_Subscribe(MQTT_TOPIC_SF_CONFIG_SETUP);
 			MyMqtt_Subscribe("scada/status");
 
-		printf("Application endless task was started\n");
-		fflush(stdout);
-
 			// endless loop
 			for(;;){
 				MyMqtt_Publish("scada/status", "Testmessage from ESP");
 
 				vTaskDelay(pdMS_TO_TICKS(10000));
 			}
-	} else {
-		printf("Init of MyMqtt failed! Quitting application task.\n");
 		}
 
+		ESP_LOGE(myMqttInitSuccess?"Something in challenge app failed. Re-initializing MQTT in 5s.":"Init of MyMqtt failed! Retrying in 5s.");
+		MyMqtt_Deinit();
+		if(myMqttInitSuccess == false) vTaskDelay(5000); // only wait if the init is the issue
+	}
 }
 
 

ADIS_ESP32_Eclipse/main/challenge_com.c

@@ -0,0 +1,66 @@
+/*
+ * challenge_com.c
+ *
+ *  Created on: 05.12.2022
+ *      Author: jonas
+ */
+
+#include "stdbool.h"
+#include "challenge_app.h"
+
+#define TAG "CHALLENGE_COM" /* tag for logging with ESP_LOG */
+
+static void Challenge_Com_ParseMqtt(void *handler_args, esp_event_base_t base, int32_t event_id, void *event_data){
+	/* INFO
+	 * TOPIC: 			event->topic
+	 * TOPIC LENGTH: 	event->topic_len
+	 * DATA: 			event->data
+	 * DATA LENGTH: 	event->data_len
+	 * CLIENT: 			event->client
+	 */
+
+    esp_mqtt_event_handle_t event = event_data;
+    bool handled = false;
+
+    // check if event id is MQTT_EVENT_DATA => break if not
+    if((esp_mqtt_event_id_t)event_id != MQTT_EVENT_DATA) {
+        ESP_LOGE(TAG, "Wrong data received. Can only handle MQTT_EVENT_DATA (event id %i). But received event id: %i", MQTT_EVENT_DATA, (esp_mqtt_event_id_t)event_id);
+        return;
+    }
+
+    /* check topic and call related command if allowed by robot mode */
+    /* stationary robot allowed commands */
+    if(Challenge_App_GetRobotMode() == true) {
+        if(McuUtility_strcmp((char*)event->topic, MQTT_TOPIC_SF_CONFIG_SETUP)==0){
+        	handled = true;
+        	// TODO JSON PARSER
+        	uint8_t setupId = 0;
+        	uint8_t hwId = 1;
+        	SplitFlap_Wrapper_SetHardwareIdentifier(setupId, hwId);
+        } else if(McuUtility_strcmp((char*)event->topic, MQTT_TOPIC_SF_INITALL)==0){
+        	handled = true;
+        	SplitFlap_Wrapper_MoveAllToZeroPosition();
+        } else if(McuUtility_strcmp((char*)event->topic, MQTT_TOPIC_SF_DISPLAY)==0){
+        	handled = true;
+        	// TODO JSON PARSER
+        	char message[] = "TST";
+        	SplitFlap_Wrapper_Display(message);
+        }
+    }
+    /* mobile robot allowed commands */
+    else{
+
+    }
+
+    /* both robot modes allowed commands */
+
+
+
+    if(handled == false)
+    {
+        ESP_LOGE(TAG, "Received data could not be handled. Topic was %s", event->topic);
+    }
+
+    return;
+}
+

ADIS_ESP32_Eclipse/main/challenge_com.h

@@ -0,0 +1,19 @@
+/*
+ * challenge_communication.h
+ *
+ *  Created on: 05.12.2022
+ *      Author: jonas
+ */
+
+#ifndef MAIN_CHALLENGE_COM_H_
+#define MAIN_CHALLENGE_COM_H_
+
+/* TOPICS */
+const char MQTT_TOPIC_SF_DISPLAY[] = "/splitFlap/cmd/display/";
+const char MQTT_TOPIC_SF_INITALL[] = "/splitFlap/cmd/init/";
+const char MQTT_TOPIC_SF_CONFIG_SETUP[] = "/splitFlap/config/setup/";
+
+
+
+
+#endif /* MAIN_CHALLENGE_COM_H_ */

ADIS_ESP32_Eclipse/main/myMqtt.c

@@ -11,6 +11,7 @@
 #include <stdint.h>
 #include "esp_log.h"
 #include "mqtt_client.h"
+#include "challenge_com.h"
 
 // Settings
 #define CONFIG_BROKER_URL "mqtt://10.180.254.80"
@@ -32,13 +33,17 @@ bool MyMqtt_Init(void){
     client = esp_mqtt_client_init(&mqtt_cfg);
     /* The last argument may be used to pass data to the event handler, in this example mqtt_event_handler */
     esp_mqtt_client_register_event(client, ESP_EVENT_ANY_ID, mqtt_event_handler, NULL);
+    esp_mqtt_client_register_event(client, MQTT_EVENT_DATA, Challenge_Com_ParseMqtt, NULL);  // ToDo: maybe make this configurable via parameter
     esp_err_t mqtt_error = esp_mqtt_client_start(client);
 
+    // allow 1s to finish mqtt client to start
+    vTaskDelay(1000);
+
     return mqtt_error == ESP_OK;
 }
 
 void MyMqtt_Deinit(void){
-	client = NULL;
+	esp_mqtt_client_destroy(client);
 }
 
 void MyMqtt_Publish(const char *topic, const char *data){