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230 lines
7.2 KiB
230 lines
7.2 KiB
/*
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* application.s
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*
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* Created on: 25.11.2022
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* Author: jonas
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*/
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#include <stdbool.h>
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#include "challenge_app.h"
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#include "platform.h"
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#include "esp_log.h"
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#include "freertos/FreeRTOS.h"
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#include "freertos/task.h"
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#include "myMqtt.h"
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#include "wifi.h"
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#include "McuUtility.h"
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#include "challenge_com.h"
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#include "esp_system.h"
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#include "nvs_flash.h"
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#include "nvs.h"
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/* LOCAL Var */
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/* identifies robot Mode for the challenge: true = robot is stationary, false = robot is moveable */
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static bool _robotModeStationary = false;
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static TaskHandle_t appTaskHandle; /* task handle */
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#define TAG "CHALLENGE_APP" /* tag for logging with ESP_LOG */
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/* function declarations */
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static void Challenge_App_SetRobotMode(bool modeStationary, bool storeToNvs);
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static bool Challenge_App_StoreRobotModeToNVS(bool modeStationary);
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static bool Challenge_App_GetRobotModeFromNVS(void);
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static void appTask(void *pv){
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/*Task argument not used
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* if(pv != NULL){
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printf("task argument: %s\n", (char*)pv);
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}*/
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bool myMqttInitSuccess = false;
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ESP_LOGI(TAG, "Challenge application was started. Waiting for WiFi connection....");
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while(WiFi_isConnected() == false){
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vTaskDelay(pdMS_TO_TICKS(1000));
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}
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// wifi now connected
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ESP_LOGI(TAG, "Challenge Application task detected that WiFi is connected.");
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// endless loop: always reconnect to MQTT when something fails
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while(1){
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ESP_LOGI(TAG, "MyMqtt Initializing....");
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myMqttInitSuccess = MyMqtt_Init();
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if(myMqttInitSuccess){
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ESP_LOGI(TAG, "MyMqtt Initialization successful.");
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ESP_LOGI(TAG, "Challenge Application started.");
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Challenge_Com_SubscribeToAllTopics();
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MyMqtt_Subscribe("scada/status");
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// endless loop
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for(;;){
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MyMqtt_Publish("scada/status", "Testmessage from ESP");
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vTaskDelay(pdMS_TO_TICKS(10000));
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}
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}
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ESP_LOGE(TAG, "Challenge Mainloop failure: %s", myMqttInitSuccess==true?"Something in challenge app failed. Re-initializing MQTT in 5s.":"Init of MyMqtt failed! Retrying in 5s.");
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MyMqtt_Deinit();
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if(myMqttInitSuccess == false) { vTaskDelay(5000); } // only wait if the init is the issue
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}
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}
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BaseType_t res;
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void Challenge_App_Init(void){
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// Initialize NVS
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esp_err_t err = nvs_flash_init();
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if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND) {
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// NVS partition was truncated and needs to be erased
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// Retry nvs_flash_init
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ESP_ERROR_CHECK(nvs_flash_erase());
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err = nvs_flash_init();
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}
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ESP_ERROR_CHECK( err );
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Challenge_App_GetRobotModeFromNVS();
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res = xTaskCreate(appTask, "ChallengeAppTask", 4096/sizeof(StackType_t), (void*)"ARG_0", tskIDLE_PRIORITY, &appTaskHandle);
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if(res != pdPASS){
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ESP_LOGE(TAG, "Creating appTask failed");
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}
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}
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bool Challenge_App_GetRobotMode(void){
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return _robotModeStationary;
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}
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static void Challenge_App_SetRobotMode(bool modeStationary, bool storeToNvs){
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_robotModeStationary = modeStationary;
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ESP_LOGI(TAG, "Changed robot mode to %s", _robotModeStationary?(unsigned char*)"stationary":(unsigned char*)"mobile");
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if(storeToNvs){
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Challenge_App_StoreRobotModeToNVS(modeStationary);
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}
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}
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// returns true on success
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static bool Challenge_App_StoreRobotModeToNVS(bool modeStationary){
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bool success = false;
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// Open
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ESP_LOGI(TAG, "Opening Non-Volatile Storage (NVS) handle... ");
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nvs_handle_t my_handle;
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esp_err_t err = nvs_open("storage", NVS_READWRITE, &my_handle);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Error (%s) opening NVS handle!\n", esp_err_to_name(err));
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return false;
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}
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// Write
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uint8_t value = modeStationary==true?1:0;
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ESP_LOGI(TAG, "Updating robotMode in NVS ... ");
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err = nvs_set_u8(my_handle, "robotMode", value);
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if(err != ESP_OK){
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ESP_LOGE(TAG, "Failed to update robotMode in NVS. Error=(%s)", esp_err_to_name(err));
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success = false;
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}else{ // successfully set
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// Commit written value.
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// After setting any values, nvs_commit() must be called to ensure changes are written
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// to flash storage. Implementations may write to storage at other times,
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// but this is not guaranteed.
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ESP_LOGI(TAG, "Committing updates in NVS ... ");
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err = nvs_commit(my_handle);
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if(err != ESP_OK){
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ESP_LOGE(TAG, "Failed to commit to NVS. Error=(%s)", esp_err_to_name(err));
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success = false;
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}else{
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ESP_LOGI(TAG, "Successfully committed changes to NVS.");
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success = true;
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}
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}
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// Close
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nvs_close(my_handle);
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return success;
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}
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// returns true on success
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static bool Challenge_App_GetRobotModeFromNVS(void){
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bool success = false;
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bool notInitialized = false;
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// Open
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ESP_LOGI(TAG, "Opening Non-Volatile Storage (NVS) handle... ");
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nvs_handle_t my_handle;
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esp_err_t err = nvs_open("storage", NVS_READWRITE, &my_handle);
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if (err != ESP_OK) {
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ESP_LOGE(TAG, "Error (%s) opening NVS handle!\n", esp_err_to_name(err));
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return false;
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}
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// Read
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ESP_LOGI(TAG, "Reading robot mode from NVS ... ");
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uint8_t value = 0;
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err = nvs_get_u8(my_handle, "robotMode", &value);
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switch (err) {
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case ESP_OK:
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ESP_LOGI(TAG, "Reading robot mode done. Read robotMode = %i", value);
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Challenge_App_SetRobotMode(value==1?true:false, false); // do not store to nvs (reading rn)
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success = true;
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break;
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case ESP_ERR_NVS_NOT_FOUND:
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ESP_LOGI(TAG, "Reading robot mode done. The value is not initialized yet!");
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notInitialized = true;
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break;
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default :
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ESP_LOGI(TAG, "Error reading robot mode. Error=(%s)", esp_err_to_name(err));
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success = false;
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}
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// Close
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nvs_close(my_handle);
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if(notInitialized){
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success = Challenge_App_StoreRobotModeToNVS(false); // initialize to false
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}
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return success;
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}
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/*********/
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/* SHELL */
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/*********/
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#if PL_CONFIG_USE_SHELL
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static uint8_t PrintStatus(const McuShell_StdIOType *io) {
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McuShell_SendStatusStr((unsigned char*)"challenge", (unsigned char*)"ESP32 Challenge status\r\n", io->stdOut);
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McuShell_SendStatusStr((unsigned char*)" robotMode", Challenge_App_GetRobotMode()?(unsigned char*)"stationary\r\n":(unsigned char*)"mobile\r\n", io->stdOut);
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return ERR_OK;
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}
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static uint8_t PrintHelp(const McuShell_StdIOType *io) {
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McuShell_SendHelpStr((unsigned char*)"challenge", (unsigned char*)"Group of ESP32 Challenge commands\r\n", io->stdOut);
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McuShell_SendHelpStr((unsigned char*)" help|status", (unsigned char*)"Shows Challenge help or status\r\n", io->stdOut);
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return ERR_OK;
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}
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uint8_t Challenge_ParseShellCommand(const unsigned char* cmd, bool *handled, const McuShell_StdIOType *io) {
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if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_HELP)==0 || McuUtility_strcmp((char*)cmd, (char*)"challenge help")==0) {
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*handled = TRUE;
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return PrintHelp(io);
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} else if (McuUtility_strcmp((char*)cmd, (char*)McuShell_CMD_STATUS)==0 || McuUtility_strcmp((char*)cmd, (char*)"challenge status")==0) {
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*handled = TRUE;
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return PrintStatus(io);
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} else if (McuUtility_strcmp((char*)cmd, (char*)"challenge setMode stationary")==0 ||
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McuUtility_strcmp((char*)cmd, (char*)"challenge setMode s")==0) {
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*handled = TRUE;
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Challenge_App_SetRobotMode(true, true); // set stationary
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} else if (McuUtility_strcmp((char*)cmd, (char*)"challenge setMode mobile")==0 ||
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McuUtility_strcmp((char*)cmd, (char*)"challenge setMode m")==0 ) {
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*handled = TRUE;
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Challenge_App_SetRobotMode(false, true); // set mobile
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}
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return ERR_OK;
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}
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#endif /* PL_CONFIG_USE_SHELL */
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