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133 lines
4.3 KiB
133 lines
4.3 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 "challenge_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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/* local function declarations */
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static void Challenge_App_SetRobotMode(bool modeStationary, bool storeToNvs);
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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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Challenge_Nvs_Init();
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Challenge_Nvs_GetRobotModeFromNVS(&_robotModeStationary);
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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_Nvs_StoreRobotModeToNVS(modeStationary);
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}
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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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