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128 lines
3.9 KiB
128 lines
3.9 KiB
/*
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* Copyright (c) 2019-2021, Erich Styger
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*
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* SPDX-License-Identifier: BSD-3-Clause
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*/
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#include "Remote.h"
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#if PL_CONFIG_USE_REMOTE
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#include "McuRTOS.h"
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#include "McuUtility.h"
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#include "Drive.h"
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#include "Shell.h"
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#include "Buzzer.h"
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#include "McuESP32.h"
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#include "McuLog.h"
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#include <stdlib.h>
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/*! \todo ADIS: This is a (mostly empty) template where the remote commands from the ESP32 could be handled. This module should be extended to send data back to the ESP32 */
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#define ESP_MSG_PREFIX "@robot:cmd "
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#define ESP_MSG_POSTFIX "!\0"
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static QueueHandle_t REMOTE_RxFromESP_Queue;
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#define REMOTE_RX_FROM_ESP_QUEUE_LENGTH 32 /* items in queue */
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#define REMOTE_RX_FROM_ESP_QUEUE_ITEM_SIZE 1 /* each item is a single character */
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/* called by the gateway task to put a char from the ESP into the queue for the remote */
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void REMOTE_GatewayRxFromESP(unsigned char ch) {
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if (xQueueSendToBack(REMOTE_RxFromESP_Queue, &ch, pdMS_TO_TICKS(10))!=pdPASS) {
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/* was not possible to put it into the queue: will loose data here */
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}
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}
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static void RemoteTask(void *pv) {
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unsigned char ch;
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BaseType_t res;
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unsigned char espMsg[McuShell_DEFAULT_SHELL_BUFFER_SIZE] = "";
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uint8_t saveChar = 0;
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uint8_t writeIndex = 0;
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uint8_t readIndex = 0;
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(void)pv; /* not used */
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#if 0 /* example making a beep */
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BUZ_Beep(200, 500);
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#endif
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#if 0 /* example driving the robot */
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DRV_SetMode(DRV_MODE_SPEED);
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DRV_SetSpeed(500, 500);
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vTaskDelay(pdMS_TO_TICKS(1000));
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DRV_SetMode(DRV_MODE_STOP);
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#endif
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#if 0 /* example receiving character from queue */
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res = xQueueReceive(REMOTE_RxFromESP_Queue, &ch, pdMS_TO_TICKS(10)); /* wait max 10 ms */
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if (res==errQUEUE_EMPTY) {
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ch = '\0'; /* nothing received */
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}
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res = xQueueReceive(REMOTE_RxFromESP_Queue, &ch, portMAX_DELAY); /* wait 'forever' */
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if (res==errQUEUE_EMPTY) {
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ch = '\0'; /* nothing received */
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}
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#endif
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for(;;) {
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res = xQueueReceive(REMOTE_RxFromESP_Queue, &ch, pdMS_TO_TICKS(10)); /* wait max 10 ms */
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if (res==errQUEUE_EMPTY) {
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ch = '\0'; /* nothing received */
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}
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else if(res == pdPASS) {
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/* something was received */
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/* handle remote stream from ESP */
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if(ch == '@'){
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saveChar = 1;
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}
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if(saveChar == 1){
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espMsg[writeIndex++] = ch;
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if(writeIndex >= McuShell_DEFAULT_SHELL_BUFFER_SIZE){
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writeIndex = 0;
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}
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}
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if(ch == '!' && saveChar == 1){
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saveChar = 0;
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unsigned char str[McuShell_DEFAULT_SHELL_BUFFER_SIZE] = {'\0'};
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if(str != NULL){
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uint8_t i;
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for(i = 0; i < McuShell_DEFAULT_SHELL_BUFFER_SIZE; i++){
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str[i] = espMsg[readIndex++];
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if(readIndex >= McuShell_DEFAULT_SHELL_BUFFER_SIZE){
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readIndex = 0;
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}
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if(str[i] == '!'){
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break;
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}
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}
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}
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McuShell_SendStr((const uint8_t *)str, McuShell_GetStdio()->stdOut);
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if(McuUtility_strncmp((char *)str,"@robot:cmd ",sizeof("@robot:cmd ")-1) == 0){
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unsigned char *p;
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p = (unsigned char*)str + sizeof(ESP_MSG_PREFIX) - 1;
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McuUtility_strCutTail((uint8_t*)p, (uint8_t*)ESP_MSG_POSTFIX);
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McuShell_SendStr((uint8_t*)p, McuShell_GetStdio()->stdOut);
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SHELL_ParseCommandWithIO((unsigned char*)p, McuESP32_GetTxToESPStdio());
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free(p);
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}
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free(str);
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}
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}
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}
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}
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uint8_t REMOTE_ParseCommand(const unsigned char *cmd, bool *handled, const McuShell_StdIOType *io) {
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return ERR_OK;
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}
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void REMOTE_Deinit(void) {
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}
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void REMOTE_Init(void) {
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if (xTaskCreate(RemoteTask, "Remote", 1024/sizeof(StackType_t), NULL, tskIDLE_PRIORITY+1, NULL) != pdPASS) {
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for(;;){} /* error */
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}
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REMOTE_RxFromESP_Queue = xQueueCreate(REMOTE_RX_FROM_ESP_QUEUE_LENGTH, REMOTE_RX_FROM_ESP_QUEUE_ITEM_SIZE);
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if (REMOTE_RxFromESP_Queue==NULL) {
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for(;;){} /* out of memory? */
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}
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vQueueAddToRegistry(REMOTE_RxFromESP_Queue, "RemoteRxFromESPQueue");
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}
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#endif /* PL_CONFIG_USE_REMOTE */
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