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Merge pull request #23 from Block-Party-VR/21-implement-callbacks-for-processing-commands

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Rework command processing to use callbacks instead of polling
This commit is contained in:
Quinn
2024-10-29 19:55:35 -04:00
committed by GitHub
parent 1df45a2d2b 331cbe4f82
commit 17af6e4faf
5 changed files with 164 additions and 96 deletions
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100
src/main.cpp
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@@ -15,6 +15,7 @@
#include "BluetoothSerial.h"
#include "SerialMessage.h"
#include "GlobalPrint.h"
#include "CommandHandler.h"
#include "BoardManager.h"
#include "BoardDriver.h"
@@ -36,6 +37,8 @@ std::array<std::vector<AnimationFrame>*, 2> animations = {
&RotatingCubes::rotating,
};
CommandHandler commandHandler{};
// BluetoothSerial SerialBT;
// BluetoothSerialMessage serialMessageBT(&SerialBT);
SerialMessage<SERIAL_CHAR_LENGTH, SERIAL_ARG_LENGTH> serialMessage(&Serial);
@@ -73,7 +76,6 @@ void SetupBluetoothModule(){
delay(100);
}
void printBoardState(){
GlobalPrint::Print("!0,");
String boardString;
@@ -82,63 +84,63 @@ void printBoardState(){
GlobalPrint::Println(";");
}
void SetStackColor(uint32_t * args, int argsLength){
uint32_t stackNum = args[1];
void SetStackColor(uint32_t * args, uint32_t argsLength){
uint32_t stackNum = args[0];
uint32_t X_COORD{stackNum};
while(X_COORD > BOARD_DIMENSIONS.x - 1){
X_COORD -= BOARD_DIMENSIONS.x;
}
uint32_t Y_COORD{(stackNum - X_COORD) / BOARD_DIMENSIONS.y};
Serial.println("StackNum: " + String(stackNum));
Serial.println("X: " + String(X_COORD) + " Y: " + String(Y_COORD));
uint32_t numColors = (argsLength - 1) / 3;
uint32_t numColors = (argsLength - 2) / 3;
// nothing to do if no colors were given
if(numColors == 0){
return;
}
Serial.println("Num Colors: " + String(numColors));
V3D<uint32_t> colors[numColors];
for(int i = 0; i < numColors; i++){
uint32_t red = args[2 + (i * 3)];
uint32_t green = args[3 + (i * 3)];
uint32_t blue = args[4 + (i * 3)];
uint32_t red = args[1 + (i * 3)];
uint32_t green = args[2 + (i * 3)];
uint32_t blue = args[3 + (i * 3)];
colors[i] = V3D<uint32_t>{red, green, blue};
Serial.println("Color: " + String(red) + "," + String(green) + "," + String(blue));
}
boardManager.SetColumnColors(V3D<uint32_t>{X_COORD, Y_COORD, BOARD_TYPES::PLANE_NORMAL::Z}, colors, numColors);
}
void parseData(Message<SERIAL_CHAR_LENGTH, SERIAL_ARG_LENGTH> &message){
int32_t * args{message.GetArgs()};
uint32_t argsLength{message.GetPopulatedArgs()};
uint32_t command = args[0];
switch(command){
case Commands::BoardState:{
printBoardState();
break;
}
case Commands::PING:{
GlobalPrint::Println("!" + String(Commands::PING) + ";");
boardManager.PrintColorState();
break;
}
case Commands::SetStackColors:{
GlobalPrint::Println("!2;");
animator.isEnabled = false;
V3D<uint32_t> black{};
boardManager.FillColor(black);
SetStackColor(reinterpret_cast<uint32_t *>(args), argsLength);
break;
}
case Commands::GoToIdle:{
GlobalPrint::Println("!3;");
animator.isEnabled = true;
break;
}
default:{
GlobalPrint::Println("INVALID COMMAND");
break;
}
}
// now that we have run the command we can clear the data for the next command.
serialMessage.ClearNewData();
// command handling functions
CommandHandler::CommandStatus BoardStateCommandHandler(uint32_t * /*args*/, uint32_t /*argsLength*/){
printBoardState();
return CommandHandler::CommandStatus::SUCCESS;
}
CommandHandler::CommandStatus PingCommandHandler(uint32_t * /*args*/, uint32_t /*argsLength*/){
GlobalPrint::Println("!" + String(Commands::PING) + ";");
return CommandHandler::CommandStatus::SUCCESS;
}
CommandHandler::CommandStatus SetColorCommandHandler(uint32_t * args, uint32_t argsLength){
GlobalPrint::Println("!2;");
animator.isEnabled = false;
V3D<uint32_t> black{};
boardManager.FillColor(black);
SetStackColor(args, argsLength);
return CommandHandler::CommandStatus::SUCCESS;
}
CommandHandler::CommandStatus GoToIdleCommandHandler(uint32_t * /*args*/, uint32_t /*argsLength*/){
GlobalPrint::Println("!3;");
animator.isEnabled = true;
return CommandHandler::CommandStatus::SUCCESS;
}
// --------------------------------------------------
// ----------------- FREERTOS TASKS -----------------
// --------------------------------------------------
@@ -148,12 +150,14 @@ void UpdateCommunication(void * params){
// DO serial processing
serialMessage.Update();
if(serialMessage.IsNewData()){
parseData(serialMessage);
// We reinterpret cast the args to a uint32_t pointer because we know that the args will always be positive
commandHandler.ProcessCommand(reinterpret_cast<uint32_t *>(serialMessage.GetArgs()), serialMessage.GetPopulatedArgs());
serialMessage.ClearNewData();
}
// serialMessageBT.Update();
// if(serialMessageBT.IsNewData()){
// parseData(serialMessageBT.GetArgs(), serialMessageBT.GetArgsLength());
// serialMessageBT.ClearNewData();
// commandHandler.ProcessCommand(reinterpret_cast<uint32_t *>(serialMessage.GetArgs()), serialMessage.GetPopulatedArgs());
// serialMessage.ClearNewData();
// }
vTaskDelay(3);
}
@@ -214,6 +218,12 @@ void setup() {
SetupBluetoothModule();
Serial.begin(9600);
// Register all of our commands with the command handler
commandHandler.RegisterCommand(Commands::BoardState, BoardStateCommandHandler);
commandHandler.RegisterCommand(Commands::PING, PingCommandHandler);
commandHandler.RegisterCommand(Commands::SetStackColors, SetColorCommandHandler);
commandHandler.RegisterCommand(Commands::GoToIdle, GoToIdleCommandHandler);
Serial.println("Configuring communication methods");
serialMessage.Init(9600);
// SerialBT.begin("blockPartyBT");