Cynopolis/Block-Party-Firmware
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Implimented a callback approach to processing functions

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This commit is contained in:
Quinn
2024-09-23 22:50:37 -04:00
parent f3c9aea558
commit 59bafb2549
3 changed files with 132 additions and 42 deletions
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82
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>*, 1> 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;
@@ -82,7 +84,7 @@ void printBoardState(){
GlobalPrint::Println(";");
}
void SetStackColor(uint32_t * args, int argsLength){
void SetStackColor(uint32_t * args, uint32_t argsLength){
uint32_t stackNum = args[1];
uint32_t X_COORD{stackNum};
while(X_COORD > BOARD_DIMENSIONS.x - 1){
@@ -102,43 +104,6 @@ void SetStackColor(uint32_t * args, int argsLength){
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();
}
// --------------------------------------------------
// ----------------- FREERTOS TASKS -----------------
// --------------------------------------------------
@@ -148,12 +113,14 @@ void UpdateCommunication(void * params){
// DO serial processing
serialMessage.Update();
if(serialMessage.IsNewData()){
parseData(serialMessage);
// TODO: Is it really a good idea to cast to unsigned here? do we ever use signed values? Find out.
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 +181,37 @@ void setup() {
SetupBluetoothModule();
Serial.begin(9600);
// TODO: We should define these as functions and not lambdas because I think these get
// destroyed once the setup function exits and that will break everything
// register the commands with the command handler
commandHandler.RegisterCommand(Commands::BoardState, [](uint32_t * /*args*/, uint32_t /*argsLength*/){
printBoardState();
return CommandHandler::CommandStatus::SUCCESS;
});
// create a lambda function to handle the ping command which calls GlobalPrint::Println("!" + String(Commands::PING) + ";");
commandHandler.RegisterCommand(Commands::PING, [](uint32_t * /*args*/, uint32_t /*argsLength*/){
GlobalPrint::Println("!" + String(Commands::PING) + ";");
return CommandHandler::CommandStatus::SUCCESS;
});
commandHandler.RegisterCommand(Commands::SetStackColors, [](uint32_t * args, uint32_t argsLength){
GlobalPrint::Println("!2;");
animator.isEnabled = false;
V3D<uint32_t> black{};
boardManager.FillColor(black);
SetStackColor(reinterpret_cast<uint32_t *>(args), argsLength);
return CommandHandler::CommandStatus::SUCCESS;
});
commandHandler.RegisterCommand(Commands::GoToIdle, [](uint32_t * /*args*/, uint32_t /*argsLength*/){
GlobalPrint::Println("!3;");
animator.isEnabled = true;
return CommandHandler::CommandStatus::SUCCESS;
});
Serial.println("Configuring communication methods");
serialMessage.Init(9600);
// SerialBT.begin("blockPartyBT");