Merge pull request #9 from Block-Party-VR/6-switch-over-to-using-freertos-tasks

6 switch over to using freertos tasks

.gitignore

@@ -8,4 +8,6 @@ Schematics/Block-Party/Block-Party-Cube-Bottom-Board/production
 
 Schematics/Block-Party/Block-Party-Main-Board/Block-Party-Main-Board-backups/
 Schematics/Block-Party/Block-Party-Cube-Bottom-Board/Block-Party-Bottom-Board-backups/
-Schematics/Block-Party/Block-Party-Cube-Top-Board/Block-Party-Cube-Top-Board-backups/
+Schematics/Block-Party/Block-Party-Cube-Top-Board/Block-Party-Cube-Top-Board-backups/
+
+platformio-local.ini

README.md

@@ -15,6 +15,11 @@ When the physical user removes a block from the board, the corresponding digital
 When the VR user hovers over or picks up a digital cube, the corresponding physical cube changes color to show the physical user what the VR user is doing.
 
 ## Setup
+### Repository Setup
+When the repository is first cloned you will need to initialize all of its submodules. 
+
+In the terminal type: `git submodule update --init --recursive` which will initalize all of the submodules.
+
 ### Board Assemble
 #### Parts List
 - Foam core (scavenged)
@@ -53,7 +58,7 @@ wiring diagram for the cube is in the `documentation` directory.
 - Arduino libraries
 
 ### Bluetooth Module
-On v0.1 of the baord, a seperate bluetooth module (HC-05) is being used for bluetooth. This module needs to be programmed when first plugged in. To program the module, disconnect it from power and hold the "EN" button on the module. (The button should be the only button on the HC-05 module). While still holding down the button, reconnect the module to the ESP32 and press the ESP32's reset button. Wait 5 seconds while still holding down the "EN" button on the module, then release the button, power cycle the module, and you're done.
+On v0.1 of the board, a seperate bluetooth module (HC-05) is being used for bluetooth. This module needs to be programmed when first plugged in. To program the module, disconnect it from power and hold the "EN" button on the module. (The button should be the only button on the HC-05 module). While still holding down the button, reconnect the module to the ESP32. Let go of the button and then press the ESP32's reset button. Wait 5 seconds while still holding down the "EN" button on the module, then release the button, power cycle the module, and you're done.
 
 ## Run
 - Power up the board and pair it with the headset over bluetooth.

include/COMMANDS.h

@@ -0,0 +1,13 @@
+#pragma once
+
+#include <cstdint>
+
+/**
+ * @brief These are the serial commands that the board supports
+ */
+enum Commands : uint8_t{
+  BoardState = 0,
+  PING = 1,
+  SetStackColors = 2,
+  GoToIdle = 3
+};

lib/GlobalPrint/GlobalPrint.h

@@ -0,0 +1,28 @@
+/**
+ * @file GlobalPrint.h
+ * @brief a method of printing serial data to all outgoing communication methods
+ */
+
+#pragma once
+
+#include <Arduino.h>
+
+namespace GlobalPrint{
+    static void Print(const char * s){
+        Serial.print(s);
+    }
+
+    static void Print(const String &s){
+        GlobalPrint::Print(s.c_str());
+    }
+
+    static void Println(const char * s){
+        GlobalPrint::Print(s);
+        GlobalPrint::Print("\n");
+    }
+
+    static void Println(const String &s){
+        GlobalPrint::Println(s.c_str());
+    }
+
+}

platformio.ini

@@ -9,6 +9,7 @@
 ; https://docs.platformio.org/page/projectconf.html
 [platformio]
 default_envs = esp32s3_release ; this ensures that only this environment is built for anything but the debug build
+extra_configs = platformio-local.ini
 
 [env]
 ; platform = espressif32
@@ -17,10 +18,9 @@ platform = https://github.com/platformio/platform-espressif32.git
 board = esp32-s3-devkitc-1
 framework = arduino
 build_flags = -Iinclude
-; lib_ldf_mode = chain+
 
 monitor_speed = 9600
-monitor_filters = esp32_exception_decoder, colorize, send_on_enter
+monitor_filters = colorize, send_on_enter
 upload_speed = 2000000     ;ESP32S3 USB-Serial Converter maximum 2000000bps
 lib_deps = adafruit/Adafruit NeoPixel@^1.12.0
 
@@ -35,4 +35,6 @@ build_type = debug
 debug_speed = 20000
 ; debug_port = COM7
 ; monitor_port = COM14
-build_flags = -O1 -Iinclude
+build_flags = 
+    -D DEBUG = 1 
+    -I include

src/main.cpp

@@ -1,35 +1,34 @@
 // Other peoples libraries
 #include <Arduino.h>
 #include <BluetoothSerial.h>
+#include <FreeRTOS.h>
+
+// Static Defines
+#include "PINOUT.h"
+#include "BOARD-DEFINITIONS.h"
+#include "COMMANDS.h"
 
 // project specific libraries
 #include "BluetoothSerial.h"
 #include "SerialMessage.h"
 #include "BoardLayout.h"
-#include "BOARD-DEFINITIONS.h"
 #include "Color.h"
 #include "ColorManager.h"
-
-// --------------------------------------------------
-// ----------------- Types ----------------------
-// --------------------------------------------------
-enum Commands : uint8_t{
-  BoardState = 0,
-  PING = 1,
-  SetStackColors = 2,
-  GoToIdle = 3
-};
+#include "GlobalPrint.h"
 
 // --------------------------------------------------
 // ----------------- VARIABLES ----------------------
 // --------------------------------------------------
+TaskHandle_t updateCommunicaitonTask;
+TaskHandle_t updateBoardTask;
+
 uint32_t boardStateTimer{0};
 bool boardStateHasChanged{false};
 uint32_t boardStateMaxUpdatePeriod{34}; // this is a little slower than 30fps
 
 // BluetoothSerial SerialBT;
 // BluetoothSerialMessage serialMessageBT(&SerialBT);
-SerialMessage<500> serialMessage(&Serial);
+SerialMessage<500, 10> serialMessage(&Serial);
 BoardLayout board(BOARD_WIDTH, BOARD_LENGTH, BOARD_HEIGHT, stacks);
 
 // Temporary thing until we can get bluetooth color management working on the quest
@@ -38,6 +37,11 @@ ColorManager colorManager(&board);
 // --------------------------------------------------
 // ----------------- FUNCTIONS ----------------------
 // --------------------------------------------------
+/**
+ * @brief Send programming commands to the serial to bluetooth adapter so 
+ * it is set up as expected for the VR headset
+ * @post the serial baud rate will be set to 9600
+ */
 void SetupBluetoothModule(){
   Serial.begin(38400);
   Serial.print("AT+UART=9600,0,0\r\n"); // set baud rate to 9600
@@ -52,37 +56,33 @@ void SetupBluetoothModule(){
   Serial.print("AT+ROLE=0\r\n"); // set to slave
   delay(100);
 
-  
-
   // exit at mode and go into pairing mode
   Serial.print("AT+INIT\r\n");
   Serial.begin(9600);
   delay(100);
 }
+
+
 void printBoardState(){
   // create a buffer to hold the board state
   uint16_t boardState[BOARD_WIDTH * BOARD_LENGTH];
   // read in the board state
   board.GetBoardState(boardState);
 
-  Serial.print("!0,");
-  // SerialBT.print("!0,");
+  GlobalPrint::Print("!0,");
 
   for(int i = 0; i < (BOARD_WIDTH * BOARD_LENGTH); i++){
-    Serial.print(boardState[i]);
-    // SerialBT.print(boardState[i]);
+    GlobalPrint::Print(String(boardState[i]));
     if(i == (BOARD_WIDTH * BOARD_LENGTH) - 1){
       break;
     }
-    Serial.print(",");
-    // SerialBT.print(",");
+    GlobalPrint::Print(",");
   }
 
-  Serial.println(";");
-  // SerialBT.println(";");
+  GlobalPrint::Println(";");
 }
 
-void setStackColor(uint32_t * args, int argsLength){
+void SetStackColor(uint32_t * args, int argsLength){
   uint32_t stackNum = args[1];
   uint32_t numColors = (argsLength - 2) / 3;
   Color colors[numColors];
@@ -95,80 +95,110 @@ void setStackColor(uint32_t * args, int argsLength){
   }
 
   board.SetStackColors(stackNum, colors);
-
-
 }
 
-void parseData(uint32_t * args, int argsLength){
+void parseData(Message<500, 10> &message){
+  int32_t * args{message.GetArgs()};
+  uint32_t argsLength{message.GetArgsLength()};
   uint32_t command = args[0];
   switch(command){
     case Commands::BoardState:
       printBoardState();
       break;
     case Commands::PING:
-      Serial.print("!");
-      // SerialBT.print("!");
-      Serial.print(Commands::PING);
-      // SerialBT.print(Commands::PING);
-      Serial.println(";");
-      // SerialBT.println(";");
+      GlobalPrint::Println("!" + String(Commands::PING) + ";");
       break;
     case Commands::SetStackColors:
-      Serial.println("!2;");
-      // SerialBT.println("!2;");
+      GlobalPrint::Println("!2;");
       colorManager.Enable(false);
-      setStackColor(args, argsLength);
+      SetStackColor(reinterpret_cast<uint32_t *>(args), argsLength);
       break;
     case Commands::GoToIdle:
-      Serial.println("!3;");
-      // SerialBT.println("!3;");
+      GlobalPrint::Println("!3;");
       colorManager.Enable(true);
       break;
     default:
-      Serial.println("INVALID COMMAND");
-      // SerialBT.println("INVALID COMMAND");
+      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 -----------------
+// --------------------------------------------------
+void UpdateCommunication(void * params){
+  Serial.println("Spawning UpdateCommunication task");
+  for(;;){
+    // DO serial processing
+    serialMessage.Update();
+    if(serialMessage.IsNewData()){
+      parseData(serialMessage);
+    }
+    // serialMessageBT.Update();
+    // if(serialMessageBT.IsNewData()){
+    //   parseData(serialMessageBT.GetArgs(), serialMessageBT.GetArgsLength());
+    //   serialMessageBT.ClearNewData();
+    // }
+    vTaskDelay(3);
+  }
+  Serial.println("UpdateCommunication task has ended unexpectedly!");
+
+}
+
+void UpdateBoard(void * params){
+  Serial.println("Spawning UpdateBoard task");
+  for(;;){
+    if(board.BoardStateHasChanged()){
+      boardStateHasChanged = true;
+    }
+
+    if(millis() - boardStateTimer > boardStateMaxUpdatePeriod && boardStateHasChanged){
+      boardStateTimer = millis();
+      printBoardState();
+      boardStateHasChanged = false;
+    }
+
+    colorManager.Update();
+
+    vTaskDelay(5);
+  }
+  Serial.println("UpdateBoard task has ended unexpectedly!");
+}
+
+
 // --------------------------------------------------
 // ----------------- SETUP AND LOOP -----------------
 // --------------------------------------------------
 
 void setup() {
+  // delay a little bit to get the serial monitor a chance to capture the next log messages.
   delay(1000);
+
+  Serial.begin(9600);
+  Serial.println("Beginning Setup");
+  Serial.println("Configuring Bluetooth Adapter");
   SetupBluetoothModule();
   Serial.begin(9600);
+
+  Serial.println("Configuring communication methods");
+  serialMessage.Init(9600);
   // SerialBT.begin("blockPartyBT");
+  xTaskCreate(UpdateCommunication, "UpdateCommunication", 10000, NULL, 0, &updateCommunicaitonTask);
+
+  Serial.println("Beginning Board Initializaiton");
+  xTaskCreate(UpdateBoard, "UpdateBoard", 10000, NULL, 0, &updateBoardTask);
   Color colors[] = {Color(255, 0, 0), Color(0, 0, 0), Color(0, 0, 0)};
   board.SetStackColors(2, colors);
-
   boardStateTimer = millis();
-  
+
+  Serial.println("Setup Complete");
 }
 
 
 void loop() {
-  if(board.BoardStateHasChanged()){
-    boardStateHasChanged = true;
-  }
-
-  if(millis() - boardStateTimer > boardStateMaxUpdatePeriod && boardStateHasChanged){
-    boardStateTimer = millis();
-    printBoardState();
-    boardStateHasChanged = false;
-  }
-
-  // DO serial processing
-  serialMessage.Update();
-  if(serialMessage.IsNewData()){
-    parseData(serialMessage.GetArgs(), serialMessage.GetArgsLength());
-    serialMessage.ClearNewData();
-  }
-  // serialMessageBT.Update();
-  // if(serialMessageBT.IsNewData()){
-  //   parseData(serialMessageBT.GetArgs(), serialMessageBT.GetArgsLength());
-  //   serialMessageBT.ClearNewData();
-  // }
-  colorManager.Update();
+  // delete the loop task because we don't use it
+  vTaskDelete(NULL);
 }

template-platformio-local.ini

@@ -0,0 +1,23 @@
+; This is a template that will allow you to add additional configuration 
+; options to the platformio.ini file without changing anything in git.
+; options like upload/monitor ports are great things to put here 
+; because those will vary from computer to computer.
+; To use this configuration, make a copy of this file and rename it to "platformio-local.ini" 
+; and then uncomment some of the following code or add your own options
+; Feel free to modify the code as needed
+
+; this will add additional configuration options to esp32s3_release environment. 
+; This environment is the default for building/sending code to the baord 
+; so this should be the first thing you change/modify
+; Uncomment the following code as needed:
+; [env:esp32s3_release]
+; monitor_port = COM10
+; upload_port = COM11
+; monitor_speed = 115200
+
+; this is the debug configuration which you probably don't need 
+; unless you're doing some complicated firmware development.
+; [env:esp32s3_debug]
+; debug_port = COM7
+; monitor_port = COM14
+; upload_port = COM12