Cynopolis/Block-Party-Firmware
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Moved the lambdas to actual functions to avoid them dissapearing after setup.

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This commit is contained in:
Quinn
2024-09-25 18:47:12 -04:00
parent 59bafb2549
commit a5652102a0
3 changed files with 39 additions and 34 deletions
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65
src/main.cpp
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@@ -104,6 +104,34 @@ void SetStackColor(uint32_t * args, uint32_t argsLength){
boardManager.SetColumnColors(V3D<uint32_t>{X_COORD, Y_COORD, BOARD_TYPES::PLANE_NORMAL::Z}, colors, numColors);
}
// 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(reinterpret_cast<uint32_t *>(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 -----------------
// --------------------------------------------------
@@ -113,7 +141,7 @@ void UpdateCommunication(void * params){
// DO serial processing
serialMessage.Update();
if(serialMessage.IsNewData()){
// TODO: Is it really a good idea to cast to unsigned here? do we ever use signed values? Find out.
// 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();
}
@@ -181,36 +209,11 @@ 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;
});
// 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);