botchain/firmware
1
0
Fork 0
mirror of https://github.com/BotChain-Robots/firmware.git synced 2026-07-08 17:47:21 +02:00
Code Issues Packages Projects Releases Wiki Activity

movement set read write to nvs working

Browse Source
This commit is contained in:
superkor
2026-01-28 00:47:22 -05:00
parent 4c2fabcd11
commit 255840abf1
10 changed files with 288 additions and 58 deletions
Download Patch File Download Diff File Expand all files Collapse all files

34
components/movements/include/MovementSetManager.h
View File

@@ -1,29 +1,47 @@
#include "MovementManager.h"
#include "nvs_flash.h"
#include "TopologyManager.h"
#include <memory>
#include <vector>
#include "MovementSetBuilder.h"
#include "unordered_map"
#include "constants/rmt.h"
#include "constants/datalink.h"
#ifdef MOVEMENTS
#pragma once
#define DEFAULT_DELAY_MS 50 //some random value that i am using to default to for the delay after a movement has been completed
#define DEFAULT_ACK_TTL_MS 100
#define CONDITION_BLOB_NOT_IN_USE 0
#define CONDITION_BLOB_IN_USE 1
enum class ACK_VALUES : uint8_t {
NO_ACK, //no acks required
ACK, //acks required to be sent and received properly within ttl
ACK_NO_FAIL, //acks required to be send but not necessarily required to be received properly within ttl
};
enum class CONDITION_VALUES : uint8_t {
LT,
LEQ,
GT,
GEQ,
EQ,
NE,
};
class MovementSetManager {
public:
MovementSetManager();
~MovementSetManager();
esp_err_t add_movement(Movement::MovementEntry& entry, uint8_t& index);
esp_err_t add_movement(MovementEntryData& entry, uint8_t index);
esp_err_t remove_movement(uint8_t index, uint8_t board_id);
esp_err_t update_movement(Movement::MovementEntry& entry, uint8_t index);
esp_err_t get_curr_movement_set(Movement::MovementSet& set);
esp_err_t verify_movement_set();
esp_err_t get_nvs_movement_set(Movement::MovementSet& set);
esp_err_t get_curr_movement_set(std::unordered_map<uint8_t, std::vector<MovementEntryData>>& set);
esp_err_t get_nvs_movement_set(std::unordered_map<uint8_t, std::vector<MovementEntryData>>& set);
esp_err_t write_nvs_movement_set();
private:
std::unique_ptr<TopologyManager> topology_manager = std::make_unique<TopologyManager>();
std::unordered_map<uint8_t, std::vector<Movement::MovementEntry>> movements;
std::unordered_map<uint8_t, std::vector<MovementEntryData>> movements;
nvs_handle_t handle;
bool ready = false;
Flatbuffers::MovementSetBuilder builder;