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Work on sensor

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This commit is contained in:
Johnathon Slightham
2026-01-08 15:46:39 -05:00
parent 857057b1a8
commit 827a098bdc
14 changed files with 165 additions and 67 deletions
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32
main/LoopManager.cpp
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@@ -2,35 +2,37 @@
// Created by Johnathon Slightham on 2025-07-05.
//
#include <iostream>
#include <memory>
#include "LoopManager.h"
#include "MessagingInterface.h"
#include "SensorMessageBuilder.h"
#include "TopologyMessageBuilder.h"
#include "control/ActuatorFactory.h"
#include "esp_log.h"
#define ACTUATOR_CMD_TAG 5
#define TOPOLOGY_CMD_TAG 6
#define METADATA_RX_TAG 7
#define SENSOR_TAG 8
#define METADATA_PERIOD_MS 1000
#define SENSOR_DATA_PERIOD_MS 1000
[[noreturn]] void LoopManager::control_loop() const {
const auto actuator = ActuatorFactory::create_actuator(m_config_manager.get_module_type()); // todo: this needs to be moved higher up with one factory that returns shared ptr for both actuator and sensor.
uint8_t buffer[512];
while (true) {
m_messaging_interface->recv(reinterpret_cast<char *>(buffer), 512, PC_ADDR, ACTUATOR_CMD_TAG);
actuator->actuate(buffer);
m_actuator->actuate(buffer);
send_sensor_reading(false);
}
}
[[noreturn]] void LoopManager::sensor_loop() const {
// todo: impl
[[noreturn]] void LoopManager::sensor_loop(char * args) {
const auto that = reinterpret_cast<LoopManager *>(args);
while (true) {
that->send_sensor_reading(true);
vTaskDelay(SENSOR_DATA_PERIOD_MS / portTICK_PERIOD_MS);
}
}
[[noreturn]] void LoopManager::metadata_tx_loop(char * args) {
@@ -63,7 +65,13 @@
buffer->resize(512);
while (true) {
that->m_messaging_interface->recv(buffer->data(), 512, PC_ADDR, METADATA_RX_TAG);
}
}
void LoopManager::send_sensor_reading(bool durable) const {
Flatbuffers::SensorMessageBuilder smb{};
// todo: get data from sensor
auto data = m_actuator->get_sensor_data();
const auto [ptr, size] = smb.build_sensor_message(data);
m_messaging_interface->send(reinterpret_cast<char *>(ptr), size, PC_ADDR, SENSOR_TAG, durable);
}