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60 lines
2.5 KiB
C++
60 lines
2.5 KiB
C++
//
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// Created by Johnathon Slightham on 2025-07-05.
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//
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#ifndef LOOPMANAGER_H
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#define LOOPMANAGER_H
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#include <memory>
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#include <vector>
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#include <cstdint>
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#include "MessagingInterface.h"
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#include "control/ActuatorFactory.h"
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#include "control/SensorFactory.h"
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#include "control/IActuator.h"
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class LoopManager {
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public:
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LoopManager() : m_config_manager(ConfigManager::get_instance()),
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m_messaging_interface(std::make_unique<MessagingInterface>()),
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m_actuator(ActuatorFactory::create_actuator(m_config_manager.get_module_type())),
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m_sensor(SensorFactory::create_sensor(m_config_manager.get_module_type())) {
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xTaskCreate(reinterpret_cast<TaskFunction_t>(LoopManager::metadata_tx_loop),
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"metadata_tx", 3096, this, 3, nullptr);
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xTaskCreate(reinterpret_cast<TaskFunction_t>(LoopManager::sensor_loop),
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"sensor_tx", 3096, this, 3, nullptr);
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// todo: temporary demo register_function call.
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const auto function_tag = 100;
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m_messaging_interface->register_function(function_tag, [](const uint8_t *parameters, size_t parameter_size, Writer& writer) {
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ESP_LOGI("TMP", "%s", (char*)parameters);
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std::string msg = "Hello from board!";
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std::vector<uint8_t> return_value(msg.begin(), msg.end());
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writer.write(return_value);
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});
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const auto bandwidth_test_fn_tag = 101;
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m_messaging_interface->register_function(bandwidth_test_fn_tag, [](const uint8_t *parameters, size_t parameter_size, Writer& writer) {
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std::string msg = "";
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std::vector<uint8_t> return_value(msg.begin(), msg.end());
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writer.write(return_value);
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});
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}
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MessagingInterface &get_messaging_interface();
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[[noreturn]] void control_loop() const; // gets control commands
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[[noreturn]] static void sensor_loop(char * args); // sends sensor data commands continually
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[[noreturn]] static void metadata_tx_loop(char * args); // sends metadata continually (low duty cycle)
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[[noreturn]] static void metadata_rx_loop(char * args); // gets other commands from PC (ie. f/w updates, nvs updates)
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private:
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ConfigManager& m_config_manager;
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std::unique_ptr<MessagingInterface> m_messaging_interface;
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std::unique_ptr<IActuator> m_actuator;
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std::unique_ptr<ISensor> m_sensor;
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void send_sensor_reading(bool durable) const;
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};
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#endif //LOOPMANAGER_H
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