Restructure the project tree for unit testing
Restructure the whole project tree so that the component can be unit tested. Also update some cmake files to update the modified paths, update test cases etc.
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#ifndef RELAY_CHN_H
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#define RELAY_CHN_H
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/**
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* @file relay_chn.h
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*
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* @author
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* Ismail Sahillioglu <ismailsahillioglu@gmail.com>
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*
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* @date 2025.02.08
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*
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* @defgroup relay_chn Relay Channel Controller
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* @ingroup components
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* @{
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* One relay channel consists of 2 output relays, hence 2 GPIO pins are required for each relay channel.
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* This module provides an API to control the relay channels, specifically to drive bipolar motors.
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* It also provides APIs to control the direction of the relay channel, bipolar motors in mind.
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* The module also automatically manages the direction change inertia to prevent short-circuiting the motor.
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* The STOP command overrides any other command and clears the pending command if any.
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*
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* The module internally uses a custom esp event loop to handle relay commands serially to ensure
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* reliability and prevent conflict operations. Also, the esp timer is used to manage the direction change inertia.
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*/
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#include "esp_err.h"
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#include "driver/gpio.h"
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#include <stdint.h>
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#ifdef __cplusplus
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extern "C" {
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#endif
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#define RELAY_CHN_ID_ALL CONFIG_RELAY_CHN_COUNT ///< Special ID to address all channels
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/**
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* @brief Enumeration for relay channel direction.
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*/
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enum relay_chn_direction_enum {
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RELAY_CHN_DIRECTION_DEFAULT, ///< Default direction of the relay channel.
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RELAY_CHN_DIRECTION_FLIPPED ///< Flipped direction of the relay channel.
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};
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/**
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* @brief Alias for the enum type relay_chn_direction_enum.
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*/
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typedef enum relay_chn_direction_enum relay_chn_direction_t;
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/**
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* @brief Enums that represent the state of a relay channel.
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*/
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enum relay_chn_state_enum {
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RELAY_CHN_STATE_FREE, ///< The relay channel is free to run or execute commands.
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RELAY_CHN_STATE_STOPPED, ///< The relay channel is stopped and not running.
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RELAY_CHN_STATE_FORWARD, ///< The relay channel is running in the forward direction.
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RELAY_CHN_STATE_REVERSE, ///< The relay channel is running in the reverse direction.
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RELAY_CHN_STATE_FORWARD_PENDING, ///< The relay channel is pending to run in the forward direction.
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RELAY_CHN_STATE_REVERSE_PENDING, ///< The relay channel is pending to run in the reverse direction.
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#if CONFIG_RELAY_CHN_ENABLE_TILTING == 1
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RELAY_CHN_STATE_TILT_FORWARD, ///< The relay channel is tilting for forward.
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RELAY_CHN_STATE_TILT_REVERSE, ///< The relay channel is tilting for reverse.
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#endif
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};
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/**
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* @brief Alias for the enum type relay_chn_state_enum.
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*/
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typedef enum relay_chn_state_enum relay_chn_state_t;
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/**
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* @brief Relay channel state change listener.
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*
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* An optional interface to listen to the channel state change events.
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* The listeners SHOULD be implemented as light functions and SHOULD NOT contain
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* any blocking calls. Otherwise the relay_chn module would not function properly
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* since it is designed as event driven.
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*
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* @param chn_id The ID of the channel whose state has changed.
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* @param old_state The old state of the channel.
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* @param new_state The new state of the channel.
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*/
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typedef void (*relay_chn_state_listener_t)(uint8_t chn_id, relay_chn_state_t old_state, relay_chn_state_t new_state);
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/**
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* @brief Create and initialize relay channels.
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*
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* This function initializes the relay channels based on the provided GPIO map.
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*
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* @param gpio_map Pointer to an array of GPIO numbers that correspond to the relay channels.
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* @param gpio_count The number of GPIOs in the gpio_map array.
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*
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* @return
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* - ESP_OK: Success
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* - ESP_ERR_INVALID_ARG: Invalid argument
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* - ESP_FAIL: General failure
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*/
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esp_err_t relay_chn_create(const gpio_num_t* gpio_map, uint8_t gpio_count);
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/**
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* @brief Register a channel state change listener.
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*
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* @param listener A function that implements relay_chn_state_listener_t interface.
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*
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* @return
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* - ESP_OK: Success
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* - ESP_ERR_INVALID_ARG: Invalid argument
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* - ESP_ERR_NO_MEM: No enough memory
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* - ESP_FAIL: General failure
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*/
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esp_err_t relay_chn_register_listener(relay_chn_state_listener_t listener);
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/**
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* @brief Unregister a channel state change listener.
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*
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* @param listener A function that implements relay_chn_state_listener_t interface.
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*/
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void relay_chn_unregister_listener(relay_chn_state_listener_t listener);
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/**
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* @brief Get the state of the specified relay channel.
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*
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* This function retrieves the current state of the relay channel identified by the given channel ID.
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*
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* @param chn_id The ID of the relay channel whose state is to be retrieved.
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* @return The current state of the specified relay channel.
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*/
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relay_chn_state_t relay_chn_get_state(uint8_t chn_id);
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/**
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* @brief Get the state string of the specified relay channel.
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*
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* This function returns a string representation of the state of the relay
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* channel identified by the given channel ID.
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*
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* @param chn_id The ID of the relay channel whose state is to be retrieved.
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* The valid range of channel IDs depends on the specific hardware
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* and implementation.
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*
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* @return A pointer to a string representing the state of the specified relay
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* channel. The returned string is managed internally and should not be
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* modified or freed by the caller.
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*/
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char *relay_chn_get_state_str(uint8_t chn_id);
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/**
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* @brief Return the text presentation of an state.
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*
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* @param state A state with type of relay_chn_state_t.
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* @return char* The text presentation of the state. "UNKNOWN" if the state is not known.
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*/
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char *relay_chn_state_str(relay_chn_state_t state);
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/**
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* @brief Runs the relay channel in the forward direction.
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*
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* This function activates the specified relay channel to run in the forward direction.
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*
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* @param chn_id The ID of the relay channel to be activated.
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*/
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void relay_chn_run_forward(uint8_t chn_id);
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/**
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* @brief Runs the relay channel in reverse.
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*
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* This function activates the specified relay channel to run in reverse.
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*
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* @param chn_id The ID of the relay channel to be reversed.
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*/
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void relay_chn_run_reverse(uint8_t chn_id);
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/**
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* @brief Stops the relay channel specified by the channel ID.
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*
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* This function stops the operation of the relay channel identified by the
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* provided channel ID. It is typically used to turn off or disable the relay
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* channel.
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*
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* @param chn_id The ID of the relay channel to stop.
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*/
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void relay_chn_stop(uint8_t chn_id);
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/**
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* @brief Flips the direction of the specified relay channel.
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*
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* This function toggles the direction of the relay channel identified by the
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* given channel ID. It is typically used to change the state of the relay
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* from its current direction to the opposite direction.
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*
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* @param chn_id The ID of the relay channel to flip. This should be a valid
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* channel ID within the range of available relay channels.
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*/
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void relay_chn_flip_direction(uint8_t chn_id);
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/**
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* @brief Get the direction of the specified relay channel.
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*
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* This function retrieves the direction configuration of a relay channel
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* identified by the given channel ID.
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*
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* @param chn_id The ID of the relay channel to query.
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* @return The direction of the specified relay channel as a value of type
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* relay_chn_direction_t.
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*/
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relay_chn_direction_t relay_chn_get_direction(uint8_t chn_id);
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#if CONFIG_RELAY_CHN_ENABLE_TILTING == 1
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/**
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* @brief Enables automatic tilting for the specified relay channel.
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*
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* This function enables automatic tilting mode for the given relay channel. The channel will automatically
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* switch between forward and reverse tilting based on some internal sensing mechanism (not detailed here).
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* Requires appropriate hardware support and configuration.
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*
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* @param chn_id The ID of the relay channel to enable automatic tilting.
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*/
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void relay_chn_tilt_auto(uint8_t chn_id);
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/**
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* @brief Tilts the specified relay channel forward.
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*
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* This function initiates a forward tilting action for the specified relay channel. This is a manual tilting
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* operation, unlike `relay_chn_tilt_auto()`.
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*
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* @param chn_id The ID of the relay channel to tilt forward.
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*/
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void relay_chn_tilt_forward(uint8_t chn_id);
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/**
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* @brief Tilts the specified relay channel reverse.
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*
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* This function initiates a reverse tilting action for the specified relay channel. This is a manual tilting
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* operation, unlike `relay_chn_tilt_auto()`.
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*
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* @param chn_id The ID of the relay channel to tilt reverse.
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*/
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void relay_chn_tilt_reverse(uint8_t chn_id);
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/**
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* @brief Stops the tilting action on the specified relay channel.
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*
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* This function stops any ongoing tilting action (automatic or manual) on the specified relay channel.
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*
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* @param chn_id The ID of the relay channel to stop tilting.
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*/
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void relay_chn_tilt_stop(uint8_t chn_id);
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/**
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* @brief Sets the tilting sensitivity for the specified relay channel.
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*
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* This function sets the sensitivity for the automatic tilting mechanism. A higher sensitivity value
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* typically means the channel will react more readily to tilting events.
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*
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* @param chn_id The ID of the relay channel to set the sensitivity for.
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* @param sensitivity The sensitivity in percentage: 0 - 100%.
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*/
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void relay_chn_tilt_sensitivity_set(uint8_t chn_id, uint8_t sensitivity);
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/**
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* @brief Gets the tilting sensitivity for the specified relay channel.
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*
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* This function retrieves the currently set sensitivity for the specified relay channel's automatic
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* tilting mechanism.
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*
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* @param chn_id The ID of the relay channel to get the sensitivity for.
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* @param sensitivity The pointer to the memory in to which the sensitivity values will be copied.
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* @param length The length of the sensitvity memory.
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* @return
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* - ESP_OK: Success
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* - ESP_ERR_INVALID_ARG: Invalid argument
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*/
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esp_err_t relay_chn_tilt_sensitivity_get(uint8_t chn_id, uint8_t *sensitivity, size_t length);
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#endif // CONFIG_RELAY_CHN_ENABLE_TILTING
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#ifdef __cplusplus
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}
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#endif
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/// @}
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#endif // RELAY_CHN_H
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