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relay_chn/src/relay_chn.c
ismail 99d753238b Fix error handling issues. 
Fix error handling so that the value in ret variable does not become corrupt.
2025-04-02 14:05:48 +03:00

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/**
* @file relay_chn.c
*
* @author
* Ismail Sahillioglu <ismailsahillioglu@gmail.com>
*
* @date 2025.02.08
*
* @ingroup relay_chn
*
* @brief This file contains the implementation of the relay channel component.
* @{
*/
#include <stdio.h>
#include <stdlib.h>
#include "esp_err.h"
#include "esp_check.h"
#include "esp_log.h"
#include "esp_task.h"
#include "driver/gpio.h"
#include "esp_timer.h"
#include "esp_event_base.h"
#include "esp_event.h"
#include "relay_chn.h"
#include "sdkconfig.h"
#define RELAY_CHN_OPPOSITE_INERTIA_MS CONFIG_RELAY_CHN_OPPOSITE_INERTIA_MS
#define RELAY_CHN_COUNT CONFIG_RELAY_CHN_COUNT
#define RELAY_CHN_ENABLE_TILTING CONFIG_RELAY_CHN_ENABLE_TILTING
static const char *TAG = "relay_chn";
ESP_EVENT_DEFINE_BASE(RELAY_CHN_CMD_EVENT);
/**
* @brief Enumeration for relay channel commands.
*/
enum relay_chn_cmd_enum {
RELAY_CHN_CMD_NONE, ///< No command.
RELAY_CHN_CMD_STOP, ///< Stop the relay channel.
RELAY_CHN_CMD_FORWARD, ///< Run the relay channel in the forward direction.
RELAY_CHN_CMD_REVERSE, ///< Run the relay channel in the reverse direction.
RELAY_CHN_CMD_FLIP, ///< Flip the direction of the relay channel.
RELAY_CHN_CMD_FREE ///< Free the relay channel.
};
/// @brief Alias for the enum type relay_chn_cmd_enum.
typedef enum relay_chn_cmd_enum relay_chn_cmd_t;
/**
* @brief Structure to hold runtime information for a relay channel.
*/
typedef struct relay_chn_run_info_type {
relay_chn_cmd_t last_run_cmd; ///< The last run command issued on the relay channel; forward or reverse.
uint32_t last_run_cmd_time_ms; ///< The time in milliseconds when the last run command was issued.
} relay_chn_run_info_t;
/**
* @brief Structure to hold the output configuration of a relay channel.
*/
typedef struct relay_chn_output_type {
gpio_num_t forward_pin; ///< GPIO pin number for the forward direction.
gpio_num_t reverse_pin; ///< GPIO pin number for the reverse direction.
relay_chn_direction_t direction; ///< The current direction of the relay channel.
} relay_chn_output_t;
typedef struct relay_chn_type relay_chn_t; // Forward declaration
/**
* @brief Function pointer type for relay channel command execution functions.
* @param relay_chn Pointer to the relay channel to execute the command on.
*/
typedef void(*relay_chn_cmd_fn_t)(relay_chn_t*);
#if RELAY_CHN_ENABLE_TILTING == 0
/**
* @brief Structure to hold the state and configuration of a relay channel.
*/
typedef struct relay_chn_type {
uint8_t id; ///< The ID of the relay channel.
relay_chn_state_t state; ///< The current state of the relay channel.
relay_chn_run_info_t run_info; ///< Runtime information of the relay channel.
relay_chn_output_t output; ///< Output configuration of the relay channel.
relay_chn_cmd_t pending_cmd; ///< The command that is pending to be issued
esp_timer_handle_t inertia_timer; ///< Timer to handle the opposite direction inertia time.
} relay_chn_t;
#else
/**
* @name Tilt Pattern Timing Definitions
* @{
* The min and max timing definitions as well as the default timing definitions.
* These definitions are used to define and adjust the tilt sensitivity.
*/
#define RELAY_CHN_TILT_RUN_MIN_MS 50
#define RELAY_CHN_TILT_RUN_MAX_MS 10
#define RELAY_CHN_TILT_PAUSE_MIN_MS 450
#define RELAY_CHN_TILT_PAUSE_MAX_MS 90
#define RELAY_CHN_TILT_DEFAULT_RUN_MS 15
#define RELAY_CHN_TILT_DEFAULT_PAUSE_MS 150
#define RELAY_CHN_TILT_DEFAULT_SENSITIVITY \
( (RELAY_CHN_TILT_DEFAULT_RUN_MS - RELAY_CHN_TILT_RUN_MIN_MS) \
* 100 / (RELAY_CHN_TILT_RUN_MAX_MS - RELAY_CHN_TILT_RUN_MIN_MS) )
/// @}
ESP_EVENT_DEFINE_BASE(RELAY_CHN_TILT_CMD_EVENT_BASE);
/// @brief Tilt commands.
enum relay_chn_tilt_cmd_enum {
RELAY_CHN_TILT_CMD_NONE, ///< No command.
RELAY_CHN_TILT_CMD_STOP, ///< Tilt command stop.
RELAY_CHN_TILT_CMD_FORWARD, ///< Tilt command for forward.
RELAY_CHN_TILT_CMD_REVERSE ///< Tilt command for reverse.
};
/// @brief Alias for the enum type relay_chn_tilt_cmd_enum.
typedef enum relay_chn_tilt_cmd_enum relay_chn_tilt_cmd_t;
/// @brief Tilt steps.
enum relay_chn_tilt_step_enum {
RELAY_CHN_TILT_STEP_NONE, ///< No step.
RELAY_CHN_TILT_STEP_PENDING, ///< Pending step.
RELAY_CHN_TILT_STEP_MOVE, ///< Move step. Tilt is driving either for forward or reverse.
RELAY_CHN_TILT_STEP_PAUSE ///< Pause step. Tilt is paused.
};
/// @brief Alias for the enum relay_chn_tilt_step_enum.
typedef enum relay_chn_tilt_step_enum relay_chn_tilt_step_t;
/// @brief Tilt timing structure to manage tilt pattern timing.
typedef struct relay_chn_tilt_timing_struct {
uint8_t sensitivity; ///< Tilt sensitivity in percentage (%).
uint32_t move_time_ms; ///< Move time in milliseconds.
uint32_t pause_time_ms; ///< Pause time in milliseconds.
} relay_chn_tilt_timing_t;
/// @brief Tilt counter structure to manage tilt count.
typedef struct relay_chn_tilt_counter_struct {
uint32_t tilt_forward_count; ///< Tilt forward count.
uint32_t tilt_reverse_count; ///< Tilt reverse count.
} relay_chn_tilt_counter_t;
/// @brief Tilt control structure to manage tilt operations.
typedef struct relay_chn_tilt_control_struct {
relay_chn_tilt_cmd_t cmd; ///< The tilt command in process.
relay_chn_tilt_step_t step; ///< Current tilt step.
relay_chn_tilt_timing_t tilt_timing; ///< Tilt timing structure.
relay_chn_tilt_counter_t tilt_counter; ///< Tilt counter structure.
esp_timer_handle_t tilt_timer; ///< Tilt timer handle.
} relay_chn_tilt_control_t;
/**
* @brief Structure to hold the state and configuration of a relay channel.
*/
typedef struct relay_chn_type {
uint8_t id; ///< The ID of the relay channel.
relay_chn_state_t state; ///< The current state of the relay channel.
relay_chn_run_info_t run_info; ///< Runtime information of the relay channel.
relay_chn_output_t output; ///< Output configuration of the relay channel.
relay_chn_cmd_t pending_cmd; ///< The command that is pending to be issued
esp_timer_handle_t inertia_timer; ///< Timer to handle the opposite direction inertia time.
relay_chn_tilt_control_t tilt_control; ///< Tilt control block.
} relay_chn_t;
static esp_err_t relay_chn_init_tilt_control(relay_chn_t *relay_chn);
static esp_err_t relay_chn_tilt_init(void);
static void relay_chn_tilt_count_reset(relay_chn_t *relay_chn);
#endif // RELAY_CHN_ENABLE_TILTING
/**
* @brief Structure to manage the state change listeners.
*/
struct relay_chn_state_listener_manager_type {
uint8_t listener_count; ///< The number of registered listeners.
relay_chn_state_listener_t *listeners; ///< The list that holds references to the registered listeners.
} relay_chn_state_listener_manager;
static relay_chn_t relay_channels[RELAY_CHN_COUNT];
static esp_event_loop_handle_t relay_chn_event_loop;
// Private function declarations
// Event handler for the relay channel command event
static void relay_chn_event_handler(void* handler_arg, esp_event_base_t event_base, int32_t event_id, void* event_data);
/**
* @brief Check if the provided channel ID is valid.
*
* @param chn_id Channel ID to check.
* @return true Channel ID is valid.
* @return false Channel ID is invalid.
*/
static bool relay_chn_is_channel_id_valid(uint8_t chn_id);
/**
* @brief Dispatches a relay channel command to the event loop.
*
* @param relay_chn The relay channel.
* @param cmd The command to dispatch.
*/
static void relay_chn_dispatch_cmd(relay_chn_t *relay_chn, relay_chn_cmd_t cmd);
/**
* @brief Returns the string representation of a relay channel command.
*
* @param cmd The relay channel command.
* @return char* The string representation of the command.
*/
static char *relay_chn_cmd_str(relay_chn_cmd_t cmd);
/**
* @brief Timer callback function for relay channel direction change inertia.
*
* This function is called when the opposite direction inertia timer expires. It checks if the channel
* has a pending command and dispatches it if there is one.
*
* @param arg The channel ID of the relay channel.
*/
static void relay_chn_timer_cb(void* arg)
{
uint8_t chn_id = *(uint8_t*) arg;
if (!relay_chn_is_channel_id_valid(chn_id)) {
ESP_LOGE(TAG, "relay_chn_timer_cb: Invalid relay channel ID!");
return;
}
relay_chn_t* relay_chn = &relay_channels[chn_id];
// Does channel have a pending command?
if (relay_chn->pending_cmd != RELAY_CHN_CMD_NONE) {
relay_chn_dispatch_cmd(relay_chn, relay_chn->pending_cmd);
relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
}
else {
ESP_LOGE(TAG, "relay_chn_timer_cb: No pending cmd for relay channel %d!", chn_id);
}
}
static esp_err_t relay_chn_init_timer(relay_chn_t *relay_chn)
{
char timer_name[32];
snprintf(timer_name, sizeof(timer_name), "relay_chn_%d_timer", relay_chn->id);
esp_timer_create_args_t timer_args = {
.callback = relay_chn_timer_cb,
.arg = &relay_chn->id,
.name = timer_name
};
return esp_timer_create(&timer_args, &relay_chn->inertia_timer);
}
/**
* @brief Check if the provided GPIO pin number is valid for the current device.
*
* @param gpio The GPIO pin number to check.
* @return true GPIO pin number is valid.
* @return false GPIO pin number is invalid.
*/
static bool relay_chn_is_gpio_valid(gpio_num_t gpio)
{
return gpio >= 0 && gpio < GPIO_PIN_COUNT;
}
static esp_err_t relay_chn_create_event_loop()
{
esp_event_loop_args_t loop_args = {
.queue_size = RELAY_CHN_COUNT * 8,
.task_name = "relay_chn_event_loop",
.task_priority = ESP_TASKD_EVENT_PRIO - 1,
.task_stack_size = 2048,
.task_core_id = tskNO_AFFINITY
};
esp_err_t ret = esp_event_loop_create(&loop_args, &relay_chn_event_loop);
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to create event loop for relay channel");
ret = esp_event_handler_register_with(relay_chn_event_loop,
RELAY_CHN_CMD_EVENT,
ESP_EVENT_ANY_ID,
relay_chn_event_handler, NULL);
return ret;
}
esp_err_t relay_chn_create(const gpio_num_t* gpio_map, uint8_t gpio_count)
{
// Check if the device's GPIOs are enough for the number of channels
if (RELAY_CHN_COUNT > (GPIO_PIN_COUNT / 2)) {
ESP_LOGE(TAG, "Not enough GPIOs for the number of channels!");
ESP_LOGE(TAG, "Max available num of channels: %d, requested channels: %d", GPIO_PIN_COUNT / 2, RELAY_CHN_COUNT);
return ESP_ERR_INVALID_ARG;
}
// Check if the provided GPIOs correspond to the number of channels
if (gpio_count != RELAY_CHN_COUNT * 2) {
ESP_LOGE(TAG, "Invalid number of GPIOs provided: %d", gpio_count);
ESP_LOGE(TAG, "Expected number of GPIOs: %d", RELAY_CHN_COUNT * 2);
return ESP_ERR_INVALID_ARG;
}
esp_err_t ret;
for (int i = 0; i < RELAY_CHN_COUNT; i++) {
int gpio_index = i << 1; // gpio_index = i * 2
gpio_num_t forward_pin = gpio_map[gpio_index];
gpio_num_t reverse_pin = gpio_map[gpio_index + 1];
// Check if the GPIOs are valid
if (!relay_chn_is_gpio_valid(forward_pin)) {
ESP_LOGE(TAG, "Invalid GPIO pin number: %d", forward_pin);
return ESP_ERR_INVALID_ARG;
}
if (!relay_chn_is_gpio_valid(reverse_pin)) {
ESP_LOGE(TAG, "Invalid GPIO pin number: %d", reverse_pin);
return ESP_ERR_INVALID_ARG;
}
// Check if the GPIOs are valid
// Initialize the GPIOs
ret = gpio_reset_pin(forward_pin);
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to reset GPIO forward pin for channel %d", i);
ret = gpio_set_direction(forward_pin, GPIO_MODE_OUTPUT);
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to set GPIO direction for forward pin for channel %d", i);
ret = gpio_reset_pin(reverse_pin);
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to reset GPIO reverse pin for channel %d", i);
ret = gpio_set_direction(reverse_pin, GPIO_MODE_OUTPUT);
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to set GPIO direction for reverse pin for channel %d", i);
// Initialize the GPIOs
// Initialize the relay channel
relay_chn_t* relay_chn = &relay_channels[i];
relay_chn->id = i;
relay_chn->output.forward_pin = forward_pin;
relay_chn->output.reverse_pin = reverse_pin;
relay_chn->output.direction = RELAY_CHN_DIRECTION_DEFAULT;
relay_chn->state = RELAY_CHN_STATE_FREE;
relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
relay_chn->run_info.last_run_cmd = RELAY_CHN_CMD_NONE;
ret = relay_chn_init_timer(relay_chn); // Create direction change inertia timer
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to create relay channel timer for channel %d", i);
#if RELAY_CHN_ENABLE_TILTING == 1
ret = relay_chn_init_tilt_control(relay_chn);
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to initialize tilt control for channel %d", i);
#endif
}
// Create relay channel command event loop
ret = relay_chn_create_event_loop();
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to create relay channel event loop");
#if RELAY_CHN_ENABLE_TILTING == 1
// Must call after the event loop is initialized
ret = relay_chn_tilt_init(); // Initialize tilt feature
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to initialize tilt feature");
#endif
// Init the state listener manager
relay_chn_state_listener_manager.listeners = malloc(sizeof(relay_chn_state_listener_t*));
if (relay_chn_state_listener_manager.listeners == NULL) {
ESP_LOGE(TAG, "Failed to initialize memory for the listeners!");
ret = ESP_ERR_NO_MEM;
}
return ret;
}
static int relay_chn_listener_index(relay_chn_state_listener_t listener)
{
for (int i = 0; i < relay_chn_state_listener_manager.listener_count; i++) {
if (relay_chn_state_listener_manager.listeners[i] == listener) {
// This is the listener to unregister. Check if it is in the middle
ESP_LOGD(TAG, "relay_chn_listener_index: Listener %p; found at index %d.", listener, i);
return i;
}
}
return -1;
}
esp_err_t relay_chn_register_listener(relay_chn_state_listener_t listener)
{
if (listener == NULL) {
ESP_LOGE(TAG, "relay_chn_register_listener: A NULL listener given.");
return ESP_ERR_INVALID_ARG;
}
if (relay_chn_listener_index(listener) > -1) {
ESP_LOGD(TAG, "relay_chn_register_listener: The listener %p is already registered.", listener);
return ESP_OK;
}
ESP_LOGD(TAG, "relay_chn_register_listener: Register listener: %p", listener);
relay_chn_state_listener_manager.listeners[relay_chn_state_listener_manager.listener_count] = listener;
// Update listener count
relay_chn_state_listener_manager.listener_count++;
return ESP_OK;
}
void relay_chn_unregister_listener(relay_chn_state_listener_t listener)
{
if (listener == NULL) {
ESP_LOGD(TAG, "relay_chn_unregister_listener: A NULL listener given, nothing to do.");
return;
}
// Search the listener in the listeners list and get its index if exists
int i = relay_chn_listener_index(listener);
if (i == -1) {
ESP_LOGD(TAG, "relay_chn_unregister_listener: %p is not registered already.", listener);
return;
}
uint8_t max_index = relay_chn_state_listener_manager.listener_count - 1;
// Check whether the listener's index is in the middle
if (i == max_index) {
// free(&relay_chn_state_listener_manager.listeners[i]);
relay_chn_state_listener_manager.listeners[i] = NULL;
}
else {
// It is in the middle, so align the next elements in the list and then free the last empty pointer
// Align the next elements
uint8_t num_of_elements = max_index - i;
relay_chn_state_listener_t *pnext = NULL;
// (i + j): current index; (i + j + 1): next index
for (uint8_t j = 0; j < num_of_elements; j++) {
uint8_t current_index = i + j;
uint8_t next_index = current_index + 1;
pnext = &relay_chn_state_listener_manager.listeners[next_index];
relay_chn_state_listener_manager.listeners[current_index] = *pnext;
}
// free(&relay_chn_state_listener_manager.listeners[max_index]); // Free the last element
relay_chn_state_listener_manager.listeners[max_index] = NULL; // Free the last element
}
// Decrease listener count
relay_chn_state_listener_manager.listener_count--;
}
/**
* @brief Check channel ID validity
*
* @param chn_id Channel ID to check
* @return true If channel is valid
* @return false If channel is invalid
*/
static bool relay_chn_is_channel_id_valid(uint8_t chn_id)
{
bool valid = (chn_id < RELAY_CHN_COUNT) || chn_id == RELAY_CHN_ID_ALL;
if (!valid) {
ESP_LOGE(TAG, "Invalid channel ID: %d", chn_id);
}
return valid;
}
// Dispatch relay channel command to its event loop
static void relay_chn_dispatch_cmd(relay_chn_t *relay_chn, relay_chn_cmd_t cmd) {
if (cmd == RELAY_CHN_CMD_NONE) {
return;
}
esp_event_post_to(relay_chn_event_loop,
RELAY_CHN_CMD_EVENT,
cmd,
&relay_chn->id,
sizeof(relay_chn->id), portMAX_DELAY);
#if RELAY_CHN_ENABLE_TILTING == 1
// Reset the tilt counter when the command is either FORWARD or REVERSE
if (cmd == RELAY_CHN_CMD_FORWARD || cmd == RELAY_CHN_CMD_REVERSE) {
relay_chn_tilt_count_reset(relay_chn);
}
#endif
}
static esp_err_t relay_chn_start_esp_timer_once(esp_timer_handle_t esp_timer, uint32_t time_ms)
{
esp_err_t ret = esp_timer_start_once(esp_timer, time_ms * 1000);
if (ret == ESP_ERR_INVALID_STATE) {
// This timer is already running, stop the timer first
ret = esp_timer_stop(esp_timer);
if (ret != ESP_OK && ret != ESP_ERR_INVALID_STATE) {
return ret;
}
ret = esp_timer_start_once(esp_timer, time_ms * 1000);
}
return ret;
}
static void relay_chn_update_state(relay_chn_t *relay_chn, relay_chn_state_t new_state)
{
relay_chn_state_t old = relay_chn->state;
relay_chn->state = new_state;
for (uint8_t i = 0; i < relay_chn_state_listener_manager.listener_count; i++) {
relay_chn_state_listener_t listener = relay_chn_state_listener_manager.listeners[i];
if (listener == NULL) {
relay_chn_state_listener_manager.listener_count -= 1;
ESP_LOGD(TAG, "relay_chn_update_state: A listener is NULL at index: %u", i);
}
// Emit the state change to the listeners
listener(relay_chn->id, old, new_state);
}
}
/**
* @brief The command issuer function.
*
* This function is the deciding logic for issuing a command to a relay channel. It evaluates
* the current state of the channel before issuing the command. Then it decides whether to run
* the command immediately or wait for the opposite inertia time.
*
* The STOP command is an exception, it is always run immediately since it is safe in any case.
*
* Another special consideration is the FLIP command. If the channel is running, the FLIP command
* is issued after the channel is stopped. If the channel is stopped, the FLIP command is issued
* immediately.
*
* @param relay_chn The relay channel to issue the command to.
* @param cmd The command to issue.
*/
static void relay_chn_issue_cmd(relay_chn_t* relay_chn, relay_chn_cmd_t cmd)
{
if (cmd == RELAY_CHN_CMD_NONE) {
return;
}
if (cmd == RELAY_CHN_CMD_STOP) {
if (relay_chn->state == RELAY_CHN_STATE_STOPPED) {
return; // Do nothing if already stopped
}
// If the command is STOP, issue it immediately
relay_chn_dispatch_cmd(relay_chn, cmd);
return;
}
// Evaluate the channel's next move depending on its status
switch (relay_chn->state)
{
case RELAY_CHN_STATE_FREE:
// If the channel is free, run the command immediately
relay_chn_dispatch_cmd(relay_chn, cmd);
break;
case RELAY_CHN_STATE_FORWARD_PENDING:
case RELAY_CHN_STATE_REVERSE_PENDING:
// The channel is already waiting for the opposite inertia time,
// so do nothing unless the command is STOP
if (cmd == RELAY_CHN_CMD_STOP) {
relay_chn_dispatch_cmd(relay_chn, cmd);
}
break;
case RELAY_CHN_STATE_STOPPED:
if (relay_chn->run_info.last_run_cmd == cmd || relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_NONE) {
// Since the state is STOPPED, the inertia timer should be running and must be invalidated
// with the pending FREE command
esp_timer_stop(relay_chn->inertia_timer);
relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
// If this is the first run or the last run command is the same as the current command,
// run the command immediately
relay_chn_dispatch_cmd(relay_chn, cmd);
}
else {
// If the last run command is different from the current command, calculate the time passed
// since the last run command stopped and decide whether to run the command immediately or wait
uint32_t inertia_time_passed_ms = (uint32_t) (esp_timer_get_time() / 1000) - relay_chn->run_info.last_run_cmd_time_ms;
uint32_t inertia_time_ms = RELAY_CHN_OPPOSITE_INERTIA_MS - inertia_time_passed_ms;
if (inertia_time_ms > 0) {
relay_chn->pending_cmd = cmd;
relay_chn_state_t new_state = cmd == RELAY_CHN_CMD_FORWARD
? RELAY_CHN_STATE_FORWARD_PENDING : RELAY_CHN_STATE_REVERSE_PENDING;
relay_chn_update_state(relay_chn, new_state);
// If the time passed is less than the opposite inertia time, wait for the remaining time
relay_chn_start_esp_timer_once(relay_chn->inertia_timer, inertia_time_ms);
}
else {
// If the time passed is more than the opposite inertia time, run the command immediately
relay_chn_dispatch_cmd(relay_chn, cmd);
}
}
break;
case RELAY_CHN_STATE_FORWARD:
case RELAY_CHN_STATE_REVERSE:
if (cmd == RELAY_CHN_CMD_FLIP) {
// If the command is FLIP, stop the running channel first, then issue the FLIP command
relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
relay_chn_dispatch_cmd(relay_chn, cmd);
return;
}
if (relay_chn->run_info.last_run_cmd == cmd) {
// If the last run command is the same as the current command, do nothing
return;
}
// Stop the channel first before the schedule
relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
// If the last run command is different from the current command, wait for the opposite inertia time
relay_chn->pending_cmd = cmd;
relay_chn_state_t new_state = cmd == RELAY_CHN_CMD_FORWARD
? RELAY_CHN_STATE_FORWARD_PENDING : RELAY_CHN_STATE_REVERSE_PENDING;
relay_chn_update_state(relay_chn, new_state);
relay_chn_start_esp_timer_once(relay_chn->inertia_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
break;
default: ESP_LOGD(TAG, "relay_chn_evaluate: Unknown relay channel state!");
}
}
/* relay_chn APIs */
relay_chn_state_t relay_chn_get_state(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) {
return RELAY_CHN_STATE_STOPPED;
}
return relay_channels[chn_id].state;
}
char *relay_chn_get_state_str(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) {
return "INVALID";
}
return relay_chn_state_str(relay_channels[chn_id].state);
}
static void relay_chn_issue_cmd_on_all_channels(relay_chn_cmd_t cmd)
{
for (int i = 0; i < RELAY_CHN_COUNT; i++) {
relay_chn_issue_cmd(&relay_channels[i], cmd);
}
}
void relay_chn_run_forward(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) return;
if (chn_id == RELAY_CHN_ID_ALL) {
relay_chn_issue_cmd_on_all_channels(RELAY_CHN_CMD_FORWARD);
return;
}
relay_chn_t* relay_chn = &relay_channels[chn_id];
relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_FORWARD);
}
void relay_chn_run_reverse(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) return;
if (chn_id == RELAY_CHN_ID_ALL) {
relay_chn_issue_cmd_on_all_channels(RELAY_CHN_CMD_REVERSE);
return;
}
relay_chn_t* relay_chn = &relay_channels[chn_id];
relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_REVERSE);
}
void relay_chn_stop(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) return;
if (chn_id == RELAY_CHN_ID_ALL) {
relay_chn_issue_cmd_on_all_channels(RELAY_CHN_CMD_STOP);
return;
}
relay_chn_t* relay_chn = &relay_channels[chn_id];
relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_STOP);
}
void relay_chn_flip_direction(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) return;
if (chn_id == RELAY_CHN_ID_ALL) {
relay_chn_issue_cmd_on_all_channels(RELAY_CHN_CMD_FLIP);
return;
}
relay_chn_t* relay_chn = &relay_channels[chn_id];
relay_chn_issue_cmd(relay_chn, RELAY_CHN_CMD_FLIP);
}
relay_chn_direction_t relay_chn_get_direction(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) {
return RELAY_CHN_DIRECTION_DEFAULT;
}
return relay_channels[chn_id].output.direction;
}
/* relay_chn APIs */
static esp_err_t relay_chn_output_stop(relay_chn_t *relay_chn)
{
esp_err_t ret;
ret = gpio_set_level(relay_chn->output.forward_pin, 0);
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to set forward pin to LOW for relay channel #%d", relay_chn->id);
ret = gpio_set_level(relay_chn->output.reverse_pin, 0);
return ret;
}
static esp_err_t relay_chn_output_forward(relay_chn_t *relay_chn)
{
esp_err_t ret;
ret = gpio_set_level(relay_chn->output.forward_pin, 1);
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to set forward pin to HIGH for relay channel #%d", relay_chn->id);
ret = gpio_set_level(relay_chn->output.reverse_pin, 0);
return ret;
}
static esp_err_t relay_chn_output_reverse(relay_chn_t *relay_chn)
{
esp_err_t ret;
ret = gpio_set_level(relay_chn->output.forward_pin, 0);
ESP_RETURN_ON_ERROR(ret, TAG, "Failed to set forward pin to LOW for relay channel #%d", relay_chn->id);
ret = gpio_set_level(relay_chn->output.reverse_pin, 1);
return ret;
}
static void relay_chn_execute_stop(relay_chn_t *relay_chn)
{
if (relay_chn_output_stop(relay_chn) != ESP_OK) {
ESP_LOGE(TAG, "relay_chn_execute_stop: Failed to output stop for relay channel #%d!", relay_chn->id);
}
relay_chn_state_t previous_state = relay_chn->state;
relay_chn_update_state(relay_chn, RELAY_CHN_STATE_STOPPED);
// If there is any pending command, cancel it since the STOP command is issued right after it
relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
// Invalidate the channel's timer if it is active
esp_timer_stop(relay_chn->inertia_timer);
// Save the last run time only if the previous state was either STATE FORWARD
// or STATE_REVERSE. Then schedule a free command.
if (previous_state == RELAY_CHN_STATE_FORWARD || previous_state == RELAY_CHN_STATE_REVERSE) {
// Record the command's last run time
relay_chn->run_info.last_run_cmd_time_ms = esp_timer_get_time() / 1000;
// Schedule a free command for the channel
relay_chn->pending_cmd = RELAY_CHN_CMD_FREE;
relay_chn_start_esp_timer_once(relay_chn->inertia_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
} else {
// If the channel was not running one of the run or fwd, issue a free command immediately
relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_FREE);
}
}
static void relay_chn_execute_forward(relay_chn_t *relay_chn)
{
if (relay_chn_output_forward(relay_chn) != ESP_OK) {
ESP_LOGE(TAG, "relay_chn_execute_forward: Failed to output forward for relay channel #%d!", relay_chn->id);
return;
}
relay_chn->run_info.last_run_cmd = RELAY_CHN_CMD_FORWARD;
relay_chn_update_state(relay_chn, RELAY_CHN_STATE_FORWARD);
}
static void relay_chn_execute_reverse(relay_chn_t *relay_chn)
{
if (relay_chn_output_reverse(relay_chn) != ESP_OK) {
ESP_LOGE(TAG, "relay_chn_execute_reverse: Failed to output reverse for relay channel #%d!", relay_chn->id);
return;
}
relay_chn->run_info.last_run_cmd = RELAY_CHN_CMD_REVERSE;
relay_chn_update_state(relay_chn, RELAY_CHN_STATE_REVERSE);
}
static void relay_chn_execute_flip(relay_chn_t *relay_chn)
{
// Flip the output GPIO pins
gpio_num_t temp = relay_chn->output.forward_pin;
relay_chn->output.forward_pin = relay_chn->output.reverse_pin;
relay_chn->output.reverse_pin = temp;
// Flip the direction
relay_chn->output.direction = (relay_chn->output.direction == RELAY_CHN_DIRECTION_DEFAULT)
? RELAY_CHN_DIRECTION_FLIPPED
: RELAY_CHN_DIRECTION_DEFAULT;
// Set an inertia on the channel to prevent any immediate movement
relay_chn->pending_cmd = RELAY_CHN_CMD_FREE;
relay_chn_start_esp_timer_once(relay_chn->inertia_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
}
void relay_chn_execute_free(relay_chn_t *relay_chn)
{
relay_chn->pending_cmd = RELAY_CHN_CMD_NONE;
// Invalidate the channel's timer if it is active
esp_timer_stop(relay_chn->inertia_timer);
relay_chn_update_state(relay_chn, RELAY_CHN_STATE_FREE);
}
static void relay_chn_event_handler(void* handler_arg, esp_event_base_t event_base, int32_t event_id, void* event_data)
{
uint8_t chn_id = *(uint8_t*) event_data;
if (!relay_chn_is_channel_id_valid(chn_id)) {
return;
}
relay_chn_t* relay_chn = &relay_channels[chn_id];
ESP_LOGD(TAG, "relay_chn_event_handler: Channel %d, Command: %s", relay_chn->id, relay_chn_cmd_str(event_id));
switch (event_id) {
case RELAY_CHN_CMD_STOP:
relay_chn_execute_stop(relay_chn);
break;
case RELAY_CHN_CMD_FORWARD:
relay_chn_execute_forward(relay_chn);
break;
case RELAY_CHN_CMD_REVERSE:
relay_chn_execute_reverse(relay_chn);
break;
case RELAY_CHN_CMD_FLIP:
relay_chn_execute_flip(relay_chn);
break;
case RELAY_CHN_CMD_FREE:
relay_chn_execute_free(relay_chn);
break;
default:
ESP_LOGD(TAG, "Unknown relay channel command!");
}
}
static char *relay_chn_cmd_str(relay_chn_cmd_t cmd)
{
switch (cmd) {
case RELAY_CHN_CMD_STOP:
return "STOP";
case RELAY_CHN_CMD_FORWARD:
return "FORWARD";
case RELAY_CHN_CMD_REVERSE:
return "REVERSE";
case RELAY_CHN_CMD_FLIP:
return "FLIP";
case RELAY_CHN_CMD_FREE:
return "FREE";
default:
return "UNKNOWN";
}
}
char *relay_chn_state_str(relay_chn_state_t state)
{
switch (state) {
case RELAY_CHN_STATE_FREE:
return "FREE";
case RELAY_CHN_STATE_STOPPED:
return "STOPPED";
case RELAY_CHN_STATE_FORWARD:
return "FORWARD";
case RELAY_CHN_STATE_REVERSE:
return "REVERSE";
case RELAY_CHN_STATE_FORWARD_PENDING:
return "FORWARD_PENDING";
case RELAY_CHN_STATE_REVERSE_PENDING:
return "REVERSE_PENDING";
#if RELAY_CHN_ENABLE_TILTING == 1
case RELAY_CHN_STATE_TILT_FORWARD:
return "TILT_FORWARD";
case RELAY_CHN_STATE_TILT_REVERSE:
return "TILT_REVERSE";
#endif
default:
return "UNKNOWN";
}
}
#if RELAY_CHN_ENABLE_TILTING == 1
/**
* @brief Dispatch a tilt command to the relay channel event loop.
*
* @param relay_chn The relay channel to send the command to.
* @param cmd The tilt command.
* @return
* - ESP_OK on success.
* - ESP_ERR_INVALID_ARG if the command is none.
* - Other error codes on failure.
*/
static esp_err_t relay_chn_dispatch_tilt_cmd(relay_chn_t *relay_chn, relay_chn_tilt_cmd_t cmd)
{
if (cmd == RELAY_CHN_TILT_CMD_NONE) return ESP_ERR_INVALID_ARG;
return esp_event_post_to(relay_chn_event_loop,
RELAY_CHN_TILT_CMD_EVENT_BASE,
cmd,
&relay_chn->id,
sizeof(relay_chn->id), portMAX_DELAY);
}
/**
* @brief Get the required timing before tilting depending on the last run.
*
* @param relay_chn the relay channel.
* @param cmd The tilt command.
* @return The time that is required in ms.
*/
static uint32_t relay_chn_get_required_timing_before_tilting(relay_chn_t *relay_chn, relay_chn_tilt_cmd_t cmd)
{
if (cmd == RELAY_CHN_TILT_CMD_FORWARD && relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_REVERSE)
return 0;
else if (cmd == RELAY_CHN_TILT_CMD_REVERSE && relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_FORWARD)
return 0;
uint32_t inertia_time_passed_ms = (uint32_t) (esp_timer_get_time() / 1000) - relay_chn->run_info.last_run_cmd_time_ms;
return RELAY_CHN_OPPOSITE_INERTIA_MS - inertia_time_passed_ms;
}
/**
* @brief Issue a tilt command to a specific relay channel.
*
* @param chn_id The channel ID.
* @param cmd The tilt command.
*/
static void relay_chn_issue_tilt_cmd(uint8_t chn_id, relay_chn_tilt_cmd_t cmd)
{
relay_chn_t* relay_chn = &relay_channels[chn_id];
if (relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_NONE) {
// Do not tilt if the channel hasn't been run before
ESP_LOGD(TAG, "relay_chn_issue_tilt_cmd: Tilt will not be executed since the channel hasn't been run yet");
return;
}
if (relay_chn->tilt_control.cmd == cmd) {
ESP_LOGD(TAG, "relay_chn_issue_tilt_cmd: There is already a tilt command in progress!");
return;
}
// Set the command that will be processed
relay_chn->tilt_control.cmd = cmd;
switch (relay_chn->state) {
case RELAY_CHN_STATE_FREE:
// Relay channel is free, tilt can be issued immediately
relay_chn_dispatch_tilt_cmd(relay_chn, cmd);
break;
case RELAY_CHN_STATE_FORWARD_PENDING:
case RELAY_CHN_STATE_REVERSE_PENDING:
// Issue a stop command first so that the timer and pending cmd get cleared
relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
// break not put intentionally
case RELAY_CHN_STATE_STOPPED: {
// Check if channel needs timing before tilting
uint32_t req_timing_ms = relay_chn_get_required_timing_before_tilting(relay_chn, cmd);
if (req_timing_ms == 0) {
relay_chn_dispatch_tilt_cmd(relay_chn, cmd);
} else {
// Channel needs timing before running tilting action, schedule it
relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_PENDING;
relay_chn_start_esp_timer_once(relay_chn->tilt_control.tilt_timer, req_timing_ms);
}
break;
}
case RELAY_CHN_STATE_FORWARD:
if (cmd == RELAY_CHN_TILT_CMD_FORWARD) {
// Stop the running channel first
relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
// Schedule for tilting
relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_PENDING;
relay_chn_start_esp_timer_once(relay_chn->tilt_control.tilt_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
} else if (cmd == RELAY_CHN_TILT_CMD_REVERSE) {
// Stop the running channel first
relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
// If the tilt cmd is TILT_REVERSE then dispatch it immediately
relay_chn_dispatch_tilt_cmd(relay_chn, cmd);
}
break;
case RELAY_CHN_STATE_REVERSE:
if (cmd == RELAY_CHN_TILT_CMD_REVERSE) {
// Stop the running channel first
relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
// Schedule for tilting
relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_PENDING;
relay_chn_start_esp_timer_once(relay_chn->tilt_control.tilt_timer, RELAY_CHN_OPPOSITE_INERTIA_MS);
} else if (cmd == RELAY_CHN_TILT_CMD_FORWARD) {
// Stop the running channel first
relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
// If the tilt cmd is TILT_FORWARD then dispatch it immediately
relay_chn_dispatch_tilt_cmd(relay_chn, cmd);
}
break;
default:
ESP_LOGD(TAG, "relay_chn_issue_tilt_cmd: Unexpected relay channel state: %s!", relay_chn_state_str(relay_chn->state));
}
}
static void relay_chn_issue_tilt_cmd_on_all_channels(relay_chn_tilt_cmd_t cmd)
{
for (int i = 0; i < RELAY_CHN_COUNT; i++) {
relay_chn_issue_tilt_cmd(i, cmd);
}
}
static void relay_chn_issue_tilt_auto(uint8_t chn_id)
{
relay_chn_t* relay_chn = &relay_channels[chn_id];
if (relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_FORWARD || relay_chn->state == RELAY_CHN_STATE_FORWARD) {
relay_chn_issue_tilt_cmd(chn_id, RELAY_CHN_TILT_CMD_FORWARD);
}
else if (relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_REVERSE || relay_chn->state == RELAY_CHN_STATE_REVERSE) {
relay_chn_issue_tilt_cmd(chn_id, RELAY_CHN_TILT_CMD_REVERSE);
}
}
void relay_chn_tilt_auto(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) {
return;
}
// Execute for all channels
if (chn_id == RELAY_CHN_ID_ALL) {
for (int i = 0; i < RELAY_CHN_COUNT; i++) {
relay_chn_issue_tilt_auto(i);
}
return;
}
// Execute for a single channel
else relay_chn_issue_tilt_auto(chn_id);
}
void relay_chn_tilt_forward(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) {
return;
}
if (chn_id == RELAY_CHN_ID_ALL) relay_chn_issue_tilt_cmd_on_all_channels(RELAY_CHN_TILT_CMD_FORWARD);
else relay_chn_issue_tilt_cmd(chn_id, RELAY_CHN_TILT_CMD_FORWARD);
}
void relay_chn_tilt_reverse(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) {
return;
}
if (chn_id == RELAY_CHN_ID_ALL) relay_chn_issue_tilt_cmd_on_all_channels(RELAY_CHN_TILT_CMD_REVERSE);
else relay_chn_issue_tilt_cmd(chn_id, RELAY_CHN_TILT_CMD_REVERSE);
}
static void _relay_chn_tilt_stop(uint8_t chn_id)
{
relay_chn_t* relay_chn = &relay_channels[chn_id];
if (relay_chn->tilt_control.cmd != RELAY_CHN_TILT_CMD_NONE) {
esp_event_post_to(relay_chn_event_loop,
RELAY_CHN_TILT_CMD_EVENT_BASE,
RELAY_CHN_TILT_CMD_STOP,
&relay_chn->id,
sizeof(relay_chn->id), portMAX_DELAY);
}
}
void relay_chn_tilt_stop(uint8_t chn_id)
{
if (!relay_chn_is_channel_id_valid(chn_id)) {
return;
}
if (chn_id == RELAY_CHN_ID_ALL) {
for (int i = 0; i < RELAY_CHN_COUNT; i++) {
_relay_chn_tilt_stop(i);
}
}
else {
_relay_chn_tilt_stop(chn_id);
}
}
static void relay_chn_set_tilt_timing_values(relay_chn_tilt_timing_t *tilt_timing,
uint8_t sensitivity,
uint32_t run_time_ms,
uint32_t pause_time_ms)
{
tilt_timing->sensitivity = sensitivity;
tilt_timing->move_time_ms = run_time_ms;
tilt_timing->pause_time_ms = pause_time_ms;
}
static void _relay_chn_tilt_sensitivity_set(relay_chn_t *relay_chn, uint8_t sensitivity)
{
if (sensitivity >= 100) {
relay_chn_set_tilt_timing_values(&relay_chn->tilt_control.tilt_timing,
100,
RELAY_CHN_TILT_RUN_MAX_MS,
RELAY_CHN_TILT_PAUSE_MAX_MS);
}
else if (sensitivity == 0) {
relay_chn_set_tilt_timing_values(&relay_chn->tilt_control.tilt_timing,
0,
RELAY_CHN_TILT_RUN_MIN_MS,
RELAY_CHN_TILT_PAUSE_MIN_MS);
}
else {
// Compute the new timing values from the sensitivity percent value by using linear interpolation
uint32_t tilt_run_time_ms = 0, tilt_pause_time_ms = 0;
tilt_run_time_ms = RELAY_CHN_TILT_RUN_MIN_MS + (sensitivity * (RELAY_CHN_TILT_RUN_MAX_MS - RELAY_CHN_TILT_RUN_MIN_MS) / 100);
tilt_pause_time_ms = RELAY_CHN_TILT_PAUSE_MIN_MS + (sensitivity * (RELAY_CHN_TILT_PAUSE_MAX_MS - RELAY_CHN_TILT_PAUSE_MIN_MS) / 100);
relay_chn_set_tilt_timing_values(&relay_chn->tilt_control.tilt_timing,
sensitivity,
tilt_run_time_ms,
tilt_pause_time_ms);
}
}
void relay_chn_tilt_sensitivity_set(uint8_t chn_id, uint8_t sensitivity)
{
if (!relay_chn_is_channel_id_valid(chn_id)) {
return;
}
if (chn_id == RELAY_CHN_ID_ALL) {
for (int i = 0; i < RELAY_CHN_COUNT; i++) {
_relay_chn_tilt_sensitivity_set(&relay_channels[i], sensitivity);
}
}
else {
_relay_chn_tilt_sensitivity_set(&relay_channels[chn_id], sensitivity);
}
}
esp_err_t relay_chn_tilt_sensitivity_get(uint8_t chn_id, uint8_t *sensitivity, size_t length)
{
if (!relay_chn_is_channel_id_valid(chn_id)) {
return ESP_ERR_INVALID_ARG;
}
if (sensitivity == NULL) {
ESP_LOGD(TAG, "relay_chn_tilt_sensitivity_get: sensitivity is NULL");
return ESP_ERR_INVALID_ARG;
}
if (chn_id == RELAY_CHN_ID_ALL) {
if (length < RELAY_CHN_COUNT) {
ESP_LOGD(TAG, "relay_chn_tilt_sensitivity_get: length is too short to store all sensitivity values");
return ESP_ERR_INVALID_ARG;
}
for (int i = 0; i < RELAY_CHN_COUNT; i++) {
sensitivity[i] = relay_channels[i].tilt_control.tilt_timing.sensitivity;
}
return ESP_OK;
}
*sensitivity = relay_channels[chn_id].tilt_control.tilt_timing.sensitivity;
return ESP_OK;
}
static void relay_chn_tilt_count_reset(relay_chn_t *relay_chn)
{
relay_chn->tilt_control.tilt_counter.tilt_forward_count = 0;
relay_chn->tilt_control.tilt_counter.tilt_reverse_count = 0;
}
/**
* @brief Update tilt count automatically and return the current value.
*
* This helper function updates the relevant tilt count depending on the
* last run info and helps the tilt module in deciding whether the requested
* tilt should execute or not.
* This is useful to control reverse tilting particularly. For example:
* - If the channel's last run was FORWARD and a TILT_FORWARD is requested,
* then the tilt counter will count up on the
* relay_chn_tilt_counter_struct::tilt_forward_count and the function will
* return the actual count.
* - If the channel's last run was FORWARD and a TILT_REVERSE is requested,
* then the relay_chn_tilt_counter_struct::tilt_forward_count will be checked
* against zero first, and then it will count down and return the actual count
* if it is greater than 0, else the function will return 0.
* - If the tilt command is irrelevant then the function will return 0.
* - If the last run is irrelevant then the function will return 0.
*
* @param relay_chn The relay channel handle.
* @return uint32_t The actual value of the relevant counter.
* @return 0 if:
* - related counter is already 0.
* - tilt command is irrelevant.
* - last run info is irrelevant.
*/
static uint32_t relay_chn_tilt_count_update(relay_chn_t *relay_chn)
{
if (relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_FORWARD) {
if (relay_chn->tilt_control.cmd == RELAY_CHN_TILT_CMD_FORWARD) {
return ++relay_chn->tilt_control.tilt_counter.tilt_forward_count;
}
else if (relay_chn->tilt_control.cmd == RELAY_CHN_TILT_CMD_REVERSE) {
if (relay_chn->tilt_control.tilt_counter.tilt_forward_count > 0)
return --relay_chn->tilt_control.tilt_counter.tilt_forward_count;
else
return 0;
}
else {
relay_chn_tilt_count_reset(relay_chn);
return 0;
}
}
else if (relay_chn->run_info.last_run_cmd == RELAY_CHN_CMD_REVERSE) {
if (relay_chn->tilt_control.cmd == RELAY_CHN_TILT_CMD_REVERSE) {
return ++relay_chn->tilt_control.tilt_counter.tilt_reverse_count;
}
else if (relay_chn->tilt_control.cmd == RELAY_CHN_TILT_CMD_FORWARD) {
if (relay_chn->tilt_control.tilt_counter.tilt_reverse_count > 0)
return --relay_chn->tilt_control.tilt_counter.tilt_reverse_count;
else
return 0;
}
else {
relay_chn_tilt_count_reset(relay_chn);
return 0;
}
}
return 0;
}
static void relay_chn_tilt_execute_tilt_stop(relay_chn_t *relay_chn)
{
// Stop the channel's timer if active
esp_timer_stop(relay_chn->tilt_control.tilt_timer);
// Invalidate tilt cmd and step
relay_chn->tilt_control.cmd = RELAY_CHN_TILT_CMD_NONE;
relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_NONE;
// Stop the channel
if (relay_chn_output_stop(relay_chn) != ESP_OK) {
ESP_LOGE(TAG, "relay_chn_tilt_execute_tilt_stop: Failed to output stop for relay channel #%d!", relay_chn->id);
}
relay_chn_dispatch_cmd(relay_chn, RELAY_CHN_CMD_STOP);
}
static void relay_chn_tilt_execute_tilt_forward(relay_chn_t *relay_chn)
{
if (relay_chn_output_reverse(relay_chn) != ESP_OK) {
ESP_LOGE(TAG, "relay_chn_tilt_execute_tilt_forward: Failed to output reverse for relay channel #%d!", relay_chn->id);
// Stop tilting because of the error
relay_chn_dispatch_tilt_cmd(relay_chn, RELAY_CHN_TILT_CMD_STOP);
return;
}
// Set the move time timer
relay_chn_start_esp_timer_once(relay_chn->tilt_control.tilt_timer,
relay_chn->tilt_control.tilt_timing.move_time_ms);
// Set to pause step
relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_PAUSE;
}
static void relay_chn_tilt_execute_tilt_reverse(relay_chn_t *relay_chn)
{
if (relay_chn_output_forward(relay_chn) != ESP_OK) {
ESP_LOGE(TAG, "relay_chn_tilt_execute_tilt_reverse: Failed to output forward for relay channel #%d!", relay_chn->id);
// Stop tilting because of the error
relay_chn_dispatch_tilt_cmd(relay_chn, RELAY_CHN_TILT_CMD_STOP);
return;
}
// Set the move time timer
relay_chn_start_esp_timer_once(relay_chn->tilt_control.tilt_timer,
relay_chn->tilt_control.tilt_timing.move_time_ms);
// Set to pause step
relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_PAUSE;
}
static void relay_chn_tilt_execute_tilt_pause(relay_chn_t *relay_chn)
{
// Pause the channel
if (relay_chn_output_stop(relay_chn) != ESP_OK) {
ESP_LOGE(TAG, "relay_chn_tilt_execute_tilt_stop: Failed to output stop for relay channel #%d!", relay_chn->id);
// Stop tilting because of the error
relay_chn_dispatch_tilt_cmd(relay_chn, RELAY_CHN_TILT_CMD_STOP);
return;
}
// Update the tilt counter before the next move and expect the return value to be greater than 0
if (relay_chn_tilt_count_update(relay_chn) == 0) {
ESP_LOGD(TAG, "relay_chn_tilt_execute_tilt_stop: Relay channel cannot tilt anymore");
// Stop tilting since the tilting limit has been reached
relay_chn_dispatch_tilt_cmd(relay_chn, RELAY_CHN_TILT_CMD_STOP);
return;
}
// Set the pause time timer
relay_chn_start_esp_timer_once(relay_chn->tilt_control.tilt_timer,
relay_chn->tilt_control.tilt_timing.pause_time_ms);
// Set to move step
relay_chn->tilt_control.step = RELAY_CHN_TILT_STEP_MOVE;
}
static void relay_chn_tilt_event_handler(void *handler_arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
{
uint8_t chn_id = *(uint8_t*) event_data;
if (!relay_chn_is_channel_id_valid(chn_id)) {
return;
}
relay_chn_t* relay_chn = &relay_channels[chn_id];
ESP_LOGD(TAG, "relay_chn_event_handler: Channel %d, Command: %s", relay_chn->id, relay_chn_cmd_str(event_id));
switch(event_id) {
case RELAY_CHN_TILT_CMD_STOP:
relay_chn_tilt_execute_tilt_stop(relay_chn);
break;
case RELAY_CHN_TILT_CMD_FORWARD:
relay_chn_tilt_execute_tilt_forward(relay_chn);
// Update channel state
relay_chn_update_state(relay_chn, RELAY_CHN_STATE_TILT_FORWARD);
break;
case RELAY_CHN_TILT_CMD_REVERSE:
relay_chn_tilt_execute_tilt_reverse(relay_chn);
// Update channel state
relay_chn_update_state(relay_chn, RELAY_CHN_STATE_TILT_REVERSE);
break;
default:
ESP_LOGW(TAG, "Unexpected relay channel tilt command: %ld!", event_id);
}
}
// Timer callback for the relay_chn_tilt_control_t::tilt_timer
static void relay_chn_tilt_timer_cb(void *arg)
{
uint8_t chn_id = *(uint8_t*) arg;
if (!relay_chn_is_channel_id_valid(chn_id)) {
ESP_LOGE(TAG, "relay_chn_tilt_timer_cb: Invalid relay channel ID!");
return;
}
relay_chn_t* relay_chn = &relay_channels[chn_id];
switch (relay_chn->tilt_control.step)
{
case RELAY_CHN_TILT_STEP_MOVE:
if (relay_chn->tilt_control.cmd == RELAY_CHN_TILT_CMD_FORWARD) {
relay_chn_tilt_execute_tilt_forward(relay_chn);
}
else if (relay_chn->tilt_control.cmd == RELAY_CHN_TILT_CMD_REVERSE) {
relay_chn_tilt_execute_tilt_reverse(relay_chn);
}
break;
case RELAY_CHN_TILT_STEP_PAUSE:
relay_chn_tilt_execute_tilt_pause(relay_chn);
break;
case RELAY_CHN_TILT_STEP_PENDING:
// Just dispatch the pending tilt command
relay_chn_dispatch_tilt_cmd(relay_chn, relay_chn->tilt_control.cmd);
break;
default:
break;
}
}
static esp_err_t relay_chn_init_tilt_control(relay_chn_t *relay_chn)
{
relay_chn_tilt_control_t *tilt_control = &relay_chn->tilt_control;
tilt_control->cmd = RELAY_CHN_TILT_CMD_NONE;
tilt_control->step = RELAY_CHN_TILT_STEP_NONE;
tilt_control->tilt_timing.sensitivity = RELAY_CHN_TILT_DEFAULT_SENSITIVITY;
tilt_control->tilt_timing.move_time_ms = RELAY_CHN_TILT_DEFAULT_RUN_MS;
tilt_control->tilt_timing.pause_time_ms = RELAY_CHN_TILT_DEFAULT_PAUSE_MS;
relay_chn_tilt_count_reset(relay_chn);
// Create tilt timer for the channel
char timer_name[32];
snprintf(timer_name, sizeof(timer_name), "relay_chn_%2d_tilt_timer", relay_chn->id);
esp_timer_create_args_t timer_args = {
.callback = relay_chn_tilt_timer_cb,
.arg = &relay_chn->id,
.name = timer_name
};
return esp_timer_create(&timer_args, &relay_chn->tilt_control.tilt_timer);
}
// Should call once from relay_chn_init
static esp_err_t relay_chn_tilt_init(void)
{
esp_err_t ret;
ret = esp_event_handler_register_with(relay_chn_event_loop,
RELAY_CHN_TILT_CMD_EVENT_BASE,
ESP_EVENT_ANY_ID,
relay_chn_tilt_event_handler, NULL);
return ret;
}
#endif // RELAY_CHN_ENABLE_TILTING
/// @}
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