Initial rough-in of motor controller

gem-remotes-esp32/Cargo.toml

@@ -28,7 +28,7 @@ experimental = ["esp-idf-svc/experimental"]
 embassy = ["esp-idf-svc/embassy-sync", "esp-idf-svc/critical-section", "esp-idf-svc/embassy-time-driver"]
 
 [dependencies]
-log = { version = "0.4", default-features = false }
+log = { version = "0.4", default-features = false, features = ["max_level_trace"] }
 esp-idf-svc = { version = "0.49", default-features = false }
 esp32-nimble = "0.7.0"
 esp-idf-hal = "0.44.1"
@@ -38,6 +38,10 @@ embedded-io = "0.6.1"
 anyhow = "1.0.86"
 futures-lite = "2.3.0"
 async-executor = "1.13.0"
+async-channel = "2.3.1"
+strum = "0.26.3"
+strum_macros = "0.26.4"
+async-io = "2.3.4"
 
 [build-dependencies]
 embuild = "0.32.0"

gem-remotes-esp32/sdkconfig.defaults

@@ -21,3 +21,12 @@ CONFIG_BT_NIMBLE_ENABLED=y
 
 # Store BLE info in NVS
 CONFIG_BT_NIMBLE_NVS_PERSIST=y
+
+# Allow more levels of logs
+# To change the levels of our crate, use the values in cargo.toml
+# Change this to set log levels for the esp_idf; but unfortunately also the maximum for cargo.toml.
+# Changing maximum level does not seem to accomplish anything despite this commit https://github.com/esp-rs/esp-idf-svc/commit/c76720402b3dc32cc42aec7c2feb4539cc7d2af9
+# The unfortunate side effect of this is a 2k larger binary and log spam on startup.
+# TODO: revisit and remove this for release?
+CONFIG_LOG_DEFAULT_LEVEL_VERBOSE=y
+CONFIG_LOG_MAXIMUM_LEVEL_VERBOSE=y

gem-remotes-esp32/src/ble_server.rs

@@ -3,15 +3,10 @@
 // Example for reference; not ready to use at all.
 
 use esp32_nimble::{enums::*, uuid128, BLEAdvertisementData, BLEDevice, NimbleProperties};
-use esp_idf_hal::delay::FreeRtos;
-use esp_idf_sys as _;
-
-fn main() {
-    esp_idf_sys::link_patches();
-
-    // Bind the log crate to the ESP Logging facilities
-    esp_idf_svc::log::EspLogger::initialize_default();
+use esp_idf_svc::timer::EspTaskTimerService;
+use core::time::Duration;
 
+fn run_ble_server() {
     // Take ownership of device
     let ble_device = BLEDevice::take();
 
@@ -74,9 +69,12 @@ fn main() {
 
     // Init a value to pass to characteristic
     let mut val = 0;
+    let timer_service = EspTaskTimerService::new()?;
+
+    let mut async_timer = timer_service.timer_async()?;
 
     loop {
-        FreeRtos::delay_ms(1000);
+        async_timer.after(Duration::from_secs(1)).await?;
         my_service_characteristic.lock().set_value(&[val]).notify();
         val = val.wrapping_add(1);
     }

gem-remotes-esp32/src/commands.rs

@@ -0,0 +1,35 @@
+/// An enum of all commands passed into and out of the microcontroller
+
+use strum_macros::EnumCount as EnumCountMacro;
+use std::mem::discriminant;
+
+#[derive(Clone, Copy, EnumCountMacro, Debug)]
+pub enum Commands {
+
+    // Inputs sent from the PIC microcontroller
+    PicRecvUp,
+    PicRecvDown,
+    PicRecvStop,
+
+    // Inputs from bluetooth
+    BluetoothUp {data: u8},
+    BluetoothDown {data: u8},
+    BluetoothStop {_data: u8}, // There is no state where releasing the stop button induces a change.
+
+    // Internal messages
+    StopTimerExpired, // Sent when the 2 second stop sequence is complete
+    StopTimerRestart,
+    StopTimerClear,
+    ButtonTimerExpired,
+    ButtonTimerRestart,
+    ButtonTimerClear,
+}
+
+pub type CmdType = std::mem::Discriminant<Commands>;
+
+/// Consider commands equal if they have the same command type, but different values
+impl PartialEq for Commands {
+    fn eq(&self, other: &Self) -> bool {
+        discriminant(self) == discriminant(other)
+    }
+}

gem-remotes-esp32/src/dispatch.rs

@@ -0,0 +1,78 @@
+
+use std::mem::discriminant;
+use std::collections::HashMap;
+use std::vec::Vec;
+use async_channel::{unbounded, Receiver, Sender};
+use strum::EnumCount;
+
+use crate::commands::{Commands, CmdType};
+use log::*; //{trace, debug, info, warn, error}
+
+pub type SendQ = Sender<Commands>;
+pub type RecvQ = Receiver<Commands>;
+
+//TODO: Making this generic over a <C> for commands would make it a useful small event handler.
+
+pub struct Dispatch {
+    callbacks: HashMap<CmdType, Vec<SendQ> >,
+    recv: RecvQ, // Channel to listen to incomming commands
+    endpoint: SendQ, // Endpoint to clone to hand to other modules, so that they can send commands
+}
+
+impl Dispatch {
+    pub fn new() -> Dispatch {
+        let (s, r) = unbounded();
+        let mut hmap = HashMap::new();
+        hmap.reserve(Commands::COUNT);
+        Dispatch { callbacks: hmap, recv: r, endpoint: s}
+    }
+
+    /// Get a channel receiver that will get callbacks for all commands in the listen_for vec.
+    pub fn get_callback_channel(&mut self, listen_for: &Vec<Commands>) -> RecvQ {
+        let (send, rec) = unbounded();
+        for cmd in listen_for {
+            let callback_list = self.callbacks.get_mut(&discriminant(&cmd));
+            match callback_list {
+                Some(callback) => {
+                    callback.push(send.clone());
+                    trace!("Adding {:?} to callbacks", cmd);
+                }
+                None => {
+                    let mut callback = Vec::new();
+                    callback.push(send.clone());
+                    self.callbacks.insert(discriminant(&cmd), callback);
+                    trace!("Created {:?} callback", cmd);
+                }
+            }
+        }
+        rec
+    }
+
+    //TODO: Make a discriminant version of this function that takes a vec of discriminants
+    //TODO: Most of these channels could be fixed size instead unbound; probably only the incomming channel needs to be large.
+
+    /// Get a channel sender that will send commands to this dispatcher
+    pub fn get_cmd_channel(&mut self) -> SendQ {
+        self.endpoint.clone()
+    }
+
+    /// Wait on incomming commands and dispatch them
+    pub async fn cmd_loop(&self) -> anyhow::Result<()> {
+        loop {
+            debug!("Dispatch waiting on commands");
+            let cmd = self.recv.recv().await?;
+            debug!("Dispatch got command {:?}", cmd);
+            let cmd_type = discriminant(&cmd);
+            let found_listeners = self.callbacks.get(&cmd_type);
+            match found_listeners {
+                Some(listeners) => {
+                    for listener in listeners {
+                        trace!("Sending cmd {:?}", cmd);
+                        listener.send(cmd.clone()).await?;
+                    }
+                }
+                None => {debug!("Dispatch found no listeners for a command")}
+            }
+        }
+    }
+}

gem-remotes-esp32/src/main.rs

@@ -1,47 +1,99 @@
-//use esp_idf_hal::peripherals::Peripherals;
+const BUTTON_HOLD_TIME_MS: u64 = 500;
+const STOP_SAFETY_TIME_MS: u64 = 2000;
 
-use esp_idf_svc::timer::EspTaskTimerService;
-use core::time::Duration;
-use log::{info, error};
+// Debug crates
+//use esp_idf_svc::timer::EspTaskTimerService;
+//use core::time::Duration;
+
+// Crates used in release
+use log::*; //{trace, debug, info, warn, error}
 use anyhow::Result;
 use async_executor::Executor;
 use futures_lite::future;
+use std::boxed::Box;
 
+// Debug modules
 mod test_console;
+//mod test_driver_tattle;
+
+// Release modules
+mod commands;
+mod dispatch;
+mod motor_controller;
+mod motor_driver;
+mod message_timer;
+
+use crate::message_timer::MessageTimer;
+use crate::commands::Commands;
+
+//TODO: limit switch driver, would be good in long run if it checked limit switches periodically (every 1s?) to ensure they are still functioning
+
 
 fn main() {
     // Do basic initialization
     esp_idf_svc::sys::link_patches();
     esp_idf_svc::log::EspLogger::initialize_default();
-    info!("Logging initialized");
-
-    //let peripherals = Peripherals::take().unwrap();
+    log::set_max_level(log::LevelFilter::Info);
 
     match future::block_on(main_loop()) {
         Ok(_) => {error!("Exited main loop normally, but this should be impossible.")}
         Err(e) => {error!("Exited main loop with error {}", e)}
     };
-
+    //TODO: can we restart the microcontroller here?
 }
 
+/*
 async fn test_loop() -> Result<()> {
     let timer_service = EspTaskTimerService::new()?;
 
     let mut async_timer = timer_service.timer_async()?;
     loop {
-        async_timer.after(Duration::from_secs(2)).await?;
+        async_timer.after(Duration::from_secs(5)).await?;
+        debug!("Tick ");
     }
-}
+} */
 
 async fn main_loop() -> Result<()> {
     info!("Entering main loop");
 
+    // Create dispatch early so it can outlive most other things
+    let mut dp = dispatch::Dispatch::new();
+
+    // Debug Drivers
+    let motor_driver = Box::new(motor_driver::MotorDriverDebug {});
+
+    // Setup of various drivers that need to out-live the executor
+    let m_chan = motor_controller::Controller::prepare_controller(&mut dp);
+    let mut motor_control = motor_controller::Controller::new(m_chan, dp.get_cmd_channel(), motor_driver);
+    // Setup callback timers
+    let mut button_timer = MessageTimer::<Commands, Commands>::new_on_dispatch(
+        Commands::ButtonTimerRestart,
+        Commands::ButtonTimerClear,
+        Commands::ButtonTimerExpired,
+        BUTTON_HOLD_TIME_MS,
+        &mut dp);
+    let mut stopping_timer = MessageTimer::<Commands, Commands>::new_on_dispatch(
+            Commands::StopTimerRestart,
+            Commands::StopTimerClear,
+            Commands::StopTimerExpired,
+            STOP_SAFETY_TIME_MS,
+            &mut dp);
+
     let executor = Executor::new();
     let mut tasks:Vec<_> = Vec::new();
 
-    //Queueu up our async tasks
-    tasks.push(executor.spawn(test_console::start_cli()));
-    tasks.push(executor.spawn(test_loop()));
+    //Queue Up debug tasks (TODO: remove)
+    let cli_endpoint = dp.get_cmd_channel();
+    tasks.push(executor.spawn(test_console::start_cli(cli_endpoint)));
+    //tasks.push(executor.spawn(test_loop()));
+    //let t_chan = test_driver_tattle::prepare_tattle(&mut dp).expect("Failed to set up debugging copycat driver");
+    //tasks.push(executor.spawn(test_driver_tattle::start_tattle(t_chan)));
+
+    // Queueu up our async tasks
+    tasks.push(executor.spawn(motor_control.run()));
+    tasks.push(executor.spawn(button_timer.run()));
+    tasks.push(executor.spawn(stopping_timer.run()));
+    tasks.push(executor.spawn(dp.cmd_loop()));
 
     //Once we have all our tasks, await on them all to run them in parallel.
     for task in tasks {

gem-remotes-esp32/src/message_timer.rs

@@ -0,0 +1,120 @@
+
+use log::*; //{trace, debug, info, warn, error}
+use anyhow::Result;
+use esp_idf_svc::timer::{EspTaskTimerService, EspAsyncTimer};
+use core::time::Duration;
+use async_channel::{Receiver, Sender};
+use futures_lite::FutureExt;
+
+use crate::dispatch::Dispatch;
+use crate::commands::Commands;
+
+#[derive(Copy, Clone)]
+enum State {
+    Running,
+    Stopped,
+}
+
+/// A timer that can be reset or canceled via message queue
+/// Q is the type of enum on the receive Q, S on the send.
+pub struct MessageTimer <Q, S> {
+    restart: Q,
+    cancel: Q,
+    done: S, // Send this when the timeout is hit
+    duration: Duration,
+    send_q: Sender<S>,
+    recv_q: Receiver<Q>,
+    state: State,
+}
+
+impl<Q: PartialEq, S: Copy> MessageTimer<Q, S> {
+    pub fn new(
+        restart: Q, 
+        cancel: Q, 
+        done: S, 
+        duration:Duration,
+        send_q: Sender<S>,
+        recv_q: Receiver<Q>
+    ) -> MessageTimer<Q, S> {
+        MessageTimer { 
+            restart: restart, 
+            cancel: cancel, 
+            done: done,
+            duration: duration,
+            send_q: send_q,
+            recv_q: recv_q,
+            state: State::Stopped,
+        }
+    }
+
+    pub fn new_on_dispatch(
+        restart: Commands,
+        cancel: Commands,
+        done: Commands,
+        ms: u64,
+        dp: &mut Dispatch,
+    ) -> MessageTimer<Commands, Commands> {
+        let cmds = vec![restart, cancel];
+        let s = dp.get_cmd_channel();
+        let r = dp.get_callback_channel(&cmds);
+        let duration = Duration::from_millis(ms);
+        MessageTimer {
+            restart:restart,
+            cancel: cancel,
+            done: done,
+            duration: duration,
+            send_q: s,
+            recv_q: r,
+            state: State::Stopped,
+        }
+    }
+
+    async fn wait_for_cmd(&self) -> Result<Q> {
+        Ok(self.recv_q.recv().await.unwrap())
+    }
+
+    async fn wait_with_timeout(&self, timer: &mut EspAsyncTimer) -> Result<Q> {
+        self.wait_for_cmd().or(async{
+            timer.after(self.duration).await?;
+            Err(anyhow::Error::from(std::io::Error::new(std::io::ErrorKind::TimedOut, "Timeout")))
+    }).await
+    }
+
+    async fn handle_cmd(&mut self, cmd: Result<Q>) {
+        match cmd {
+            Ok(msg) => {
+                if msg == self.restart {
+                    self.state = State::Running; // timer will automatically reset
+                }
+                else if msg == self.cancel {
+                    self.state = State::Stopped;
+                }
+                else {
+                    warn!("Spurious messages have reset a timer!");
+                }
+            }
+            Err(_) => {
+                trace!("Timeout reached");
+                self.send_q.send(self.done).await.expect("Failed to send timeout");
+            }
+        }
+    }
+
+    pub async fn run(&mut self) -> Result<()> {
+        let mut cmd;
+        let timer_service = EspTaskTimerService::new()?;
+        let mut async_timer = timer_service.timer_async()?;
+        loop {
+            match self.state {
+                State::Running => {
+                    cmd = self.wait_with_timeout(&mut async_timer).await;
+                }
+                State::Stopped => {
+                    cmd = self.wait_for_cmd().await;
+                }
+            }
+            self.handle_cmd(cmd).await;
+        }
+    }
+    
+}

gem-remotes-esp32/src/motor_controller.rs

@@ -0,0 +1,192 @@
+/// State machine of the motor's current state, that takes as inputs
+/// command messages.
+
+use log::*; //{trace, debug, info, warn, error}
+//use async_channel::Receiver;
+use anyhow::Result;
+use std::boxed::Box;
+
+use crate::commands::Commands;
+use crate::motor_driver::MotorDriver;
+use crate::dispatch::{Dispatch, RecvQ, SendQ};
+
+#[derive(Debug, PartialEq, Clone)]
+enum ControllerStates {
+    Stopped,
+    Stopping,
+    GoingUp,
+    GoingDown,
+    //TODO: AutoUp and AutoDown
+}
+
+pub struct Controller {
+    state: ControllerStates,
+    recv: RecvQ,
+    send: SendQ,
+    driver: Box<dyn MotorDriver>,
+}
+
+impl Controller {
+    pub fn new(recv: RecvQ, send: SendQ, driver: Box<dyn MotorDriver>) -> Controller {
+        Controller {
+            state: ControllerStates::Stopping,
+            recv: recv,
+            send: send,
+            driver: driver}
+    }
+
+    /// Tell the message dispatch which messages we are interested in receiving, and get
+    /// a callback channel that receives those messages.
+    pub fn prepare_controller(dp: &mut Dispatch) -> RecvQ {
+        let cmds = vec![
+            Commands::PicRecvUp,
+            Commands::PicRecvDown,
+            Commands::PicRecvStop,
+            Commands::BluetoothUp{data: 0},
+            Commands::BluetoothDown{data: 0},
+            Commands::BluetoothStop{_data: 0},
+            Commands::StopTimerExpired,
+            Commands::ButtonTimerExpired,
+        ];
+        dp.get_callback_channel(&cmds)
+    }
+
+    async fn enter_state(&mut self, new_s: &ControllerStates) -> Result<()> {
+        match new_s {
+            ControllerStates::Stopped => {}
+            ControllerStates::Stopping => {
+                self.send.send(Commands::StopTimerRestart).await?;
+                self.driver.stop()?;
+            }
+            ControllerStates::GoingUp => {
+                self.send.send(Commands::ButtonTimerRestart).await?;
+                self.driver.start_up()?;
+            }
+            ControllerStates::GoingDown => {
+                self.send.send(Commands::ButtonTimerRestart).await?;
+                self.driver.start_down()?;
+            }
+        }
+        Ok(())
+    }
+
+    /// Maintain the current state - e.g. reset button timers, etc.
+    async fn maintain_state(&mut self) -> Result<()> {
+        match self.state {
+            ControllerStates::Stopped => {}
+            ControllerStates::Stopping => {} // Do not reset this timer; let it expire.
+            ControllerStates::GoingUp => {self.send.send(Commands::ButtonTimerRestart).await?;}
+            ControllerStates::GoingDown => {self.send.send(Commands::ButtonTimerRestart).await?;}
+        }
+        Ok(())
+    }
+
+    async fn exit_state(&mut self, old_s: &ControllerStates) -> Result <()> {
+        match old_s {
+            ControllerStates::Stopped => {}
+            ControllerStates::Stopping => {
+                self.send.send(Commands::StopTimerClear).await?;
+            }
+            ControllerStates::GoingUp => {
+                self.send.send(Commands::ButtonTimerClear).await?;
+            }
+            ControllerStates::GoingDown => {
+                self.send.send(Commands::ButtonTimerClear).await?;
+            }
+        }
+        Ok(())
+    }
+
+    /// Determines the state the controller should be in based on the command received.
+    fn handle_cmd(&mut self, cmd: &Commands) -> ControllerStates {
+        match self.state {
+
+            ControllerStates::Stopped => {
+                match cmd {
+                    Commands::PicRecvUp => {return ControllerStates::GoingUp}
+                    Commands::PicRecvDown => {return ControllerStates::GoingDown}
+                    Commands::BluetoothUp { data } => {
+                        match data {
+                            0 => {}
+                            1 => {return ControllerStates::GoingUp}
+                            _ => {error!("Invalid data sent via BluetoothUp: {}", data); return ControllerStates::Stopping}
+                        }
+                    }
+                    Commands::BluetoothDown { data } => {
+                        match data {
+                            0 => {}
+                            1 => {return ControllerStates::GoingDown}
+                            _ => {error!("Invalid data sent via BluetoothDown: {}", data); return ControllerStates::Stopping}
+                        }
+                    }
+                    _ => {} // Ignore other commands when stopped.
+                }
+            }
+
+            ControllerStates::Stopping => {
+                match cmd {
+                    Commands::StopTimerExpired => {return ControllerStates::Stopped}
+                    _ => {} // Ignore other commands when stopping
+                }
+            }
+
+            ControllerStates::GoingUp => {
+                match cmd {
+                    Commands::PicRecvUp => {return self.state.clone()}
+                    Commands::BluetoothUp { data } => {
+                        match data {
+                            0 => {} // Not an error, but transition to stop
+                            1 => {return self.state.clone()}
+                            _ => {error!("Invalid data sent via BluetoothUp: {}", data)}
+                        }
+                    }
+                    _ => {} // fall through to GoingUp default of stopping
+                }
+                return ControllerStates::Stopping; // Almost every command will be interpreted as stop
+            }
+
+            ControllerStates::GoingDown => {
+                match cmd {
+                    Commands::PicRecvDown => {return self.state.clone()}
+                    Commands::BluetoothDown { data } => {
+                        match data {
+                            0 => {} // Not an error, but transition to stop
+                            1 => {return self.state.clone()}
+                            _ => {error!("Invalid data sent via BluetoothDown: {}", data)}
+                        }
+                    }
+                    _ => {} // fall through to GoingDown default of stopping
+                }
+                return ControllerStates::Stopping
+            }
+        }
+        self.state.clone() //Don't transition states by default.
+    }
+
+    async fn transition_state(&mut self, old_s: &ControllerStates, new_s: &ControllerStates) -> Result<()> {
+        if old_s != new_s {
+            self.exit_state(&old_s).await?;
+            self.enter_state(&new_s).await?;
+        }
+        else {
+            self.maintain_state().await?;
+        }
+        self.state = new_s.clone();
+        Ok(())
+    }
+
+    pub async fn run(&mut self) -> Result<()> {
+        // On entry, assume initial stopping state
+        debug!("Setting motor controller initial state to stopping");
+        self.state = ControllerStates::Stopping;
+        self.enter_state(&ControllerStates::Stopping).await?;
+        loop {
+            let cmd = self.recv.recv().await?;
+            trace!("Got command {:?}",cmd);
+            let new_s = self.handle_cmd(&cmd);
+            trace!("State current {:?} new {:?}", self.state, new_s);
+            self.transition_state(&self.state.clone(), &new_s).await?
+        }
+    }
+
+}

gem-remotes-esp32/src/motor_driver.rs

@@ -0,0 +1,29 @@
+/// Handles the actual hardware interface with motor or its controller.
+
+use log::*; //{trace, debug, info, warn, error}
+use anyhow::Result;
+
+pub trait MotorDriver: Send + Sync {
+    fn start_up(&mut self) -> Result<()>;
+    fn start_down(&mut self) -> Result<()>;
+    fn stop(&mut self) -> Result<()>;
+}
+
+pub struct MotorDriverDebug {}
+
+impl MotorDriver for MotorDriverDebug {
+    fn start_up(&mut self) -> Result<()> {
+        warn!("Starting motor, direction: Up");
+        Ok(())
+    }
+    fn start_down(&mut self) -> Result<()> {
+        warn!("Starting motor, direction: Down");
+        Ok(())
+    }
+    fn stop(&mut self) ->Result<()> {
+        warn!("Stopping motor");
+        Ok(())
+    }
+}
+
+//unsafe impl Send for MotorDriverDebug {}

gem-remotes-esp32/src/test_console.rs

@@ -23,96 +23,95 @@ use ::{
         //time::Duration, // could also use core::time::Duration?
     }, 
     core::time::Duration,
-    log::{info, warn},
 };
+use crate::commands::Commands;
+use async_channel::Sender;
+use log::*; //{trace, debug, info, warn, error}
 
 #[derive(Command)]
 pub enum Menu<'a> {
-    /// Send a button press: Up
-    ButtonUp,
+    /// Simulate the PIC controller sending aus n Up character
+    PicRecvUp,
 
-    /// Send a button press: Down
-    ButtonDown,
+    /// Simulate the PIC controller sending us a Down character
+    PicRecvDown,
 
-    /// Send a button press: Auto toggle on/off
-    ButtonAuto,
-
-    /// Send a button press: Pair/forget
-    ButtonPair,
+    /// Simulate the PIC controller sending us a Stop character
+    PicRecvStop,
 
     /// Send a bluetooth characteristic: Up
     BluetoothUp {
         /// 0 for not pressed, 1 for pressed
         data: u8,
     },
-
     /// Send a bluetooth characteristic: Down
     BluetoothDown {
         /// 0 for not pressed, 1 for pressed
         data: u8,
     },
-
     /// Send a bluetooth characteristic: Stop
     BluetoothStop {
         /// 0 for not pressed, 1 for pressed
         data: u8,
     },
-
     /// Send a bluetooth characteristic: Learn
     BluetoothLearn {
         /// 0 for not pressed, 1 for pressed
         data: u8,
     },
-
     /// Send a bluetooth characteristic: Auto
     BluetoothAuto {
         /// 0 for not pressed, 1 for pressed
         data: u8,
     },
-
     /// Send a bluetooth characteristic: Limits
     BluetoothTopLimit { data: u8 },
-
     /// Send a bluetooth characteristic: Limits
     BluetoothBottomLimit { data: u8 },
+
     /// Send a bluetooth characteristic: Wifi SSID
     BluetoothWifiSsid { ssid: &'a str },
-
     /// Send a bluetooth characteristic: Wifi Password
     BluetoothWifiPassword { wifipass: &'a str },
+
+    Log { level: u8 },
+    
 }
 
 pub fn process_menu(
     cli: &mut CliHandle<'_, SimpleWriter, Infallible>,
     command: Menu<'_>,
+    dispatch: &Sender<Commands>,
 ) -> Result<(), Infallible> {
     match command {
-        Menu::ButtonUp => {
-            cli.writer().write_str("TODO: simulate button")?;
+        // We ignore sending errors throughout because the Cli interface is only for
+        // testing and debugging.
+        Menu::PicRecvUp => {
+            cli.writer().write_str("Sending PicButtonUp Received command")?;
+            let _ = dispatch.send_blocking(Commands::PicRecvUp);
         }
-        Menu::ButtonDown => {
-            cli.writer().write_str("TODO: simulate button")?;
+        Menu::PicRecvDown => {
+            cli.writer().write_str("Sending PicButtonDown command")?;
+            let _ = dispatch.send_blocking(Commands::PicRecvDown);
         }
-        Menu::ButtonAuto => {
-            cli.writer().write_str("TODO: simulate button")?;
-        }
-        Menu::ButtonPair => {
-            cli.writer().write_str("TODO: simulate button")?;
+        Menu::PicRecvStop => {
+            cli.writer().write_str("Sending PicButtonStop command")?;
+            let _ = dispatch.send_blocking(Commands::PicRecvStop);
         }
         Menu::BluetoothUp { data } => {
             cli.writer()
-                .write_str("TODO: simulate bluetooth characteristic change")?;
-            let _ = data;
+                .write_str("Sending BluetoothUp")?;
+            let _ = dispatch.send_blocking(Commands::BluetoothUp { data: data });
         }
         Menu::BluetoothDown { data } => {
             cli.writer()
-                .write_str("TODO: simulate bluetooth characteristic change")?;
-            let _ = data;
+                .write_str("Sending BluetoothDown")?;
+            let _ = dispatch.send_blocking(Commands::BluetoothDown { data: data });
         }
         Menu::BluetoothStop { data } => {
             cli.writer()
-                .write_str("TODO: simulate bluetooth characteristic change")?;
-            let _ = data;
+                .write_str("SendingBluetoothStop")?;
+            let _ = dispatch.send_blocking(Commands::BluetoothStop { _data: data });
         }
         Menu::BluetoothLearn { data } => {
             cli.writer()
@@ -144,6 +143,39 @@ pub fn process_menu(
                 .write_str("TODO: simulate bluetooth characteristic change {}")?;
                 let _ = wifipass;
         }
+        Menu::Log { level } => {
+            match level {
+                0 => {
+                    cli.writer().write_str("Log set to Off")?;
+                    log::set_max_level(log::LevelFilter::Off);
+                }
+                1 => {
+                    cli.writer().write_str("Log set to Error")?;
+                    log::set_max_level(log::LevelFilter::Error);
+                }
+                2 => {
+                    cli.writer().write_str("Log set to Warn")?;
+                    log::set_max_level(log::LevelFilter::Warn);
+                }
+                3 => {
+                    cli.writer().write_str("Log set to Info")?;
+                    log::set_max_level(log::LevelFilter::Info);
+                }
+                4 => {
+                    cli.writer().write_str("Log set to Debug")?;
+                    log::set_max_level(log::LevelFilter::Debug);
+                }
+                _ => {
+                    cli.writer().write_str("Log set to Trace")?;
+                    log::set_max_level(log::LevelFilter::Trace);
+                }
+            }
+            error!("error test");
+            warn!("warn test");
+            info!("info test");
+            debug!("debug test");
+            trace!("trace test");
+        }
     }
     Ok(())
 }
@@ -157,19 +189,19 @@ impl embedded_io::ErrorType for SimpleWriter {
 
 impl embedded_io::Write for SimpleWriter {
     fn write(&mut self, buf: &[u8]) -> Result<usize, Self::Error> {
-        stdout().write(&buf).unwrap(); //TODO: handle errors?
+        stdout().write(&buf).unwrap();
         Ok(buf.len())
     }
 
     fn flush(&mut self) -> Result<(), Self::Error> {
-        let _ = stdout().flush(); //TODO currently ignoring this error
+        let _ = stdout().flush();
         Ok(())
     }
 }
 
-pub async fn start_cli() -> anyhow::Result<()> {
-    let timer_service = EspTaskTimerService::new().unwrap(); //TODO: handle this error
-    info!("Setting up command line listern and processor");
+pub async fn start_cli(dispatch: Sender<Commands>) -> anyhow::Result<()> {
+    let timer_service = EspTaskTimerService::new()?;
+    info!("Setting up command line listener and processor");
     let writer = SimpleWriter {};
     let mut cli = CliBuilder::default()
         .writer(writer)
@@ -184,7 +216,11 @@ pub async fn start_cli() -> anyhow::Result<()> {
         async_timer.after(Duration::from_millis(SLEEP_TIME_MS)).await?;
         match reader.read_exact(&mut buf) {
             Ok(_) => {
-                cli.process_byte::<Menu, _>(buf[0], &mut Menu::processor(process_menu))?;
+                //cli.process_byte::<Menu, _>(buf[0], &mut Menu::processor(process_menu))?;
+                cli.process_byte::<Menu, _>(buf[0], &mut Menu::processor(
+                    |cli, command| {
+                        process_menu(cli, command, &dispatch)
+                    }))?;
             }
             Err(e) => match e.kind() {
                 std::io::ErrorKind::WouldBlock => {} // This is expected if there is no input

gem-remotes-esp32/src/test_driver_tattle.rs

@@ -0,0 +1,38 @@
+/// Listen to every command handled by dispatch, and report it to uart.
+
+use log::*; //{trace, debug, info, warn, error}
+use strum::EnumCount;
+
+use crate::commands::Commands;
+use crate::dispatch::Dispatch;
+use async_channel::Receiver;
+
+pub fn prepare_tattle(dispatch: &mut Dispatch) -> anyhow::Result<Receiver<Commands>> {
+    let cmds = vec![
+        Commands::PicRecvUp,
+        Commands::PicRecvDown,
+        Commands::PicRecvStop,
+        Commands::BluetoothUp{data: 0},
+        Commands::BluetoothDown{data: 0},
+        Commands::BluetoothStop{_data: 0},
+        Commands::StopTimerExpired,
+        Commands::StopTimerRestart,
+        Commands::StopTimerClear,
+        Commands::ButtonTimerExpired,
+        Commands::ButtonTimerRestart,
+        Commands::ButtonTimerClear,
+    ];
+    if Commands::COUNT != cmds.len() {
+        warn!("Incorrect number of commands are being tattled on.  Total commands: {}, listening to {}", Commands::COUNT, cmds.len());
+    }
+    let r_channel = dispatch.get_callback_channel(&cmds);
+    Ok(r_channel)
+}
+
+pub async fn start_tattle(r_channel: Receiver<Commands>) -> anyhow::Result<()> {
+    debug!("Tattle started listening to messages");
+    loop {
+        let msg = r_channel.recv().await?;
+        debug!("Message: {:?}", msg);
+    }
+}