Made motor driver independent task

gem-remotes-esp32/src/commands.rs

@@ -23,6 +23,10 @@ pub enum Commands {
     ButtonTimerExpired,
     ButtonTimerRestart,
     ButtonTimerClear,
+
+    NotifyMotorUp,
+    NotifyMotorDown,
+    NotifyMotorStop,
 }
 
 pub type CmdType = std::mem::Discriminant<Commands>;

gem-remotes-esp32/src/main.rs

@@ -10,7 +10,6 @@ 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;
@@ -38,35 +37,23 @@ fn main() {
     //log::set_max_level(log::LevelFilter::Info);
 
     match future::block_on(main_loop()) {
-        Ok(_) => {error!("Exited main loop normally, but this should be impossible.")}
+        Ok(_) => {error!("Exited main loop with no errors, but this should not happen."); panic!();}
-        Err(e) => {error!("Exited main loop with error {}", e)}
+        Err(e) => {error!("Exited main loop with error {}", e); panic!();}
     };
-    //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(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
+    // Debug Drivers (TODO: remove debug)
-    let motor_driver = Box::new(motor_driver::MotorDriverDebug {});
+    let motor_driver = motor_driver::MotorDriverDebug::new(dp.get_cmd_channel());
 
     // 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);
+    let mut motor_control = motor_controller::Controller::new(m_chan, dp.get_cmd_channel(), motor_driver.get_endpoint());
     // Setup callback timers
     let mut button_timer = MessageTimer::<Commands, Commands>::new_on_dispatch(
         Commands::ButtonTimerRestart,
@@ -85,7 +72,7 @@ async fn main_loop() -> Result<()> {
     let executor = Executor::new();
     let mut tasks:Vec<_> = Vec::new();
 
-    //Queue Up debug tasks (TODO: remove)
+    //Queue Up debug tasks (TODO: remove debug)
     let cli_endpoint = dp.get_cmd_channel();
     tasks.push(executor.spawn(test_console::start_cli(cli_endpoint)));
     //tasks.push(executor.spawn(test_loop()));
@@ -97,6 +84,7 @@ async fn main_loop() -> Result<()> {
     tasks.push(executor.spawn(button_timer.run()));
     tasks.push(executor.spawn(stopping_timer.run()));
     tasks.push(executor.spawn(ble_server.run()));
+    tasks.push(executor.spawn(motor_driver.run()));
     tasks.push(executor.spawn(dp.cmd_loop()));
 
     //Once we have all our tasks, await on them all to run them in parallel.
@@ -108,3 +96,5 @@ async fn main_loop() -> Result<()> {
     Ok(())
 }
     
+
+    //TODO: check many of these mut functions to see if they don't need to be.

gem-remotes-esp32/src/motor_controller.rs

@@ -4,10 +4,10 @@
 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::motor_driver::Commands as MotorCommands;
+use crate::motor_driver::SendQ as MotorSendQ;
 use crate::dispatch::{Dispatch, RecvQ, SendQ};
 
 #[derive(Debug, PartialEq, Clone)]
@@ -23,16 +23,16 @@ pub struct Controller {
     state: ControllerStates,
     recv: RecvQ,
     send: SendQ,
-    driver: Box<dyn MotorDriver>,
+    motor_q: MotorSendQ
 }
 
 impl Controller {
-    pub fn new(recv: RecvQ, send: SendQ, driver: Box<dyn MotorDriver>) -> Controller {
+    pub fn new(recv: RecvQ, send: SendQ, motor_q: MotorSendQ) -> Controller {
         Controller {
             state: ControllerStates::Stopping,
             recv: recv,
             send: send,
-            driver: driver}
+            motor_q: motor_q}
     }
 
     /// Tell the message dispatch which messages we are interested in receiving, and get
@@ -56,15 +56,15 @@ impl Controller {
             ControllerStates::Stopped => {}
             ControllerStates::Stopping => {
                 self.send.send(Commands::StopTimerRestart).await?;
-                self.driver.stop()?;
+                self.motor_q.send(MotorCommands::Stop).await?;
             }
             ControllerStates::GoingUp => {
                 self.send.send(Commands::ButtonTimerRestart).await?;
-                self.driver.start_up()?;
+                self.motor_q.send(MotorCommands::StartUp).await?;
             }
             ControllerStates::GoingDown => {
                 self.send.send(Commands::ButtonTimerRestart).await?;
-                self.driver.start_down()?;
+                self.motor_q.send(MotorCommands::StartDown).await?;
             }
         }
         Ok(())

gem-remotes-esp32/src/motor_driver.rs

@@ -2,28 +2,85 @@
 
 use log::*; //{trace, debug, info, warn, error}
 use anyhow::Result;
+use async_channel::{unbounded, Receiver, Sender};
+use std::panic;
 
-pub trait MotorDriver: Send + Sync {
+use crate::dispatch;
-    fn start_up(&mut self) -> Result<()>;
+use crate::commands::Commands as Dispatch_Commands;
-    fn start_down(&mut self) -> Result<()>;
+
-    fn stop(&mut self) -> Result<()>;
+#[derive(Clone, Copy, Debug)]
+pub enum Commands {
+    StartUp,
+    StartDown,
+    Stop
 }
 
-pub struct MotorDriverDebug {}
+pub type SendQ = Sender<Commands>;
+pub type RecvQ = Receiver<Commands>;
 
-impl MotorDriver for MotorDriverDebug {
+pub struct MotorDriverDebug{
-    fn start_up(&mut self) -> Result<()> {
+    endpoint: SendQ,
+    recv_q: RecvQ,
+    dispatch: dispatch::SendQ,
+}
+
+/// Debug / example version of Motor Driver.
+impl MotorDriverDebug {
+    pub fn new(send_q: dispatch::SendQ) -> Self {
+        let (s,r) = unbounded();
+        MotorDriverDebug {
+            endpoint: s,
+            recv_q: r,
+            dispatch:send_q
+        }
+    }
+
+    pub fn get_endpoint(&self) -> SendQ {
+        self.endpoint.clone()
+    }
+
+    pub async fn run(&self) -> Result<()> {
+        //TODO: Add error propagation to all loops
+        loop {
+            match self.recv_q.recv().await {
+                Ok(cmd) => {
+                    match self.handle_cmd(cmd).await {
+                        Ok(_) => {}
+                        Err(e) => {
+                            error!("Unable to send commands to motor! {:?}", e);
+                            panic!()
+                        }
+                    }
+                }
+                Err(e) => {
+                    error!("Unable to receive commands for motor control! {:?}", e);
+                    panic!();
+                }
+            }
+        }
+    }
+
+    async fn handle_cmd(&self, cmd: Commands) -> Result<()> {
+        match cmd {
+            Commands::StartUp => {self.start_up().await?;Ok(())}
+            Commands::StartDown => {self.start_down().await?;Ok(())}
+            Commands::Stop => {self.stop().await?;Ok(())}
+        }
+    }
+
+    pub async fn start_up(&self) -> Result<()> {
         warn!("Starting motor, direction: Up");
+        self.dispatch.send(Dispatch_Commands::NotifyMotorUp).await?;
         Ok(())
     }
-    fn start_down(&mut self) -> Result<()> {
+    pub async fn start_down(&self) -> Result<()> {
         warn!("Starting motor, direction: Down");
+        self.dispatch.send(Dispatch_Commands::NotifyMotorDown).await?;
         Ok(())
     }
-    fn stop(&mut self) ->Result<()> {
+    pub async fn stop(&self) -> Result<()> {
         warn!("Stopping motor");
+        self.dispatch.send(Dispatch_Commands::NotifyMotorStop).await?;
         Ok(())
     }
 }
-
-//unsafe impl Send for MotorDriverDebug {}