diff --git a/lib/Ticker/examples/Arguments/Arguments.ino b/lib/Ticker/examples/Arguments/Arguments.ino new file mode 100644 index 0000000..7f5bc5c --- /dev/null +++ b/lib/Ticker/examples/Arguments/Arguments.ino @@ -0,0 +1,51 @@ +/* + * This example demonstrates used of Ticker with arguments. + * You can call the same callback function with different argument on different times. + * Based on the argument the callback can perform different tasks. + */ + +#include +#include + +// Arguments for the function must remain valid (not run out of scope) otherwise the function would read garbage data. +int LED_PIN_1 = 4; +#ifdef LED_BUILTIN + int LED_PIN_2 = LED_BUILTIN; +#else + int LED_PIN_2 = 8; +#endif + +Ticker tickerSetHigh; +Ticker tickerSetLow; + +// Argument to callback must always be passed a reference +void swapState(int *pin) { + static int led_1_state = 1; + static int led_2_state = 1; + if(*pin == LED_PIN_1){ + Serial.printf("[%lu ms] set pin %d to state: %d\n", millis(), *pin, led_1_state); + digitalWrite(*pin, led_1_state); + led_1_state = led_1_state ? 0 : 1; // reverse for next pass + }else if(*pin == LED_PIN_2){ + Serial.printf("[%lu ms] set pin %d to state: %d\n", millis(), *pin, led_2_state); + digitalWrite(*pin, led_2_state); + led_2_state = led_2_state ? 0 : 1; // reverse for next pass + } +} + +void setup() { + Serial.begin(115200); + pinMode(LED_PIN_1, OUTPUT); + pinMode(LED_PIN_2, OUTPUT); + //digitalWrite(1, LOW); + + // Blink LED every 500 ms on LED_PIN_1 + tickerSetLow.attach_ms(500, swapState, &LED_PIN_1); + + // Blink LED every 1000 ms on LED_PIN_2 + tickerSetHigh.attach_ms(1000, swapState, &LED_PIN_2); +} + +void loop() { + +} diff --git a/lib/Ticker/examples/Blinker/Blinker.ino b/lib/Ticker/examples/Blinker/Blinker.ino new file mode 100644 index 0000000..aca1f45 --- /dev/null +++ b/lib/Ticker/examples/Blinker/Blinker.ino @@ -0,0 +1,42 @@ +#include +#include + +// attach a LED to pPIO 21 +#define LED_PIN 21 + +Ticker blinker; +Ticker toggler; +Ticker changer; +float blinkerPace = 0.1; //seconds +const float togglePeriod = 5; //seconds + +void change() { + blinkerPace = 0.5; +} + +void blink() { + digitalWrite(LED_PIN, !digitalRead(LED_PIN)); +} + +void toggle() { + static bool isBlinking = false; + if (isBlinking) { + blinker.detach(); + isBlinking = false; + } + else { + blinker.attach(blinkerPace, blink); + isBlinking = true; + } + digitalWrite(LED_PIN, LOW); //make sure LED on on after toggling (pin LOW = led ON) +} + +void setup() { + pinMode(LED_PIN, OUTPUT); + toggler.attach(togglePeriod, toggle); + changer.once(30, change); +} + +void loop() { + +} diff --git a/lib/Ticker/src/Ticker.cpp b/lib/Ticker/src/Ticker.cpp new file mode 100644 index 0000000..629361b --- /dev/null +++ b/lib/Ticker/src/Ticker.cpp @@ -0,0 +1,63 @@ +/* + Ticker.cpp - esp32 library that calls functions periodically + + Copyright (c) 2017 Bert Melis. All rights reserved. + + Based on the original work of: + Copyright (c) 2014 Ivan Grokhotkov. All rights reserved. + The original version is part of the esp8266 core for Arduino environment. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#include "Ticker.h" + +Ticker::Ticker() : + _timer(nullptr) {} + +Ticker::~Ticker() { + detach(); +} + +void Ticker::_attach_ms(uint32_t milliseconds, bool repeat, callback_with_arg_t callback, uint32_t arg) { + esp_timer_create_args_t _timerConfig; + _timerConfig.arg = reinterpret_cast(arg); + _timerConfig.callback = callback; + _timerConfig.dispatch_method = ESP_TIMER_TASK; + _timerConfig.name = "Ticker"; + if (_timer) { + esp_timer_stop(_timer); + esp_timer_delete(_timer); + } + esp_timer_create(&_timerConfig, &_timer); + if (repeat) { + esp_timer_start_periodic(_timer, milliseconds * 1000ULL); + } else { + esp_timer_start_once(_timer, milliseconds * 1000ULL); + } +} + +void Ticker::detach() { + if (_timer) { + esp_timer_stop(_timer); + esp_timer_delete(_timer); + _timer = nullptr; + } +} + +bool Ticker::active() { + if (!_timer) return false; + return esp_timer_is_active(_timer); +} diff --git a/lib/Ticker/src/Ticker.h b/lib/Ticker/src/Ticker.h new file mode 100644 index 0000000..82804e0 --- /dev/null +++ b/lib/Ticker/src/Ticker.h @@ -0,0 +1,107 @@ +/* + Ticker.h - esp32 library that calls functions periodically + + Copyright (c) 2017 Bert Melis. All rights reserved. + + Based on the original work of: + Copyright (c) 2014 Ivan Grokhotkov. All rights reserved. + The original version is part of the esp8266 core for Arduino environment. + + This library is free software; you can redistribute it and/or + modify it under the terms of the GNU Lesser General Public + License as published by the Free Software Foundation; either + version 2.1 of the License, or (at your option) any later version. + + This library is distributed in the hope that it will be useful, + but WITHOUT ANY WARRANTY; without even the implied warranty of + MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + Lesser General Public License for more details. + + You should have received a copy of the GNU Lesser General Public + License along with this library; if not, write to the Free Software + Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA +*/ + +#ifndef TICKER_H +#define TICKER_H + +extern "C" { + #include "esp_timer.h" +} + +class Ticker +{ +public: + Ticker(); + ~Ticker(); + typedef void (*callback_t)(void); + typedef void (*callback_with_arg_t)(void*); + + void attach(float seconds, callback_t callback) + { + _attach_ms(seconds * 1000, true, reinterpret_cast(callback), 0); + } + + void attach_ms(uint32_t milliseconds, callback_t callback) + { + _attach_ms(milliseconds, true, reinterpret_cast(callback), 0); + } + + template + void attach(float seconds, void (*callback)(TArg), TArg arg) + { + static_assert(sizeof(TArg) <= sizeof(uint32_t), "attach() callback argument size must be <= 4 bytes"); + // C-cast serves two purposes: + // static_cast for smaller integer types, + // reinterpret_cast + const_cast for pointer types + uint32_t arg32 = (uint32_t)arg; + _attach_ms(seconds * 1000, true, reinterpret_cast(callback), arg32); + } + + template + void attach_ms(uint32_t milliseconds, void (*callback)(TArg), TArg arg) + { + static_assert(sizeof(TArg) <= sizeof(uint32_t), "attach_ms() callback argument size must be <= 4 bytes"); + uint32_t arg32 = (uint32_t)arg; + _attach_ms(milliseconds, true, reinterpret_cast(callback), arg32); + } + + void once(float seconds, callback_t callback) + { + _attach_ms(seconds * 1000, false, reinterpret_cast(callback), 0); + } + + void once_ms(uint32_t milliseconds, callback_t callback) + { + _attach_ms(milliseconds, false, reinterpret_cast(callback), 0); + } + + template + void once(float seconds, void (*callback)(TArg), TArg arg) + { + static_assert(sizeof(TArg) <= sizeof(uint32_t), "attach() callback argument size must be <= 4 bytes"); + uint32_t arg32 = (uint32_t)(arg); + _attach_ms(seconds * 1000, false, reinterpret_cast(callback), arg32); + } + + template + void once_ms(uint32_t milliseconds, void (*callback)(TArg), TArg arg) + { + static_assert(sizeof(TArg) <= sizeof(uint32_t), "attach_ms() callback argument size must be <= 4 bytes"); + uint32_t arg32 = (uint32_t)(arg); + _attach_ms(milliseconds, false, reinterpret_cast(callback), arg32); + } + + void detach(); + bool active(); + +protected: + void _attach_ms(uint32_t milliseconds, bool repeat, callback_with_arg_t callback, uint32_t arg); + + +protected: + esp_timer_handle_t _timer; +}; + + +#endif // TICKER_H diff --git a/platformio.ini b/platformio.ini index e0fe503..87bce59 100644 --- a/platformio.ini +++ b/platformio.ini @@ -18,7 +18,6 @@ upload-port = COM[14] lib_deps = bogde/HX711@^0.7.5 mathertel/OneButton@^2.0.3 - sstaub/Ticker@^4.4.0 robtillaart/CRC@^0.3.3 sandeepmistry/CAN@^0.3.1 fastled/FastLED@^3.5.0 diff --git a/src/FoodDeliveryBase.cpp b/src/FoodDeliveryBase.cpp index 52135f2..22d64ba 100644 --- a/src/FoodDeliveryBase.cpp +++ b/src/FoodDeliveryBase.cpp @@ -178,10 +178,9 @@ bool FoodCube::checkWiFiStatus() } /** * @description: 连接mqtt - * @param {String[]} topicSub 主题数组 - * @param {int} topicSubCount 数组总数 + * @param {String} topicSub 主题 */ -void FoodCube::connectMqtt(String topicSub[], int topicSubCount) +void FoodCube::connectMqtt(String topicSub) { if (mqttClient->connected()) return; @@ -198,7 +197,7 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount) logln(macAdd); /*连接成功 订阅主题*/ // 订阅主题 PS:连接上mqtt服务器 订阅主题 收到信息触发回调函数 receiveCallback - subscribeTopic("cmd", 1); + subscribeTopic(topicSub, 1); delay(500); playText("服务器已连接"); } @@ -216,18 +215,17 @@ void FoodCube::connectMqtt(String topicSub[], int topicSubCount) /** * @description: 写在loop函数里 检测mqtt连接情况 并保持心跳 - * @param {String[]} topicSub 主题数组 - * @param {int} topicSubCount 数组总数 + * @param {String} topicSub 主题 */ -void FoodCube::mqttLoop(String topicSub[], int topicSubCount) +void FoodCube::mqttLoop(String topicSub) { if (mqttClient->connected()) { // 检测 如果开发板成功连接服务器 mqttClient->loop(); // 保持心跳 } else - { // 如果开发板未能成功连接服务器 - connectMqtt(topicSub, topicSubCount); // 则尝试连接服务器 + { // 如果开发板未能成功连接服务器 + connectMqtt(topicSub); // 则尝试连接服务器 } } diff --git a/src/FoodDeliveryBase.h b/src/FoodDeliveryBase.h index d93a3f5..2f582c1 100644 --- a/src/FoodDeliveryBase.h +++ b/src/FoodDeliveryBase.h @@ -10,7 +10,7 @@ /*json库*/ #include "ArduinoJson.h" /*异步库*/ -#include "Ticker.h" +#include "Ticker.h" //调用Ticker.h库 /*udp发送*/ #include "WiFiUdp.h" @@ -49,8 +49,8 @@ public: void connectWifi(); /*mqtt*/ PubSubClient *mqttClient; // 指向 mqtt服务器连接 对象 - void connectMqtt(String topicSub[], int topicSubCount); - void mqttLoop(String topicSub[], int topicSubCount); + void connectMqtt(String topicSub); + void mqttLoop(String topicSub); void subscribeTopic(String topicString, int Qos); void pubMQTTmsg(String topicString, String messageString); /*串口输出*/ diff --git a/src/commser.cpp b/src/commser.cpp index 3975592..b775254 100644 --- a/src/commser.cpp +++ b/src/commser.cpp @@ -41,9 +41,9 @@ String topicHandle[] = {"crosFrequency"}; boolean isPush = false; // 记得删除 板子按钮状态 ps:D3引脚下拉微动开关 /*异步线程对象*/ -Ticker pubTicker(pubThread, 1000); // 定时发布主题 线程 -Ticker mavTicker(mavThread, 30000); // 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后 -Ticker flashTicker(flashThread, 50); // 单片机主动 按钮主动发布主题 线程 +Ticker pubTicker; // 定时发布主题 线程 +Ticker mavTicker; // 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后 +Ticker flashTicker; // 单片机主动 按钮主动发布主题 线程 // Ticker chanTicker; //定时向飞控 发送油门指定 diff --git a/src/commser.h b/src/commser.h index f446b99..d1c2ae4 100644 --- a/src/commser.h +++ b/src/commser.h @@ -2,18 +2,21 @@ #define COMMSER_H #include "Arduino.h" -#include //调用Ticker.h库 +#include "Ticker.h" //调用Ticker.h库 #include "FoodDeliveryBase.h" #include "config.h" -void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length); -void mavThread(); -void pubThread(); -void flashThread(); -void writeRoute(String topicStr); -void mavlink_receiveCallback(uint8_t c); +extern void mqtt_receiveCallback(char *topic, byte *payload, unsigned int length); +extern void mavThread(); +extern void pubThread(); +extern void flashThread(); +extern void writeRoute(String topicStr); +extern void mavlink_receiveCallback(uint8_t c); extern String topicPub[]; extern int topicPubCount; +extern String topicPubMsg[]; +extern String topicHandle[]; +extern String oldMsg[]; extern FoodCube fc; // 创建项目对象 extern Ticker pubTicker; // 定时发布主题 线程 extern Ticker mavTicker; // 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后 diff --git a/src/main.cpp b/src/main.cpp index ba1e93f..8a6d10a 100644 --- a/src/main.cpp +++ b/src/main.cpp @@ -35,7 +35,7 @@ CRGB leds[NUM_LEDS]; Motocontrol motocontrol; void led_show(uint8_t cr, uint8_t cg, uint8_t cb); void sendinfo(); -Ticker tksendinfo(sendinfo, 1000); // 发送状态 +Ticker tksendinfo; // 发送状态 // 收 void upbtn_click(); @@ -130,7 +130,6 @@ void setup() if (!motocontrol.init(&myservo)) // 初始化电机控制 ESP_LOGE(MOUDLENAME, "motocontrol init fault"); - tksendinfo.start(); initstatus = IS_WaitStart; _tm_waitinit = millis(); _needweightalign = (wei_offset == 0); @@ -142,15 +141,16 @@ void setup() Serial1.begin(115200, SERIAL_8N1, SERIAL_REPORT_RX, SERIAL_REPORT_TX); // 声音模块引串口脚映射 fc.playText("开始启动"); fc.connectWifi(); // 连接wifi - fc.playText("正在连接服务器"); - fc.connectMqtt(topicPub, topicPubCount); // 连接mqtt + // fc.playText("正在连接服务器"); + // fc.connectMqtt("cmd"); // 连接mqtt fc.mqttClient->setCallback(mqtt_receiveCallback); // 设置订阅成功 回调 fc.mav_request_data(); // 指定飞控串口返回的数据类别(飞控启动之后发送才有意义) /*异步线程*/ - pubTicker.start(); // 定时 发布主题 - mavTicker.start(); // 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后 - flashTicker.start(); // 监听 按flash键时 主动发布对频主题 + tksendinfo.attach(1, sendinfo); // 发送状态 + pubTicker.attach(1, pubThread); // 定时 发布主题 + mavTicker.attach(10, mavThread); // 定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后 + // flashTicker.start(); // 监听 按flash键时 主动发布对频主题 /////////////////////////////////MQTT_语音_MAVLINK 部分结束 // if (motocontrol.getstatus()==MS_Stop) @@ -212,8 +212,8 @@ void showinfo() // if (pullweight > 10) // printf("PullWeight:%d\n", pullweight); //发送重量到mqtt - // topicPubMsg[14]=motocontrol.gethooktatus_str() ; - // topicPubMsg[13]=pullweight; + topicPubMsg[14] = motocontrol.gethooktatus_str(); + topicPubMsg[13] = pullweight; // control_status_t cs=motocontrol.getcontrolstatus() ; @@ -400,10 +400,6 @@ void set_locked(bool locked) // 在核心1上执行，重要的延迟低的 void loop() { - tksendinfo.update(); // 定时发送信息任务 - // pubTicker.update(); //定时 发布主题 - // mavTicker.update(); //定时 指定飞控mavlink 串口返回的数据类别 防止飞控启动滞后 - // sercomm.getcommand(); // 得到控制命令 button_checktop.tick(); // 按钮 button_down.tick(); // 按钮 @@ -441,8 +437,6 @@ void loop() /////////////////////////////////MQTT_语音_MAVLINK 部分 /*从飞控拿数据*/ fc.comm_receive(mavlink_receiveCallback); - /*保持mqtt心跳*/ - fc.mqttLoop(topicPub, topicPubCount); /////////////////////////////////MQTT_语音_MAVLINK 部分结束 delay(1); } @@ -466,13 +460,9 @@ void Task1(void *pvParameters) // 显示重量 // printf("pullweight: %d \n", pullweight); - /*保持mqtt心跳*/ - // fc.mqttLoop(topicSub, topicSubCount); - - /// px1 - // if (fc.checkWiFiStatus()) - /*保持mqtt心跳,如果Mqtt没有连接会自动连接*/ - // fc.mqttLoop(topicSub, topicSubCount); + if (fc.checkWiFiStatus()) + /*保持mqtt心跳,如果Mqtt没有连接会自动连接*/ + fc.mqttLoop("cmd"); vTaskDelay(10); } } @@ -712,8 +702,7 @@ void btn_presssatonce() ESP_LOGD(MOUDLENAME, "UP_presssatonce"); led_show(255, 255, 255); // 高亮一下 fc.playText("发送对频信息"); - /// px1 - // fc.pubMQTTmsg(topicHandle[0], fc.getMacAdd()); + fc.pubMQTTmsg(topicHandle[0], fc.getMacAdd()); } // 收线按钮-长按 void upbtn_pressstart()