personal_state.c

#include "epicardium.h"
#include "leds.h"
#include "modules.h"

#include "os/work_queue.h"

#include "FreeRTOS.h"
#include "timers.h"

#include <math.h>

static uint8_t _personal_state_enabled   = 0;
static uint8_t personal_state            = STATE_NONE;
static uint8_t personal_state_persistent = 0;

static int led_animation_ticks = 0;
static int led_animation_state = 0;

static TimerHandle_t led_timer;
static StaticTimer_t led_timer_buffer;
static void worktick(void *data);

static const int led_animation_rate = 1000 / 25; /* 25Hz -> 40ms*/

int personal_state_enabled()
{
	return _personal_state_enabled;
}

static void tick(TimerHandle_t xTimer)
{
	workqueue_schedule(worktick, NULL);
}

int epic_personal_state_set(uint8_t state, bool persistent)
{
	if (state > STATE_CAMP)
		return -EINVAL;

	led_animation_state = 0;
	led_animation_ticks = 0;
	personal_state      = state;

	uint8_t was_enabled = _personal_state_enabled;

	_personal_state_enabled   = (state != STATE_NONE);
	personal_state_persistent = persistent;

	if (!was_enabled && _personal_state_enabled) {
		// Activate
		if (!led_timer) {
			led_timer = xTimerCreateStatic(
				"personal state",
				led_animation_rate / portTICK_PERIOD_MS,
				pdTRUE,
				NULL,
				tick,
				&led_timer_buffer
			);
			// since &poll_timer_buffer is not NULL, xTimerCreateStatic should allways succeed, so
			// we don't need to check for poll_timer being NULL.
		}

		if (xTimerIsTimerActive(led_timer) == pdFALSE) {
			xTimerStart(led_timer, 0);
		}

	} else if (was_enabled && !_personal_state_enabled) {
		// Deactivate
		xTimerStop(led_timer, 0);
		// TODO: we might need a lock here to avoid a race condition
		leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
		epic_leds_update();
	}

	return 0;
}

int epic_personal_state_get()
{
	return personal_state;
}

int epic_personal_state_is_persistent()
{
	return personal_state_persistent;
}

static void worktick(void *data)
{
	if (_personal_state_enabled) {
		led_animation_ticks++;
		if (personal_state == STATE_NO_CONTACT) {
			leds_prep(PERSONAL_STATE_LED, 255, 0, 0);
		} else if (personal_state == STATE_CHAOS) {
			if (led_animation_state == 0) {
				leds_prep(PERSONAL_STATE_LED, 0, 0, 255);
				if (led_animation_ticks >
				    (200 / led_animation_rate)) {
					led_animation_ticks = 0;
					led_animation_state = 1;
				}
			} else if (led_animation_state == 1) {
				leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
				if (led_animation_ticks >
				    (300 / led_animation_rate)) {
					led_animation_ticks = 0;
					led_animation_state = 2;
				}
			} else if (led_animation_state == 2) {
				leds_prep(PERSONAL_STATE_LED, 0, 0, 255);
				if (led_animation_ticks >
				    (1000 / led_animation_rate)) {
					led_animation_ticks = 0;
					led_animation_state = 3;
				}
			} else if (led_animation_state == 3) {
				leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
				if (led_animation_ticks >
				    (300 / led_animation_rate)) {
					led_animation_ticks = 0;
					led_animation_state = 0;
				}
			}
		} else if (personal_state == STATE_COMMUNICATION) {
			if (led_animation_state == 0) {
				leds_prep(PERSONAL_STATE_LED, 255, 255, 0);
				if (led_animation_ticks >
				    (1000 / led_animation_rate)) {
					led_animation_ticks = 0;
					led_animation_state = 1;
				}
			} else if (led_animation_state == 1) {
				leds_prep(PERSONAL_STATE_LED, 0, 0, 0);
				if (led_animation_ticks >
				    (300 / led_animation_rate)) {
					led_animation_ticks = 0;
					led_animation_state = 0;
				}
			}
		} else if (personal_state == STATE_CAMP) {
			leds_prep_hsv(
				PERSONAL_STATE_LED,
				120.0f,
				1.0f,
				fabs(sin(
					led_animation_ticks /
					(float)(1000 / led_animation_rate))));
		}

		epic_leds_update();
	}
}