fix build

KinkyMakers · Dec 16, 2024 · 8e1f554 · 8e1f554
1 parent c5fc30c
commit 8e1f554
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Showing 3 changed files with 54 additions and 60 deletions.
diff --git a/Software/src/ossm/OSSM.SimplePenetration.cpp b/Software/src/ossm/OSSM.SimplePenetration.cpp
@@ -98,9 +98,40 @@ void OSSM::startSimplePenetrationTask(void *pvParameters) {
 void OSSM::startSimplePenetration() {
     int stackSize = 30 * configMINIMAL_STACK_SIZE;
 
-    xTaskCreatePinnedToCore(startSimplePenetrationTask,
-                            "startSimplePenetrationTask", stackSize, this,
-                            configMAX_PRIORITIES - 1,
-                            &Tasks::runSimplePenetrationTaskH,
+    xTaskCreatePinnedToCore(
+        startSimplePenetrationTask, "startSimplePenetrationTask", stackSize,
+        this, configMAX_PRIORITIES - 1, &Tasks::runSimplePenetrationTaskH,
+        Tasks::operationTaskCore);
+}
+
+void startStreamingTask(void *pvParameters) {
+    OSSM *ossm = (OSSM *)pvParameters;
+
+    auto isInCorrectState = [](OSSM *ossm) {
+        // Add any states that you want to support here.
+        // return ossm->sm->is("streaming"_s) ||
+        //        ossm->sm->is("streaming.preflight"_s) ||
+        //        ossm->sm->is("streaming.idle"_s);
+        return true;
+    };
+
+    // create a function that, given a time, returns a value between 0 and 100
+    // from a sine wave with period of 1000ms
+    auto sineWave = [](int time) { return sin(time * 2 * M_PI / 1000) * 100; };
+
+    while (isInCorrectState(ossm)) {
+        ossm->stepper->moveTo(sineWave(millis()), false);
+        vTaskDelay(1);
+    }
+
+    vTaskDelete(nullptr);
+}
+
+void OSSM::startStreaming() {
+    int stackSize = 10 * configMINIMAL_STACK_SIZE;
+
+    xTaskCreatePinnedToCore(startStreamingTask, "startStreamingTask",
+    stackSize,
+                            this, configMAX_PRIORITIES - 1, nullptr,
                             Tasks::operationTaskCore);
 }
diff --git a/Software/src/ossm/OSSM.Streaming.cpp b/Software/src/ossm/OSSM.Streaming.cpp
diff --git a/Software/src/ossm/OSSM.h b/Software/src/ossm/OSSM.h
@@ -109,7 +109,7 @@ class OSSM : public OSSMInterface {
                 o.startSimplePenetration();
             };
 
-            // auto startStreaming = [](OSSM &o) { o.startStreaming(); };
+            auto startStreaming = [](OSSM &o) { o.startStreaming(); };
 
             auto startStrokeEngine = [](OSSM &o) { o.startStrokeEngine(); };
             auto emergencyStop = [](OSSM &o) {
@@ -185,11 +185,12 @@ class OSSM : public OSSMInterface {
                 "homing.backward"_s + done[isFirstHomed] / setHomed = "menu"_s,
                 "homing.backward"_s + done[(isOption(Menu::SimplePenetration))] / setHomed = "simplePenetration"_s,
                 "homing.backward"_s + done[(isOption(Menu::StrokeEngine))] / setHomed = "strokeEngine"_s,
-                // "homing.backward"_s + done[(isOption(Menu::Streaming))] / setHomed = "streaming"_s,
+                "homing.backward"_s + done[(isOption(Menu::Streaming))] / setHomed = "streaming"_s,
 
                 "menu"_s / (drawMenu, startWifi) = "menu.idle"_s,
                 "menu.idle"_s + buttonPress[(isOption(Menu::SimplePenetration))] = "simplePenetration"_s,
                 "menu.idle"_s + buttonPress[(isOption(Menu::StrokeEngine))] = "strokeEngine"_s,
+                "menu.idle"_s + buttonPress[(isOption(Menu::Streaming))] = "streaming"_s,
                 "menu.idle"_s + buttonPress[(isOption(Menu::UpdateOSSM))] = "update"_s,
                 "menu.idle"_s + buttonPress[(isOption(Menu::WiFiSetup))] = "wifi"_s,
                 "menu.idle"_s + buttonPress[isOption(Menu::Help)] = "help"_s,
@@ -201,11 +202,11 @@ class OSSM : public OSSMInterface {
                 "simplePenetration.preflight"_s + done / (resetSettings, drawPlayControls, startSimplePenetration) = "simplePenetration.idle"_s,
                 "simplePenetration.idle"_s + longPress / (emergencyStop, setNotHomed) = "menu"_s,
 
-                // "streaming"_s [isNotHomed] = "homing"_s,
-                // "streaming"_s [isPreflightSafe] / (resetSettings, drawPlayControls, startStreaming) = "streaming.idle"_s,
-                // "streaming"_s / drawPreflight = "streaming.preflight"_s,
-                // "streaming.preflight"_s + done / (resetSettings, drawPlayControls, startStreaming) = "streaming.idle"_s,
-                // "streaming.idle"_s + longPress / (emergencyStop, setNotHomed) = "menu"_s,
+                "streaming"_s [isNotHomed] = "homing"_s,
+                "streaming"_s [isPreflightSafe] / (resetSettings, drawPlayControls, startStreaming) = "streaming.idle"_s,
+                "streaming"_s / drawPreflight = "streaming.preflight"_s,
+                "streaming.preflight"_s + done / (resetSettings, drawPlayControls, startStreaming) = "streaming.idle"_s,
+                "streaming.idle"_s + longPress / (emergencyStop, setNotHomed) = "menu"_s,
 
 
                 "strokeEngine"_s [isNotHomed] = "homing"_s,
@@ -243,18 +244,6 @@ class OSSM : public OSSMInterface {
         }
     };
 
-    /**
-     * ///////////////////////////////////////////
-     * ////
-     * ////  Private Objects and Services
-     * ////
-     * ///////////////////////////////////////////
-     */
-    FastAccelStepper *stepper;
-    U8G2_SSD1306_128X64_NONAME_F_HW_I2C &display;
-    StateLogger logger;
-    AiEsp32RotaryEncoder &encoder;
-
     /**
      * ///////////////////////////////////////////
      * ////
@@ -354,6 +343,17 @@ class OSSM : public OSSMInterface {
                 sml::logger<StateLogger>>>
         sm = nullptr;  // The state machine
 
+    /**
+     * ///////////////////////////////////////////
+     * ////
+     * ////  Objects and Services
+     * ////
+     * ///////////////////////////////////////////
+     */
+    FastAccelStepper *stepper;
+    U8G2_SSD1306_128X64_NONAME_F_HW_I2C &display;
+    StateLogger logger;
+    AiEsp32RotaryEncoder &encoder;
     WiFiManager wm;
 
     // Implement the interface methods