thooge
/
esp32-nmea2000-obp60
mirror of https://github.com/thooge/esp32-nmea2000-obp60.git
1
0
Fork 0
Code Releases Activity

add timer class for periodic runs

This commit is contained in:
andreas 2023-08-26 10:53:46 +02:00
parent e61cfac15e
commit 28431bfdcf
4 changed files with 105 additions and 52 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

52
lib/nmea2ktwai/Nmea2kTwai.cpp
View File

@ -1,16 +1,16 @@
#include "Nmea2kTwai.h"
#include "driver/gpio.h"
#include "driver/twai.h"
#include "GwLog.h"
#define LOGID(id) ((id >> 8) & 0x1ffff)
static const int TIMEOUT_OFFLINE=256; //# of timeouts to consider offline
Nmea2kTwai::Nmea2kTwai(gpio_num_t _TxPin, gpio_num_t _RxPin, unsigned long recP):
tNMEA2000(),RxPin(_RxPin),TxPin(_TxPin),recoveryPeriod(recP)
Nmea2kTwai::Nmea2kTwai(gpio_num_t _TxPin, gpio_num_t _RxPin, unsigned long recP, unsigned long logP):
tNMEA2000(),RxPin(_RxPin),TxPin(_TxPin)
{
lastRecoveryCheck=millis();
timers.addAction(logP,[this](){logStatus();});
timers.addAction(recP,[this](){checkRecovery();});
}
bool Nmea2kTwai::CANSendFrame(unsigned long id, unsigned char len, const unsigned char *buf, bool wait_sent)
@ -120,26 +120,42 @@ Nmea2kTwai::Status Nmea2kTwai::getStatus(){
return rt;
}
bool Nmea2kTwai::checkRecovery(){
if (recoveryPeriod == 0) return false; //no check
unsigned long now=millis();
if ((lastRecoveryCheck+recoveryPeriod) > now) return false;
lastRecoveryCheck=now;
Status canState=getStatus();
bool strt=false;
if (canState.state != Nmea2kTwai::ST_RUNNING){
if (canState.state == Nmea2kTwai::ST_BUS_OFF){
strt=true;
bool rt=startRecovery();
logDebug(LOG_INFO,"start can recovery - result %d",(int)rt);
}
if (canState.state == Nmea2kTwai::ST_STOPPED){
bool rt=CANOpen();
logDebug(LOG_INFO,"restart can driver - result %d",(int)rt);
}
if (canState.state != Nmea2kTwai::ST_RUNNING)
{
if (canState.state == Nmea2kTwai::ST_BUS_OFF)
{
strt = true;
bool rt = startRecovery();
logDebug(LOG_INFO, "twai BUS_OFF: start can recovery - result %d", (int)rt);
}
if (canState.state == Nmea2kTwai::ST_STOPPED)
{
bool rt = CANOpen();
logDebug(LOG_INFO, "twai STOPPED: restart can driver - result %d", (int)rt);
}
}
return strt;
}
void Nmea2kTwai::loop(){
timers.loop();
}
Nmea2kTwai::Status Nmea2kTwai::logStatus(){
Status canState=getStatus();
logDebug(LOG_INFO, "twai state %s, rxerr %d, txerr %d, txfail %d, txtimeout %d, rxmiss %d, rxoverrun %d",
stateStr(canState.state),
canState.rx_errors,
canState.tx_errors,
canState.tx_failed,
canState.tx_timeouts,
canState.rx_missed,
canState.rx_overrun);
return canState;
}
bool Nmea2kTwai::startRecovery(){
esp_err_t rt=twai_driver_uninstall();
if (rt != ESP_OK){

11
lib/nmea2ktwai/Nmea2kTwai.h
View File

@ -1,11 +1,11 @@
#ifndef _NMEA2KTWAI_H
#define _NMEA2KTWAI_H
#include "NMEA2000.h"
#include "GwLog.h"
#include "GwTimer.h"
class Nmea2kTwai : public tNMEA2000{
public:
Nmea2kTwai(gpio_num_t _TxPin, gpio_num_t _RxPin, unsigned long recP=0);
Nmea2kTwai(gpio_num_t _TxPin, gpio_num_t _RxPin, unsigned long recP=0, unsigned long logPeriod=0);
typedef enum{
ST_STOPPED,
ST_RUNNING,
@ -25,7 +25,7 @@ class Nmea2kTwai : public tNMEA2000{
STATE state=ST_ERROR;
} Status;
Status getStatus();
bool checkRecovery();
void loop();
static const char * stateStr(const STATE &st);
virtual bool CANOpen();
virtual ~Nmea2kTwai(){};
@ -48,11 +48,12 @@ class Nmea2kTwai : public tNMEA2000{
private:
void initDriver();
bool startRecovery();
bool checkRecovery();
Status logStatus();
gpio_num_t TxPin;
gpio_num_t RxPin;
uint32_t txTimeouts=0;
unsigned long recoveryPeriod=0;
unsigned long lastRecoveryCheck=0;
GwIntervalRunner timers;
};
#endif

48
lib/timer/GwTimer.h Normal file
View File

@ -0,0 +1,48 @@
#ifndef _GWTIMER_H
#define _GWTIMER_H
#include <vector>
#include <functional>
#include <Arduino.h>
class GwIntervalRunner{
public:
using RunFunction=std::function<void(void)>;
private:
class Run{
public:
unsigned long interval=0;
RunFunction runner;
unsigned long last=0;
Run(RunFunction r,unsigned long iv,unsigned long l=0):
runner(r),interval(iv),last(l){}
bool shouldRun(unsigned long now){
if ((last+interval) > now) return false;
last=now;
return true;
}
bool runIf(unsigned long now){
if (shouldRun(now)) {
runner();
return true;
}
return false;
}
};
std::vector<Run> runners;
unsigned long startTime=0;
public:
GwIntervalRunner(unsigned long now=millis()){
startTime=now;
}
void addAction(unsigned long interval,RunFunction run,unsigned long start=0){
if (start=0) start=startTime;
runners.push_back(Run(run,interval,start));
}
bool loop(unsigned long now=millis()){
bool rt=false;
for (auto it=runners.begin();it!=runners.end();it++){
if (it->runIf(now)) rt=true;
}
return rt;
}
};
#endif

46
src/main.cpp
View File

@ -65,6 +65,7 @@ const unsigned long HEAP_REPORT_TIME=2000; //set to 0 to disable heap reporting
#include "GwTcpClient.h"
#include "GwChannel.h"
#include "GwChannelList.h"
#include "GwTimer.h"
#ifdef FALLBACK_SERIAL
#ifdef CAN_ESP_DEBUG
#define CDBS &Serial
@ -116,7 +117,7 @@ class Nmea2kTwaiLog : public Nmea2kTwai{
GwLog* logger;
public:
Nmea2kTwaiLog(gpio_num_t _TxPin, gpio_num_t _RxPin, unsigned long recoveryPeriod,GwLog *l):
Nmea2kTwai(_TxPin,_RxPin,recoveryPeriod),logger(l){}
Nmea2kTwai(_TxPin,_RxPin,recoveryPeriod,recoveryPeriod),logger(l){}
virtual void logDebug(int level, const char *fmt,...){
va_list args;
va_start(args,fmt);
@ -157,7 +158,7 @@ GwWebServer webserver(&logger,&mainQueue,80);
GwCounter<unsigned long> countNMEA2KIn("count2Kin");
GwCounter<unsigned long> countNMEA2KOut("count2Kout");
GwIntervalRunner timers;
bool checkPass(String hash){
return config.checkPass(hash);
@ -388,6 +389,7 @@ protected:
status["heap"]=(long)xPortGetFreeHeapSize();
Nmea2kTwai::Status n2kState=NMEA2000.getStatus();
status["n2kstate"]=NMEA2000.stateStr(n2kState.state);
status["n2knode"]=NodeAddress;
//nmea0183Converter->toJson(status);
countNMEA2KIn.toJson(status);
countNMEA2KOut.toJson(status);
@ -675,6 +677,7 @@ void handleConfigRequestData(AsyncWebServerRequest *request, uint8_t *data, size
}
}
TimeMonitor monitor(20,0.2);
void setup() {
mainLock=xSemaphoreCreateMutex();
@ -799,6 +802,7 @@ void setup() {
logger.flush();
NMEA2000.SetMode(tNMEA2000::N2km_ListenAndNode, NodeAddress);
NMEA2000.SetForwardOwnMessages(false);
NMEA2000.SetHeartbeatInterval(5000);
if (sendOutN2k){
// Set the information for other bus devices, which messages we support
unsigned long *pgns=toN2KConverter->handledPgns();
@ -826,6 +830,15 @@ void setup() {
GWSYNCHRONIZED(&mainLock);
userCodeHandler.startUserTasks(MIN_USER_TASK);
}
timers.addAction(HEAP_REPORT_TIME,[](){
if (logger.isActive(GwLog::DEBUG)){
logger.logDebug(GwLog::DEBUG,"Heap free=%ld, minFree=%ld",
(long)xPortGetFreeHeapSize(),
(long)xPortGetMinimumEverFreeHeapSize()
);
logger.logDebug(GwLog::DEBUG,"Main loop %s",monitor.getLog().c_str());
}
});
logger.logString("wifi AP pass: %s",fixedApPass? gwWifi.AP_password:config.getString(config.apPassword).c_str());
logger.logString("admin pass: %s",config.getString(config.adminPassword).c_str());
logger.logDebug(GwLog::LOG,"setup done");
@ -837,9 +850,6 @@ void handleSendAndRead(bool handleRead){
});
}
TimeMonitor monitor(20,0.2);
unsigned long lastHeapReport=0;
unsigned long lastCanStatus=0;
void loop() {
monitor.reset();
GWSYNCHRONIZED(&mainLock);
@ -848,30 +858,8 @@ void loop() {
gwWifi.loop();
unsigned long now=millis();
monitor.setTime(2);
NMEA2000.checkRecovery();
if (HEAP_REPORT_TIME > 0 && now > (lastHeapReport+HEAP_REPORT_TIME)){
lastHeapReport=now;
if (logger.isActive(GwLog::DEBUG)){
logger.logDebug(GwLog::DEBUG,"Heap free=%ld, minFree=%ld",
(long)xPortGetFreeHeapSize(),
(long)xPortGetMinimumEverFreeHeapSize()
);
logger.logDebug(GwLog::DEBUG,"Main loop %s",monitor.getLog().c_str());
}
}
if (now > (lastCanStatus + CAN_RECOVERY_PERIOD)){
lastCanStatus=now;
Nmea2kTwai::Status canState=NMEA2000.getStatus();
logger.logDebug(GwLog::DEBUG,
"can state %s, rxerr %d, txerr %d, txfail %d, txtimeout %d, rxmiss %d, rxoverrun %d",
NMEA2000.stateStr(canState.state),
canState.rx_errors,
canState.tx_errors,
canState.tx_failed,
canState.tx_timeouts,
canState.rx_missed,
canState.rx_overrun);
}
timers.loop();
NMEA2000.loop();
monitor.setTime(3);
channels.allChannels([](GwChannel *c){
c->loop(true,false);