Updated Stroke Engine to create the pattern on the fly (#102)

KinkyMakers · May 30, 2024 · 0c65283 · 0c65283
1 parent a89a541
commit 0c65283
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Showing 21 changed files with 635 additions and 621 deletions.
diff --git a/Software/lib/StrokeEngine/src/StrokeEngine.cpp b/Software/lib/StrokeEngine/src/StrokeEngine.cpp
diff --git a/Software/lib/StrokeEngine/src/StrokeEngine.h b/Software/lib/StrokeEngine/src/StrokeEngine.h
diff --git a/Software/lib/StrokeEngine/src/pattern.h b/Software/lib/StrokeEngine/src/pattern.h
@@ -15,7 +15,6 @@
 #include <math.h>
 
 #include "PatternMath.h"
-#include "StrokeEngine.h"
 
 #define DEBUG_PATTERN  // Print some debug informations over Serial
 
@@ -648,22 +647,3 @@ class Insist : public Pattern {
         _realStroke = int((float)_stroke * _strokeFraction);
     }
 };
-
-/**************************************************************************/
-/*
-  Array holding all different patterns. Please include any custom pattern here.
-*/
-/**************************************************************************/
-static Pattern *patternTable[] = {
-    new SimpleStroke("Simple Stroke"),
-    new TeasingPounding("Teasing or Pounding"),
-    new RoboStroke("Robo Stroke"),
-    new HalfnHalf("Half'n'Half"),
-    new Deeper("Deeper"),
-    new StopNGo("Stop'n'Go"),
-    new Insist("Insist")
-    // <-- insert your new pattern class here!
-};
-
-static const unsigned int patternTableSize =
-    sizeof(patternTable) / sizeof(patternTable[0]);
diff --git a/Software/platformio.ini b/Software/platformio.ini
@@ -47,7 +47,6 @@ board = esp32dev
 framework = arduino
 monitor_speed = 115200
 monitor_filters = colorize, esp32_exception_decoder, time
-upload_port = /dev/cu.usbserial-0001
 
 [env:debugWithoutMotor]
 build_flags =

diff --git a/Software/src/constants/copy/en-us.h b/Software/src/constants/copy/en-us.h
@@ -42,7 +42,16 @@ static const LanguageStruct enUs = {
         "Stroke depth increases per cycle; sensation sets count.",
         "Pauses between strokes; sensation adjusts length.",
         "Modifies length, maintains speed; sensation influences direction."
-    }
+    },
+    .StrokeEngineNames = {
+        "Simple Stroke",
+        "Teasing Pounding",
+        "Robo Stroke",
+        "Half'n'Half",
+        "Deeper",
+        "Stop'n'Go",
+        "Insist"
+    },
 };
 
 #endif  // OSSM_SOFTWARE_EN_US_H
diff --git a/Software/src/constants/copy/fr.h b/Software/src/constants/copy/fr.h
@@ -46,7 +46,17 @@ static const LanguageStruct fr = {
         "La profondeur des coups augmente à chaque cycle ; la sensation définit le nombre.",
         "Pauses entre les coups ; la sensation ajuste la longueur.",
         "Modifie la longueur, maintient la vitesse ; la sensation influe sur la direction.",
-    }};
+    },
+    .StrokeEngineNames = {
+        "Simple Stroke",
+        "Teasing Pounding",
+        "Robo Stroke",
+        "Half'n'Half",
+        "Deeper",
+        "Stop'n'Go",
+        "Insist",
+    }
+};
 
 
 #endif  // OSSM_SOFTWARE_FR_H
diff --git a/Software/src/main.cpp b/Software/src/main.cpp
@@ -39,15 +39,20 @@ void setup() {
     display.setBusClock(400000);
     display.begin();
 
-    ossm = new OSSM(display, encoder);
-
+    ossm = new OSSM(display, encoder, stepper);
     // link functions to be called on events.
     button.attachClick([]() { ossm->sm->process_event(ButtonPress{}); });
     button.attachDoubleClick([]() { ossm->sm->process_event(DoublePress{}); });
     button.attachLongPressStart([]() { ossm->sm->process_event(LongPress{}); });
+
+    xTaskCreate(
+        [](void* pvParameters) {
+            while (true) {
+                button.tick();
+                vTaskDelay(10);
+            }
+        },
+        "buttonTask", 4 * configMINIMAL_STACK_SIZE, nullptr, 1, nullptr);
 };
 
-void loop() {
-    button.tick();
-    ossm->wm.process();
-};
+void loop() { vTaskDelete(nullptr); };
diff --git a/Software/src/ossm/OSSM.PatternControls.cpp b/Software/src/ossm/OSSM.PatternControls.cpp
@@ -7,7 +7,7 @@
 size_t numberOfDescriptions =
     sizeof(UserConfig::language.StrokeEngineDescriptions) /
     sizeof(UserConfig::language.StrokeEngineDescriptions[0]);
-size_t numberOfPatterns = sizeof(patternTable) / sizeof(patternTable[0]);
+size_t numberOfPatterns = 7;
 
 void OSSM::drawPatternControlsTask(void *pvParameters) {
     // parse ossm from the parameters
@@ -19,9 +19,9 @@ void OSSM::drawPatternControlsTask(void *pvParameters) {
         return ossm->sm->is("strokeEngine.pattern"_s);
     };
 
-    int nextPattern = ossm->setting.pattern;
+    int nextPattern = (int)ossm->setting.pattern;
     bool shouldUpdateDisplay = true;
-    String patternName = patternTable[nextPattern]->getName();
+    String patternName = "nextPattern";
     String patternDescription =
         UserConfig::language.StrokeEngineDescriptions[nextPattern];
 
@@ -33,13 +33,13 @@ void OSSM::drawPatternControlsTask(void *pvParameters) {
     while (isInCorrectState(ossm)) {
         nextPattern = ossm->encoder.readEncoder() / 3;
         shouldUpdateDisplay =
-            shouldUpdateDisplay || ossm->setting.pattern != nextPattern;
+            shouldUpdateDisplay || (int)ossm->setting.pattern != nextPattern;
         if (!shouldUpdateDisplay) {
             vTaskDelay(100);
             continue;
         }
 
-        patternName = patternTable[nextPattern]->getName();
+        patternName = UserConfig::language.StrokeEngineNames[nextPattern];
 
         if (nextPattern < numberOfDescriptions) {
             patternDescription =
@@ -48,15 +48,15 @@ void OSSM::drawPatternControlsTask(void *pvParameters) {
             patternDescription = "No description available";
         }
 
-        ossm->setting.pattern = nextPattern;
+        ossm->setting.pattern = (StrokePatterns)nextPattern;
 
         displayMutex.lock();
         ossm->display.clearBuffer();
 
         // Draw the title
         drawStr::title(patternName);
         drawStr::multiLine(0, 20, patternDescription);
-        drawShape::scroll(100* nextPattern / numberOfPatterns);
+        drawShape::scroll(100 * nextPattern / numberOfPatterns);
 
         ossm->display.sendBuffer();
         displayMutex.unlock();

diff --git a/Software/src/ossm/OSSM.SimplePenetration.cpp b/Software/src/ossm/OSSM.SimplePenetration.cpp
@@ -96,7 +96,7 @@ void OSSM::startSimplePenetrationTask(void *pvParameters) {
 }
 
 void OSSM::startSimplePenetration() {
-    int stackSize = 30 * configMINIMAL_STACK_SIZE;
+    int stackSize = 10 * configMINIMAL_STACK_SIZE;
 
     xTaskCreatePinnedToCore(startSimplePenetrationTask,
                             "startSimplePenetrationTask", stackSize, this,

diff --git a/Software/src/ossm/OSSM.StrokeEngine.cpp b/Software/src/ossm/OSSM.StrokeEngine.cpp
@@ -1,6 +1,6 @@
 #include "OSSM.h"
 
-#include "../../lib/StrokeEngine/src/StrokeEngine.h"
+#include "services/stepper.h"
 
 void OSSM::startStrokeEngineTask(void *pvParameters) {
     OSSM *ossm = (OSSM *)pvParameters;
@@ -11,13 +11,11 @@ void OSSM::startStrokeEngineTask(void *pvParameters) {
         .keepoutBoundary = 6.0};
     SettingPercents lastSetting = ossm->setting;
 
-    class StrokeEngine Stroker;
-
-    Stroker.begin(&strokingMachine, &servoMotor, ossm->engine, ossm->stepper);
+    Stroker.begin(&strokingMachine, &servoMotor, ossm->stepper);
     Stroker.thisIsHome();
 
     Stroker.setSensation(calculateSensation(ossm->setting.sensation), true);
-    Stroker.setPattern(int(ossm->setting.pattern), true);
+
     Stroker.setDepth(0.01f * ossm->setting.depth * abs(measuredStrokeMm), true);
     Stroker.setStroke(0.01f * ossm->setting.stroke * abs(measuredStrokeMm),
                       true);
@@ -70,7 +68,35 @@ void OSSM::startStrokeEngineTask(void *pvParameters) {
 
         if (lastSetting.pattern != ossm->setting.pattern) {
             ESP_LOGD("UTILS", "change pattern: %d", ossm->setting.pattern);
-            Stroker.setPattern(ossm->setting.pattern, false);
+
+            switch (ossm->setting.pattern) {
+                case StrokePatterns::SimpleStroke:
+                    Stroker.setPattern(new SimpleStroke("Simple Stroke"),
+                                       false);
+                    break;
+                case StrokePatterns::TeasingPounding:
+                    Stroker.setPattern(new TeasingPounding("Teasing Pounding"),
+                                       false);
+                    break;
+                case StrokePatterns::RoboStroke:
+                    Stroker.setPattern(new RoboStroke("Robo Stroke"), false);
+                    break;
+                case StrokePatterns::HalfnHalf:
+                    Stroker.setPattern(new HalfnHalf("Half'n'Half"), false);
+                    break;
+                case StrokePatterns::Deeper:
+                    Stroker.setPattern(new Deeper("Deeper"), false);
+                    break;
+                case StrokePatterns::StopNGo:
+                    Stroker.setPattern(new StopNGo("Stop'n'Go"), false);
+                    break;
+                case StrokePatterns::Insist:
+                    Stroker.setPattern(new Insist("Insist"), false);
+                    break;
+                default:
+                    break;
+            }
+
             lastSetting.pattern = ossm->setting.pattern;
         }
 
@@ -83,7 +109,7 @@ void OSSM::startStrokeEngineTask(void *pvParameters) {
 }
 
 void OSSM::startStrokeEngine() {
-    int stackSize = 15 * configMINIMAL_STACK_SIZE;
+    int stackSize = 10 * configMINIMAL_STACK_SIZE;
 
     xTaskCreatePinnedToCore(startStrokeEngineTask, "startStrokeEngineTask",
                             stackSize, this, configMAX_PRIORITIES - 1,

diff --git a/Software/src/ossm/OSSM.cpp b/Software/src/ossm/OSSM.cpp
@@ -11,26 +11,13 @@ using namespace sml;
 // Now we can define the OSSM constructor since OSSMStateMachine::operator() is
 // fully defined
 OSSM::OSSM(U8G2_SSD1306_128X64_NONAME_F_HW_I2C &display,
-           AiEsp32RotaryEncoder &encoder)
+           AiEsp32RotaryEncoder &encoder, FastAccelStepper *stepper)
     : display(display),
       encoder(encoder),
+      stepper(stepper),
       sm(std::make_unique<
           sml::sm<OSSMStateMachine, sml::thread_safe<ESP32RecursiveMutex>,
                   sml::logger<StateLogger>>>(logger, *this)) {
-    engine.init();
-    stepper = engine.stepperConnectToPin(Pins::Driver::motorStepPin);
-    if (stepper) {
-        stepper->setDirectionPin(Pins::Driver::motorDirectionPin, false);
-        stepper->setEnablePin(Pins::Driver::motorEnablePin, true);
-        stepper->setAutoEnable(false);
-    }
-
-    // disable motor briefly in case we are against a hard stop.
-    digitalWrite(Pins::Driver::motorEnablePin, HIGH);
-    delay(600);
-    digitalWrite(Pins::Driver::motorEnablePin, LOW);
-    delay(100);
-
     // NOTE: This is a hack to get the wifi credentials loaded early.
     wm.setConfigPortalBlocking(false);
     wm.startConfigPortal();

diff --git a/Software/src/ossm/OSSM.h b/Software/src/ossm/OSSM.h
@@ -1,8 +1,6 @@
 #ifndef OSSM_SOFTWARE_OSSM_H
 #define OSSM_SOFTWARE_OSSM_H
 
-#include <memory>
-
 #include "Actions.h"
 #include "AiEsp32RotaryEncoder.h"
 #include "Events.h"
@@ -229,9 +227,7 @@ class OSSM {
      * ////
      * ///////////////////////////////////////////
      */
-    FastAccelStepperEngine engine = FastAccelStepperEngine();
-    FastAccelStepper *stepper = nullptr;
-
+    FastAccelStepper *stepper;
     U8G2_SSD1306_128X64_NONAME_F_HW_I2C &display;
     StateLogger logger;
     AiEsp32RotaryEncoder &encoder;
@@ -253,8 +249,11 @@ class OSSM {
     Menu menuOption;
     String errorMessage = "";
 
-    SettingPercents setting = {
-        .speed = 0, .stroke = 0, .sensation = 50, .depth = 50, .pattern = 0};
+    SettingPercents setting = {.speed = 0,
+                               .stroke = 0,
+                               .sensation = 50,
+                               .depth = 50,
+                               .pattern = StrokePatterns::SimpleStroke};
 
     unsigned long sessionStartTime = 0;
     int sessionStrokeCount = 0;
@@ -324,7 +323,8 @@ class OSSM {
 
   public:
     explicit OSSM(U8G2_SSD1306_128X64_NONAME_F_HW_I2C &display,
-                  AiEsp32RotaryEncoder &rotaryEncoder);
+                  AiEsp32RotaryEncoder &rotaryEncoder,
+                  FastAccelStepper *stepper);
 
     std::unique_ptr<
         sml::sm<OSSMStateMachine, sml::thread_safe<ESP32RecursiveMutex>,

diff --git a/Software/src/services/board.h b/Software/src/services/board.h
@@ -4,11 +4,14 @@
 #include <Arduino.h>
 
 #include "constants/Pins.h"
+#include "services/display.h"
+#include "services/encoder.h"
+#include "services/stepper.h"
 
 /**
  * This file changes the configuration of the board.
  */
-void initBoard() {
+static void initBoard() {
     Serial.begin(115200);
 
     pinMode(Pins::Remote::encoderSwitch,
@@ -26,6 +29,9 @@ void initBoard() {
     analogReadResolution(12);
     analogSetAttenuation(ADC_11db);  // allows us to read almost full 3.3V range
 
+    initEncoder();
+    initDisplay();
+    initStepper();
 }
 
 #endif  // OSSM_SOFTWARE_BOARD_H
diff --git a/Software/src/services/display.h b/Software/src/services/display.h
@@ -24,4 +24,10 @@ static U8G2_SSD1306_128X64_NONAME_F_HW_I2C display(U8G2_R0,
                                                    Pins::Remote::displayClock,
                                                    Pins::Remote::displayData);
 
+static void initDisplay() {
+    // Display
+    display.setBusClock(400000);
+    display.begin();
+}
+
 #endif  // OSSM_SOFTWARE_DISPLAY_H