Migrate to FreeRTOS for UI and camera control. (#126)

Still using the Arduino framework, however we now use the underlying
FreeRTOS for better control over tasks.

Initially, split the UI and control to separate tasks, furthermore, use
a queue to manage camera control.
This almost allows the UI to operate without constraints on camera traffic.

include/furble_control.h

@@ -0,0 +1,19 @@
+#ifndef FURBLE_CONTROL_H
+#define FURBLE_CONTROL_H
+
+#include <Camera.h>
+
+#define CONTROL_CMD_QUEUE_LEN (32)
+
+typedef enum {
+  CONTROL_CMD_SHUTTER_PRESS,
+  CONTROL_CMD_SHUTTER_RELEASE,
+  CONTROL_CMD_FOCUS_PRESS,
+  CONTROL_CMD_FOCUS_RELEASE,
+  CONTROL_CMD_GPS_UPDATE
+} control_cmd_t;
+
+void control_update_gps(Furble::Camera::gps_t &gps, Furble::Camera::timesync_t &timesync);
+void control_task(void *param);
+
+#endif

include/furble_gps.h

@@ -9,6 +9,6 @@ extern TinyGPSPlus furble_gps;
 extern bool furble_gps_enable;
 
 void furble_gps_init(void);
-void furble_gps_update_geodata(Furble::Camera *camera);
+void furble_gps_update(Furble::Camera *camera);
 
 #endif

include/furble_ui.h

@@ -8,4 +8,6 @@ struct FurbleCtx {
   bool reconnected;
 };
 
+void vUITask(void *param);
+
 #endif

lib/M5ez/src/M5ez.cpp

@@ -743,9 +743,6 @@ void ezSettings::begin() {
 #ifdef M5EZ_BATTERY
   ez.battery.begin();
 #endif
-#ifdef M5EZ_CLOCK
-  ez.clock.begin();
-#endif
 #ifdef M5EZ_BACKLIGHT
   ez.backlight.begin();
 #endif
@@ -1075,9 +1072,6 @@ void M5ez::yield() {
       }
     }
   }
-#ifdef M5EZ_CLOCK
-  events();  // TMP
-#endif
 }
 
 void M5ez::addEvent(uint16_t (*function)(void *private_data),

lib/furble/Camera.cpp

@@ -24,6 +24,14 @@ bool Camera::connect(esp_power_level_t power, progressFunc pFunc, void *pCtx) {
   return connected;
 }
 
+bool Camera::isActive(void) {
+  return m_Active;
+}
+
+void Camera::setActive(bool active) {
+  m_Active = active;
+}
+
 const char *Camera::getName(void) {
   return m_Name.c_str();
 }

lib/furble/Camera.h

@@ -87,6 +87,16 @@ class Camera {
    */
   virtual bool isConnected(void);
 
+  /**
+   * Camera is active (ie. connect() has succeeded previously).
+   */
+  bool isActive(void);
+
+  /**
+   * Set camera activity state.
+   */
+  void setActive(bool active);
+
   const char *getName(void);
 
   void fillSaveName(char *name);
@@ -115,6 +125,8 @@ class Camera {
   const uint16_t m_Latency = 1;
   // double the disconnect timeout
   const uint16_t m_Timeout = (2 * BLE_GAP_INITIAL_SUPERVISION_TIMEOUT);
+
+  bool m_Active = false;
 };
 }  // namespace Furble
 

src/furble.cpp

@@ -4,12 +4,14 @@
 
 #include <M5Unified.h>
 
+#include "furble_control.h"
 #include "furble_gps.h"
 #include "furble_ui.h"
 #include "interval.h"
 #include "settings.h"
 
 const uint32_t SCAN_DURATION = (60 * 5);
+static QueueHandle_t queue;
 
 /**
  * Progress bar update function.
@@ -75,11 +77,14 @@ static void remote_control(FurbleCtx *fctx) {
   auto camera = fctx->camera;
   static unsigned long shutter_lock_start_ms = 0;
   static bool shutter_lock = false;
+  control_cmd_t cmd;
 
   ESP_LOGI(LOG_TAG, "Remote Control");
 
   show_shutter_control(false, 0);
 
+  ESP_LOGW(LOG_TAG, "queue = %p", queue);
+
   do {
     ez.yield();
 
@@ -91,7 +96,8 @@ static void remote_control(FurbleCtx *fctx) {
     if (M5.BtnPWR.wasClicked() || M5.BtnC.wasPressed()) {
       if (shutter_lock) {
         // ensure shutter is released on exit
-        camera->shutterRelease();
+        cmd = CONTROL_CMD_SHUTTER_RELEASE;
+        xQueueSend(queue, &cmd, 0);
       }
       ESP_LOGI(LOG_TAG, "Exit shutter");
       break;
@@ -101,16 +107,16 @@ static void remote_control(FurbleCtx *fctx) {
       // release shutter if either shutter or focus is pressed
       if (M5.BtnA.wasClicked() || M5.BtnB.wasClicked()) {
         shutter_lock = false;
-        camera->shutterRelease();
+        cmd = CONTROL_CMD_SHUTTER_RELEASE;
+        xQueueSend(queue, &cmd, 0);
         show_shutter_control(false, 0);
-        ESP_LOGI(LOG_TAG, "shutterRelease(unlock)");
       } else {
         show_shutter_control(true, shutter_lock_start_ms);
       }
     } else {
       if (M5.BtnA.wasPressed()) {
-        camera->shutterPress();
-        ESP_LOGI(LOG_TAG, "shutterPress()");
+        cmd = CONTROL_CMD_SHUTTER_PRESS;
+        xQueueSend(queue, &cmd, 0);
         continue;
       }
 
@@ -122,21 +128,21 @@ static void remote_control(FurbleCtx *fctx) {
           show_shutter_control(true, shutter_lock_start_ms);
           ESP_LOGI(LOG_TAG, "shutter lock");
         } else {
-          camera->shutterRelease();
-          ESP_LOGI(LOG_TAG, "shutterRelease()");
+          cmd = CONTROL_CMD_SHUTTER_RELEASE;
+          xQueueSend(queue, &cmd, 0);
         }
         continue;
       }
 
       if (M5.BtnB.wasPressed()) {
-        camera->focusPress();
-        ESP_LOGI(LOG_TAG, "focusPress()");
+        cmd = CONTROL_CMD_FOCUS_PRESS;
+        xQueueSend(queue, &cmd, 0);
         continue;
       }
 
       if (M5.BtnB.wasReleased()) {
-        camera->focusRelease();
-        ESP_LOGI(LOG_TAG, "focusRelease()");
+        cmd = CONTROL_CMD_FOCUS_RELEASE;
+        xQueueSend(queue, &cmd, 0);
         continue;
       }
     }
@@ -153,7 +159,7 @@ static uint16_t statusRefresh(void *private_data) {
   auto camera = fctx->camera;
 
   if (camera->isConnected()) {
-    furble_gps_update_geodata(camera);
+    furble_gps_update(camera);
     return 500;
   }
 
@@ -204,6 +210,7 @@ static void menu_remote(FurbleCtx *fctx) {
   ez.removeEvent(statusRefresh);
 
   fctx->camera->disconnect();
+  fctx->camera->setActive(false);
   ez.backlight.inactivity(USER_SET);
 }
 
@@ -255,11 +262,13 @@ static void menu_connect(bool scan) {
 
   FurbleCtx fctx = {Furble::CameraList::get(i - 1), false};
 
-  ezProgressBar progress_bar(FURBLE_STR, {"Connecting ..."}, {""});
+  ezProgressBar progress_bar(FURBLE_STR, {std::string("Connecting to ") + fctx.camera->getName()},
+                             {""});
   if (fctx.camera->connect(settings_load_esp_tx_power(), &update_progress_bar, &progress_bar)) {
     if (scan) {
       Furble::CameraList::save(fctx.camera);
     }
+    fctx.camera->setActive(true);
     menu_remote(&fctx);
   }
 }
@@ -317,37 +326,34 @@ static void mainmenu_poweroff(void) {
   M5.Power.powerOff();
 }
 
-void setup() {
-  Serial.begin(115200);
+void vUITask(void *param) {
+  queue = static_cast<QueueHandle_t>(param);
 
 #include <themes/dark.h>
 #include <themes/default.h>
 #include <themes/mono_furble.h>
 
   ez.begin();
-  Furble::Device::init();
   furble_gps_init();
 
-  Furble::Scan::init(settings_load_esp_tx_power());
-}
+  while (true) {
+    size_t save_count = Furble::CameraList::getSaveCount();
 
-void loop() {
-  size_t save_count = Furble::CameraList::getSaveCount();
+    ezMenu mainmenu(FURBLE_STR);
+    mainmenu.buttons({"OK", "down"});
+    if (save_count > 0) {
+      mainmenu.addItem("Connect", "", do_saved);
+    }
+    mainmenu.addItem("Scan", "", do_scan);
+    if (save_count > 0) {
+      mainmenu.addItem("Delete Saved", "", menu_delete);
+    }
+    mainmenu.addItem("Settings", "", menu_settings);
+    mainmenu.addItem("Power Off", "", mainmenu_poweroff);
+    mainmenu.downOnLast("first");
 
-  ezMenu mainmenu(FURBLE_STR);
-  mainmenu.buttons({"OK", "down"});
-  if (save_count > 0) {
-    mainmenu.addItem("Connect", "", do_saved);
+    do {
+      mainmenu.runOnce();
+    } while (Furble::CameraList::getSaveCount() == save_count);
   }
-  mainmenu.addItem("Scan", "", do_scan);
-  if (save_count > 0) {
-    mainmenu.addItem("Delete Saved", "", menu_delete);
-  }
-  mainmenu.addItem("Settings", "", menu_settings);
-  mainmenu.addItem("Power Off", "", mainmenu_poweroff);
-  mainmenu.downOnLast("first");
-
-  do {
-    mainmenu.runOnce();
-  } while (Furble::CameraList::getSaveCount() == save_count);
 }

src/furble_control.cpp

@@ -0,0 +1,58 @@
+#include <CameraList.h>
+
+#include "furble_control.h"
+
+static QueueHandle_t queue;
+
+static Furble::Camera::gps_t last_gps;
+static Furble::Camera::timesync_t last_timesync;
+
+void control_update_gps(Furble::Camera::gps_t &gps, Furble::Camera::timesync_t &timesync) {
+  last_gps = gps;
+  last_timesync = timesync;
+
+  control_cmd_t cmd = CONTROL_CMD_GPS_UPDATE;
+  xQueueSend(queue, &cmd, sizeof(control_cmd_t));
+}
+
+void control_task(void *param) {
+  queue = static_cast<QueueHandle_t>(param);
+
+  while (true) {
+    control_cmd_t cmd;
+    BaseType_t ret = xQueueReceive(queue, &cmd, pdMS_TO_TICKS(50));
+    if (ret == pdTRUE) {
+      for (size_t n = 0; n < Furble::CameraList::size(); n++) {
+        Furble::Camera *camera = Furble::CameraList::get(n);
+        if (!camera->isActive()) {
+          continue;
+        }
+
+        switch (cmd) {
+          case CONTROL_CMD_SHUTTER_PRESS:
+            camera->shutterPress();
+            ESP_LOGI(LOG_TAG, "shutterPress()");
+            break;
+          case CONTROL_CMD_SHUTTER_RELEASE:
+            ESP_LOGI(LOG_TAG, "shutterRelease()");
+            camera->shutterRelease();
+            break;
+          case CONTROL_CMD_FOCUS_PRESS:
+            ESP_LOGI(LOG_TAG, "focusPress()");
+            camera->focusPress();
+            break;
+          case CONTROL_CMD_FOCUS_RELEASE:
+            ESP_LOGI(LOG_TAG, "focusRelease()");
+            camera->focusRelease();
+            break;
+          case CONTROL_CMD_GPS_UPDATE:
+            ESP_LOGI(LOG_TAG, "updateGeoData()");
+            camera->updateGeoData(last_gps, last_timesync);
+            break;
+          default:
+            ESP_LOGE(LOG_TAG, "Invalid control command %d.", cmd);
+        }
+      }
+    }
+  }
+}

src/furble_gps.cpp

@@ -3,6 +3,7 @@
 #include <M5ez.h>
 #include <TinyGPS++.h>
 
+#include "furble_control.h"
 #include "furble_gps.h"
 #include "settings.h"
 
@@ -51,7 +52,7 @@ static uint16_t service_grove_gps(void *private_data) {
 /**
  * Update geotag data.
  */
-void furble_gps_update_geodata(Furble::Camera *camera) {
+void furble_gps_update(Furble::Camera *camera) {
   if (!furble_gps_enable) {
     return;
   }
@@ -65,7 +66,7 @@ void furble_gps_update_geodata(Furble::Camera *camera) {
                                            furble_gps.date.day(),    furble_gps.time.hour(),
                                            furble_gps.time.minute(), furble_gps.time.second()};
 
-    camera->updateGeoData(dgps, timesync);
+    control_update_gps(dgps, timesync);
     ez.header.draw("gps");
   }
 }

src/interval.cpp

@@ -86,7 +86,6 @@ static void do_interval(FurbleCtx *fctx, interval_t *interval) {
 
   do {
     ez.yield();
-    furble_gps_update_geodata(camera);
     now = millis();
 
     if (fctx->reconnected) {