Non-blocking, configurable beep (#143)

* non-blocking beep

* Update CHANGELOG.md

* Update CHANGELOG.md

* configurable beeper

* Fix type in beeper.h

CHANGELOG.md

@@ -9,14 +9,19 @@ and this project adheres to [Semantic Versioning](https://semver.org/spec/v2.0.0
 ## 1.0.0 / Unreleased
 
 * Migrate to AYAB API v6
-* Remove dependency on SerialCommand library
-* Add informative error codes
+* Add support for garter carriage
+* Add support for KH270
 * Allow carriage to start on the right-hand side moving left
 * Add run-time hardware tests
+* Fix intermittent patterning errors
+* Change end-of-line beep to be non-blocking so that knitting can continue during beep
 * Migrate to generic firmware from machine-specific versions
+* Migrate to semantic versioning
 * Change libraries to submodules
+* Remove dependency on SerialCommand library
 * Add unit tests that can run in the absence of the hardware
 * Add GPLv3 license
+* Add informative error codes
 * Add development environment documentation to README
 * Add firmware update instructions to README
 * Add CHANGELOG.md

src/ayab/beeper.cpp

@@ -28,44 +28,100 @@
 #include "beeper.h"
 #include "board.h"
 
+/*!
+ * Initialize beeper
+ */
+void Beeper::init(bool enabled) {
+  m_currentState = BeepState::Idle;
+  m_enabled = enabled;
+}
+
+/*!
+ * Get beeper enabled flag
+ */
+bool Beeper::enabled() {
+  return m_enabled;
+}
+
+/*!
+ * Get beeper state
+ */
+BeepState Beeper::getState() {
+  return m_currentState;
+}
+
 /*!
  * Beep to indicate readiness
  */
 void Beeper::ready() {
-  beep(BEEP_NUM_READY);
+  if (m_enabled) {
+    beep(BEEP_NUM_READY);
+  }
 }
 
 /*!
  * Beep to indicate the end of a line
  */
 void Beeper::finishedLine() {
-  beep(BEEP_NUM_FINISHEDLINE);
+  if (m_enabled) {
+    beep(BEEP_NUM_FINISHEDLINE);
+  }
 }
 
 /*!
  * Beep to indicate the end the knitting pattern
  */
 void Beeper::endWork() {
-  beep(BEEP_NUM_ENDWORK);
+  if (m_enabled) {
+    beep(BEEP_NUM_ENDWORK);
+  }
 }
 
-/* Private Methods */
-
 /*!
- * Generic beep function.
- *
- * /param length number of beeps
+ * Beep handler scheduled from main loop
  */
-void Beeper::beep(uint8_t length) const {
-
-  for (uint8_t i = 0U; i < length; ++i) {
-
+void Beeper::schedule() {
+  long unsigned int now = millis();
+  switch (m_currentState) {
+  case BeepState::On:
     analogWrite(PIEZO_PIN, BEEP_ON_DUTY);
-    delay(BEEP_DELAY);
-
+    m_currentState = BeepState::Wait;
+    m_nextState = BeepState::Off;
+    m_nextTime = now + BEEP_DELAY;
+    break;
+  case BeepState::Off:
     analogWrite(PIEZO_PIN, BEEP_OFF_DUTY);
-    delay(BEEP_DELAY);
+    m_currentState = BeepState::Wait;
+    m_nextState = BeepState::On;
+    m_nextTime = now + BEEP_DELAY;
+    m_repeat--;
+    break;
+  case BeepState::Wait:
+    if (now >= m_nextTime) {
+      if (m_repeat == 0) {
+        analogWrite(PIEZO_PIN, BEEP_NO_DUTY);
+        m_currentState = BeepState::Idle;
+      } else {
+        m_currentState = m_nextState;
+      }
+    }
+    break;
+  case BeepState::Idle:
+  default:
+    break;
   }
+}
+
+/* Private Methods */
 
-  analogWrite(PIEZO_PIN, BEEP_NO_DUTY);
+/*!
+ * Generic beep function.
+ *
+ * /param repeats number of beeps
+ */
+void Beeper::beep(uint8_t repeats) {
+  m_repeat = repeats;
+  m_currentState = BeepState::Wait;
+  m_nextState = BeepState::On;
+  m_nextTime = millis();
 }

src/ayab/beeper.h

@@ -26,7 +26,9 @@
 
 #include <Arduino.h>
 
-constexpr uint8_t BEEP_DELAY = 50U; // ms
+enum class BeepState : unsigned char {Idle, Wait, On, Off};
+
+constexpr unsigned int BEEP_DELAY = 50U; // ms
 
 constexpr uint8_t BEEP_NUM_READY = 5U;
 constexpr uint8_t BEEP_NUM_FINISHEDLINE = 3U;
@@ -41,9 +43,13 @@ class BeeperInterface {
   virtual ~BeeperInterface() = default;
 
   // any methods that need to be mocked should go here
+  virtual void init(bool enabled) = 0;
+  virtual bool enabled() = 0;
+  virtual BeepState getState() = 0;
   virtual void ready() = 0;
   virtual void finishedLine() = 0;
   virtual void endWork() = 0;
+  virtual void schedule() = 0;
 };
 
 // Container class for the static methods that control the beeper.
@@ -60,22 +66,36 @@ class GlobalBeeper final {
   // pointer to global instance whose methods are implemented
   static BeeperInterface *m_instance;
 
+  static void init(bool enabled);
+  static bool enabled();
+  static BeepState getState();
   static void ready();
   static void finishedLine();
   static void endWork();
+  static void schedule();
 };
 
 /*!
  * \brief Class to actuate a beeper connected to PIEZO_PIN
  */
 class Beeper : public BeeperInterface {
 public:
+  void init(bool enabled) final;
+  bool enabled() final;
+  BeepState getState() final;
   void ready() final;
   void finishedLine() final;
   void endWork() final;
+  void schedule() final;
 
 private:
-  void beep(uint8_t length) const;
+  void beep(uint8_t repeats);
+
+  BeepState m_currentState;
+  BeepState m_nextState;
+  unsigned long m_nextTime;
+  uint8_t m_repeat;
+  bool m_enabled;
 };
 
 #endif // BEEPER_H_

src/ayab/board.h

@@ -48,7 +48,7 @@ constexpr uint8_t I2Caddr_sol1_8 = 0x0U;  ///< I2C Address of solenoids 1 - 8
 constexpr uint8_t I2Caddr_sol9_16 = 0x1U; ///< I2C Address of solenoids 9 - 16
 
 // TODO(Who?): Optimize Delay for various Arduino Models
-constexpr uint16_t START_KNITTING_DELAY = 2000U;
+constexpr uint16_t START_KNITTING_DELAY = 2000U; // ms
 
 // Determine board type
 #if defined(__AVR_ATmega168__) || defined(__AVR_ATmega328P__)

src/ayab/com.cpp

@@ -236,7 +236,8 @@ void Com::h_reqStart(const uint8_t *buffer, size_t size) {
 
   uint8_t startNeedle = buffer[1];
   uint8_t stopNeedle = buffer[2];
-  auto continuousReportingEnabled = static_cast<bool>(buffer[3]);
+  auto continuousReportingEnabled = static_cast<bool>(buffer[3] & 1);
+  auto beeperEnabled = static_cast<bool>(buffer[3] & 2);
 
   uint8_t crc8 = buffer[4];
   // Check crc on bytes 0-4 of buffer.
@@ -245,7 +246,7 @@ void Com::h_reqStart(const uint8_t *buffer, size_t size) {
     return;
   }
 
-  // TODO(who?): verify operation
+  GlobalBeeper::init(beeperEnabled);
   memset(lineBuffer, 0xFF, MAX_LINE_BUFFER_LEN);
 
   // Note (August 2020): the return value of this function has changed.

src/ayab/encoders.h

@@ -28,9 +28,10 @@
 
 // Enumerated constants
 
-enum class Direction : unsigned char { 
-  NoDirection = 0xFF, 
-  Left = 0, 
+
+enum class Direction : unsigned char {
+  NoDirection = 0xFF,
+  Left = 0,
   Right = 1
 };
 constexpr int NUM_DIRECTIONS = 2;

src/ayab/fsm.cpp

@@ -162,7 +162,7 @@ void Fsm::state_error() {
   // every 500ms
   // send `indState` and flash LEDs
   unsigned long now = millis();
-  if (now - m_flashTime >= 500) {
+  if (now - m_flashTime >= FLASH_DELAY) {
     digitalWrite(LED_PIN_A, m_flash);  // green LED
     digitalWrite(LED_PIN_B, !m_flash); // yellow LED
     m_flash = !m_flash;

src/ayab/fsm.h

@@ -78,6 +78,8 @@ enum class ErrorCode : unsigned char {
 };
 using Err_t = enum ErrorCode;
 
+constexpr unsigned int FLASH_DELAY = 500; // ms
+
 class FsmInterface {
 public:
   virtual ~FsmInterface() = default;

src/ayab/global_beeper.cpp

@@ -27,6 +27,14 @@
 
 // static member functions
 
+void GlobalBeeper::init(bool enabled) {
+  m_instance->init(enabled);
+}
+
+bool GlobalBeeper::enabled() {
+  return m_instance->enabled();
+}
+
 void GlobalBeeper::ready() {
   m_instance->ready();
 }
@@ -38,3 +46,7 @@ void GlobalBeeper::finishedLine() {
 void GlobalBeeper::endWork() {
   m_instance->endWork();
 }
+
+void GlobalBeeper::schedule() {
+  m_instance->schedule();
+}

src/ayab/knitter.cpp

@@ -345,11 +345,7 @@ bool Knitter::setNextLine(uint8_t lineNumber) {
     // Is there even a need for a new line?
     if (lineNumber == m_currentLineNumber) {
       m_lineRequested = false;
-
-      // FIXME: Beeper is causing problems with flanking needles on the 270
-      if (m_machineType != Machine_t::Kh270) {
-        GlobalBeeper::finishedLine();
-      }
+      GlobalBeeper::finishedLine();
       return true;
     } else {
       // line numbers didn't match -> request again

src/ayab/main.cpp

@@ -59,6 +59,7 @@ TesterInterface    *GlobalTester::m_instance    = new Tester();
  * Setup - do once before going to the main loop.
  */
 void setup() {
+  GlobalBeeper::init(false);
   GlobalCom::init();
   GlobalFsm::init();
   GlobalKnitter::init();
@@ -70,4 +71,7 @@ void setup() {
  */
 void loop() {
   GlobalFsm::dispatch();
+  if (GlobalBeeper::enabled()) {
+    GlobalBeeper::schedule();
+  }
 }

src/ayab/tester.cpp

@@ -180,7 +180,7 @@ Err_t Tester::startTest(Machine_t machineType) {
  */
 void Tester::loop() {
   unsigned long now = millis();
-  if (now - m_lastTime >= 500) {
+  if (now - m_lastTime >= TEST_LOOP_DELAY) {
     m_lastTime = now;
     handleTimerEvent();
   }

src/ayab/tester.h

@@ -30,6 +30,7 @@
 #include "encoders.h"
 
 constexpr uint8_t BUFFER_LEN = 40;
+constexpr unsigned int TEST_LOOP_DELAY = 500; // ms
 
 class TesterInterface {
 public:

test/mocks/beeper_mock.cpp

@@ -38,6 +38,21 @@ void releaseBeeperMock() {
   }
 }
 
+void Beeper::init(bool enabled) {
+  assert(gBeeperMock != nullptr);
+  gBeeperMock->init(enabled);
+}
+
+bool Beeper::enabled() {
+  assert(gBeeperMock != nullptr);
+  return gBeeperMock->enabled();
+}
+
+BeepState Beeper::getState() {
+  assert(gBeeperMock != nullptr);
+  return gBeeperMock->getState();
+}
+
 void Beeper::ready() {
   assert(gBeeperMock != nullptr);
   gBeeperMock->ready();
@@ -52,3 +67,8 @@ void Beeper::endWork() {
   assert(gBeeperMock != nullptr);
   gBeeperMock->endWork();
 }
+
+void Beeper::schedule() {
+  assert(gBeeperMock != nullptr);
+  gBeeperMock->schedule();
+}

test/mocks/beeper_mock.h

@@ -30,9 +30,13 @@
 
 class BeeperMock : public BeeperInterface {
 public:
+  MOCK_METHOD1(init, void(bool));
+  MOCK_METHOD0(enabled, bool());
+  MOCK_METHOD0(getState, BeepState());
   MOCK_METHOD0(ready, void());
   MOCK_METHOD0(finishedLine, void());
   MOCK_METHOD0(endWork, void());
+  MOCK_METHOD0(schedule, void());
 };
 
 BeeperMock *beeperMockInstance();