Add button presses with debouncing

drivers/CMakeLists.txt

@@ -25,6 +25,8 @@ else ()
             INCLUDE_DIRS
             "./include"
             "./include/actuators"
+            "ports/ESP32/"
+            "../services/"
             REQUIRES
             "driver"
             "hsm"

drivers/include/bsp.h

@@ -9,6 +9,8 @@ namespace BSP
 
     void BSP_init_actuators();
 
+    void BSP_init_sensors();
+
     void BSP_LED_on();
 
     void BSP_LED_off();
@@ -29,6 +31,8 @@ namespace BSP
 
     void BSP_red_led_off();
 
+    void BSP_button_read();
+
     /**
      * @brief blocking wait in line
      * @param ms no. of milliseconds to wait

drivers/ports/ESP32/ESP32_bsp.h

@@ -0,0 +1,13 @@
+#ifndef ESP32_BSP_H
+#define ESP32_BSP_H
+#include "bsp.h"
+#include "freertos/FreeRTOS.h"
+
+
+namespace ESP_BSP
+{
+    void ESP32_BSP_Button_init(void);
+
+    void BSP_button_read(TimerHandle_t xTimer);
+}
+#endif //ESP32_BSP_H

drivers/ports/ESP32/bsp.cpp

@@ -1,19 +1,32 @@
 #include "led.h"
 #include "bsp.h"
+#include "ESP32_bsp.h"
 #include "freertos/FreeRTOS.h"
 
 #include <cstdint>
+#include "driver/gpio.h"
+#include "timebomb.h"
 
 namespace BSP{
     void BSP_init() {
         BSP_init_actuators();
+        BSP_init_sensors();
     }
 
     void BSP_init_actuators() {
         get_default_onboard_led()->LED_init();
         get_blue_led()->LED_init();
     }
 
+    void BSP_init_sensors() {
+        gpio_set_direction(GPIO_NUM_25, GPIO_MODE_INPUT);
+        gpio_set_pull_mode(GPIO_NUM_25, GPIO_PULLDOWN_ONLY);
+
+        gpio_set_direction(GPIO_NUM_26, GPIO_MODE_INPUT);
+        gpio_set_pull_mode(GPIO_NUM_26, GPIO_PULLDOWN_ONLY);
+    }
+
+
     void BSP_LED_on() {
         get_default_onboard_led()->LED_on();
     }
@@ -70,8 +83,56 @@ namespace BSP{
         get_red_led()->LED_off();
     }
 
+    void BSP_button_read() {
+        int button_status[2] = {};
+
+        /* state of button. static to persist between func calls */
+        static struct ButtonDebouncing {
+            uint16_t depressed;
+            uint16_t previous;
+        } button = {0U, 0U}, button2 = {0U, 0U};
+
+        button_status[0] = gpio_get_level(GPIO_NUM_25);
+        button_status[1] = gpio_get_level(GPIO_NUM_26);
+
+        uint16_t tmp = button.depressed;
+        uint16_t tmp2 = button2.depressed;
+
+        button.depressed |= (button.previous && button_status[0]); /* set button 1 depressed */
+        button.depressed &= (button.previous || button_status[0]); /* set button 1 released */
+        button.previous = button_status[0]; /* update history for the next function call */
+
+        button2.depressed |= (button2.previous && button_status[1]); /* set button 2 depressed */
+        button2.depressed &= (button2.previous || button_status[1]); /* set button 2 released */
+        button2.previous = button_status[1]; /* update history for the next function call */
 
-    LED* get_blue_led() {
+        tmp ^= button.depressed;
+        tmp2 ^= button2.depressed;
+
+        if (tmp) { /*change of button state has occurred */
+            if (button_status[0]) { /* button pressed */
+                static const Event button_pressed_event = {BUTTON_PRESSED_SIG};
+                TimeBomb::get_default_instance()->_post(&button_pressed_event);
+            } else { /* button released */
+                static const Event button_released_event = {BUTTON_RELEASED_SIG};
+                TimeBomb::get_default_instance()->_post(&button_released_event);
+            }
+        }
+
+        if (tmp2) { /*change of button 2 state has occurred */
+            if (button_status[1]) { /* button 2 pressed */
+                static const Event button2_pressed_event = {BUTTON2_PRESSED_SIG};
+                TimeBomb::get_default_instance()->_post(&button2_pressed_event);
+            } else { /* button 2 released */
+                static const Event button2_released_event = {BUTTON2_RELEASED_SIG};
+                TimeBomb::get_default_instance()->_post(&button2_released_event);
+            }
+        }
+
+
+    }
+
+       LED* get_blue_led() {
         static LED led(2);
         return &led;
     }
@@ -87,3 +148,10 @@ namespace BSP{
     }
 
 };
+
+namespace ESP_BSP
+{
+    void BSP_button_read(TimerHandle_t xTimer) {
+        BSP::BSP_button_read();
+    }
+}

hsm/ports/ESP32/ESP32_fsm.cpp

@@ -1,10 +1,12 @@
 #include "ESP32_fsm.h"
 #include "bsp.h"
+#include "ESP32_bsp.h"
 
 #define QUEUE_LENGTH 10
 #define MAX_TIME_EVENTS 10
 
 #define TIMER_PERIOD_MS 100
+#define BUTTON_INTERVAL_MS 10
 
 static constexpr Event button_pressed_evt = {BUTTON_PRESSED_SIG};
 
@@ -15,11 +17,15 @@ void Active::_run(const Active *object) {
     xTaskCreate(Active::event_loop, "TimeBomb task", 2048, &param, 1, nullptr);
 
 
-    object->_post(&button_pressed_evt);
+    // object->_post(&button_pressed_evt);
 
     if (TimerHandle_t my_timer = xTimerCreate("MyTimer", pdMS_TO_TICKS(TIMER_PERIOD_MS), pdTRUE, nullptr, TimeEvent::tick); my_timer != nullptr) {
         xTimerStart(my_timer, 0);
     }
+
+    if (TimerHandle_t button_timer = xTimerCreate("ButtonTimer", pdMS_TO_TICKS(BUTTON_INTERVAL_MS), pdTRUE, nullptr, ESP_BSP::BSP_button_read); button_timer != nullptr) {
+        xTimerStart(button_timer, 0);
+    }
 }