ESP32S3_vt/reference/armor/main/armor_main.cpp

/*
 * ESP-IDF entry point for the "armor" hit-detection node (ESP32-C3).
 *
 * This is the ESP-IDF counterpart of the original Arduino `main.cpp`:
 *   setup()  -> app_main()
 *   loop()   -> hit_task()    (only ran Hit::onLoop())
 *   loop2()  -> loop2_task()  (button, ESP-NOW and serial bridging)
 *   Serial   -> USB Serial/JTAG console + driver  (CDC protocol)
 *   Serial0  -> UART0 on GPIO20/21                (DBUS bridge)
 */

#include <cstdio>
#include <cstring>

#include "driver/uart.h"
#include "driver/usb_serial_jtag.h"
#include "esp_log.h"
#include "freertos/FreeRTOS.h"
#include "freertos/task.h"
#include "nvs_flash.h"

#include "air.hpp"
#include "armor_time.hpp"
#include "button.hpp"
#include "hit.hpp"
#include "storage.hpp"

namespace {

constexpr const char *TAG = "armor";

constexpr uint32_t TIMEOUT_MS = 100;

// GPIO9 is the on-board BOOT button of the ESP32-C3 DevKitM-1, active low.
// Original: `OneButton button(9, true);`
Button button(9, true);

volatile bool g_click = false;
volatile bool g_long_click = false;
volatile uint32_t g_last_cdc_receive_ms = 0;

void handleClick() {
    g_click = true;
}

void handleLongPressStart() {
    g_long_click = true;
}

// --------------------------------------------------------------- UART0 -----
// Original: `Serial0.begin(115200, SERIAL_8N1, 20, 21);` (rx=20, tx=21)
constexpr uart_port_t DBUS_UART = UART_NUM_0;
constexpr int DBUS_UART_RX = 20;
constexpr int DBUS_UART_TX = 21;

void serial0_begin() {
    uart_config_t cfg = {};
    cfg.baud_rate = 115200;
    cfg.data_bits = UART_DATA_8_BITS;
    cfg.parity = UART_PARITY_DISABLE;
    cfg.stop_bits = UART_STOP_BITS_1;
    cfg.flow_ctrl = UART_HW_FLOWCTRL_DISABLE;
    cfg.source_clk = UART_SCLK_DEFAULT;

    ESP_ERROR_CHECK(uart_driver_install(DBUS_UART, 256, 256, 0, nullptr, 0));
    ESP_ERROR_CHECK(uart_param_config(DBUS_UART, &cfg));
    ESP_ERROR_CHECK(uart_set_pin(DBUS_UART, DBUS_UART_TX, DBUS_UART_RX, UART_PIN_NO_CHANGE, UART_PIN_NO_CHANGE));
}

// ----------------------------------------------------------- USB CDC -------
// Replaces Arduino's `serialEvent()`: 10-byte DBUS frames arrive over the USB
// CDC port, and the original truncated/committed them in 10-byte units.
void cdc_task(void *) {
    uint8_t chunk[32];
    uint8_t frame[10];
    size_t frame_len = 0;

    while (true) {
        const int n = usb_serial_jtag_read_bytes(chunk, sizeof(chunk), pdMS_TO_TICKS(20));
        for (int i = 0; i < n; i++) {
            frame[frame_len++] = chunk[i];
            if (frame_len == sizeof(frame)) {
                Air::dbusSet(frame, sizeof(frame));
                g_last_cdc_receive_ms = millis();
                frame_len = 0;
            }
        }
    }
}

// ------------------------------------------------------------ business -----
void handle_air() {
    static Air::packet_t peer_packet_last;

    // 处理收到的数据包
    // 颜色变化
    if (Air::peer_packet.color != peer_packet_last.color && Air::peer_packet.color != 0) {
        Hit::color = Air::peer_packet.color;
        Storage::putUInt("color", Hit::color);
    }
    // 击打次数变化
    if (Air::peer_packet.hit_cnt != peer_packet_last.hit_cnt) {
        Hit::last_hit_ms = millis();
    }
    peer_packet_last = Air::peer_packet;

    // 发送自己的数据包
    Air::my_packet.color = Hit::color;
    Air::my_packet.hit_cnt = Hit::hit_cnt;
    if (millis() - g_last_cdc_receive_ms > TIMEOUT_MS) { // 超时数据清零
        Air::dbusClear();
    }
}

void handle_serial() {
    // 串口发送 DBUS 数据
    if (millis() - Air::last_air_ms > TIMEOUT_MS) { // 超时数据清零
        memset(Air::peer_packet.dbus, 0, sizeof(Air::peer_packet.dbus));
    }
    uart_write_bytes(DBUS_UART, Air::peer_packet.dbus, sizeof(Air::peer_packet.dbus));
    uart_wait_tx_done(DBUS_UART, pdMS_TO_TICKS(20)); // Serial0.flush()

    // CDC发送：颜色、击打次数、信号强度(tx, rx)、距离最后一次收到消息的毫秒数
    const uint32_t latency_ms = millis() - Air::last_air_ms;
    printf("%d,%d,%d,%d,%d\n",
           static_cast<int>(Air::my_packet.color),
           static_cast<int>(Air::peer_packet.hit_cnt),
           static_cast<int>(Air::peer_packet.rssi),
           static_cast<int>(Air::my_packet.rssi),
           static_cast<int>(latency_ms));
}

// ------------------------------------------------------------- tasks -------
// Equivalent of the original Arduino `loop2()`.
void loop2_task(void *) {
    while (true) {
        button.tick();
        Air::onLoop();

        if (!Air::is_pairing) {   // 不在配对中
            if (g_long_click) {   // 长按配对
                Air::entryPairing();
                Hit::detect_hit = false;
            } else if (g_click) { // 短按切换颜色
                Hit::color = (Hit::color == Hit::RED) ? Hit::BLUE : Hit::RED;
                Storage::putUInt("color", Hit::color);
            } else {              // 正常运行业务逻辑
                handle_air();
                handle_serial();
            }
        } else {                  // 在配对中
            if (g_click) {        // 短按保存配对
                Air::savePairing();
                Hit::color = Hit::RED;
                Storage::putUInt("color", Hit::color);
                Hit::detect_hit = true;
            } else {
                Hit::color = Air::pairing_found ? Hit::GREEN : Hit::YELLOW;
            }
        }

        g_click = false;
        g_long_click = false;

        vTaskDelay(pdMS_TO_TICKS(10));
    }
}

// Equivalent of the original Arduino `loop()`.
void hit_task(void *) {
    while (true) {
        Hit::onLoop();
    }
}

} // namespace

extern "C" void app_main(void) {
    // 初始化 NVS（原 Preferences 底层就是 NVS）
    esp_err_t err = nvs_flash_init();
    if (err == ESP_ERR_NVS_NO_FREE_PAGES || err == ESP_ERR_NVS_NEW_VERSION_FOUND) {
        ESP_ERROR_CHECK(nvs_flash_erase());
        err = nvs_flash_init();
    }
    ESP_ERROR_CHECK(err);
    ESP_ERROR_CHECK(Storage::begin("armor"));

    // With CONFIG_ESP_CONSOLE_USB_SERIAL_JTAG the console initialisation has
    // already installed the USB Serial/JTAG driver, so only install it when
    // that did not happen; reading raw CDC bytes then works either way.
    if (!usb_serial_jtag_is_driver_installed()) {
        usb_serial_jtag_driver_config_t usb_cfg = USB_SERIAL_JTAG_DRIVER_CONFIG_DEFAULT();
        usb_cfg.rx_buffer_size = 256;
        if (usb_serial_jtag_driver_install(&usb_cfg) != ESP_OK) {
            ESP_LOGW(TAG, "USB Serial/JTAG driver unavailable, CDC protocol disabled");
        }
    }

    serial0_begin();

    // 绑定回调函数
    button.attachClick(handleClick);
    button.attachLongPressStart(handleLongPressStart);
    button.setClickMs(50);  // 短按时间（毫秒）
    button.setPressMs(500); // 长按时间（毫秒）

    Hit::begin();
    Air::begin();

    ESP_LOGI(TAG, "armor node started");

    xTaskCreate(cdc_task, "cdc", 3072, nullptr, 5, nullptr);
    xTaskCreate(loop2_task, "loop2", 8192, nullptr, 5, nullptr);
    xTaskCreate(hit_task, "hit", 4096, nullptr, 5, nullptr);
}