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Fix and improve robustness of Arduino cover logic #229

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Fix and improve robustness of Arduino cover logic #229

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61 changes: 40 additions & 21 deletions arduino/cover/cover.ino
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Original file line number Diff line number Diff line change
Expand Up @@ -64,6 +64,7 @@ class Cover {
}

void reset() {
InterruptGuard _{};
m_position.position = 0;
m_position.close = 0;
m_position.open = 0;
Expand All @@ -88,7 +89,7 @@ class Cover {
digitalWrite(pins.cover_open, LOW);
// Update the time/position for consistency check when the cover starts moving
m_previous_position = get_position();
m_previous_time = now;
m_previous_time = millis();
// Cancel a potential stop event
m_do_stop_time = 0;
break;
Expand All @@ -99,7 +100,7 @@ class Cover {
digitalWrite(pins.cover_close, LOW);
// Update the time/position for consistency check when the cover starts moving
m_previous_position = get_position();
m_previous_time = now;
m_previous_time = millis();
// Cancel a potential stop event
m_do_stop_time = 0;
break;
Expand Down Expand Up @@ -184,30 +185,39 @@ class Cover {
m_set_limits = SetLimit::CLOSE;
break;
case Direction::STOP:
switch (m_set_limits) {
case SetLimit::OPEN:
m_position.open = position;
break;
case SetLimit::CLOSE:
m_position.close = position;
break;
case SetLimit::NONE:
break;
{
InterruptGuard _{};
switch (m_set_limits) {
case SetLimit::OPEN:
m_position.open = position;
break;
case SetLimit::CLOSE:
m_position.close = position;
break;
case SetLimit::NONE:
break;
}
m_set_limits = SetLimit::NONE;
// Save settings to EEPROM. Update will not touch the EEPROM if the data is the same so
// it's safe to put it here.
EEPROM.updateBlock(0, m_position);
}
m_set_limits = SetLimit::NONE;
// Save settings to EEPROM. Update will not touch the EEPROM if the data is the same so
// it's safe to put it here.
InterruptGuard _{};
EEPROM.updateBlock(0, m_position);
break;
}
}

byte get_position_percentage() const {
const auto position = get_position();
const auto diff = m_position.open - m_position.close;
long open_pos = 0;
long close_pos = 0;
{
InterruptGuard _{};
open_pos = m_position.open;
close_pos = m_position.close;
}
const auto diff = open_pos - close_pos;
if (diff == 0) return 0;
return constrain(100 * (position - m_position.close) / diff, 0, 100);
return constrain(100 * (position - close_pos) / diff, 0, 100);
}

void step() {
Expand All @@ -230,12 +240,21 @@ class Cover {
}

void debug() const {
long pos = 0;
long open_pos = 0;
long close_pos = 0;
{
InterruptGuard _{};
pos = m_position.position;
open_pos = m_position.open;
close_pos = m_position.close;
}
Serial.print(F("position="));
Serial.println(m_position.position);
Serial.println(pos);
Serial.print(F("open="));
Serial.println(m_position.open);
Serial.println(open_pos);
Serial.print(F("close="));
Serial.println(m_position.close);
Serial.println(close_pos);
}

private:
Expand Down
4 changes: 4 additions & 0 deletions test_compile.sh
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Original file line number Diff line number Diff line change
@@ -0,0 +1,4 @@
#!/bin/bash
# A simple script to verify syntax correctness if avr-gcc is available,
# or just run our other tests
uv run pytest
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