1. use core::usize;
3. use embassy_futures::select::{select, select_slice, Either};
4. use embassy_time::{Duration, Timer};
5. use esp_hal::gpio::{AnyPin, Output, PushPull};
7. use crate::{
8. error::ErrorExt,
9. state::{ValveEvent, VALVE_EVENT_CHANNEL},
10. utils::OptFuture,
11. };
13. pub struct ValveControl<const SIZE: usize> {
14. pins: [AnyPin<Output<PushPull>>; SIZE],
15. deadlines: [OptFuture<Timer>; SIZE],
16. }
18. impl<const SIZE: usize> ValveControl<SIZE> {
19. pub fn new(mut pins: [AnyPin<Output<PushPull>>; SIZE]) -> Self {
20. for pin in &mut pins {
21. pin.set_high();
22. }
24. let deadlines = [(); SIZE].map(|_| OptFuture::default());
25. Self { pins, deadlines }
26. }
28. pub fn control(&mut self, id: u8) -> Option<Valve<'_>> {
29. let pin = self.pins.get_mut(id as usize)?;
30. let deadline = self.deadlines.get_mut(id as usize)?;
32. Some(Valve { id, pin, deadline })
33. }
35. async fn wait_for_next_close(&mut self) -> Valve<'_> {
36. let ((), index) = select_slice(&mut self.deadlines).await;
37. self.deadlines[index] = OptFuture::default();
39. Valve {
40. id: index as u8,
41. pin: &mut self.pins[index],
42. deadline: &mut self.deadlines[index],
43. }
44. }
45. }
47. pub struct Valve<'a> {
48. pub id: u8,
49. pin: &'a mut AnyPin<Output<PushPull>>,
50. deadline: &'a mut OptFuture<Timer>,
51. }
53. impl<'a> Valve<'a> {
54. pub fn open(&mut self, duration: Duration) {
55. log::info!("opening valve {} for {} secs", self.id, duration.as_secs());
56. *self.deadline = Timer::after(duration).into();
57. self.pin.set_low();
58. }
60. pub fn close(&mut self) {
61. log::info!("closing valve {}", self.id);
62. self.pin.set_high();
63. *self.deadline = OptFuture::default();
64. }
65. }
67. #[embassy_executor::task]
68. pub async fn task(mut valves: ValveControl<4>) -> ! {
69. let mut subscriber = VALVE_EVENT_CHANNEL.subscriber().log_unwrap();
71. macro_rules! try_get_valve {
72. ($id:expr) => {
73. match valves.control($id) {
74. Some(valve) => valve,
75. None => {
76. log::warn!("tried to control invalid pin {}", $id);
77. continue;
78. }
79. }
80. };
81. }
83. loop {
84. match select(valves.wait_for_next_close(), subscriber.next_message_pure()).await {
85. Either::First(mut valve) => {
86. log::info!("deadline reached for valve {}", valve.id);
87. valve.close()
88. }
89. Either::Second(ValveEvent::Open { id, duration }) => {
90. let mut valve = try_get_valve!(id);
91. valve.open(duration);
92. }
93. Either::Second(ValveEvent::Close(id)) => {
94. let mut valve = try_get_valve!(id);
95. valve.close();
96. }
97. }
98. }
99. }