Delete App.cpp

App.cpp

-#include <Arduino.h>
-#include <avr/wdt.h>
-#include "App.h"
-#include "Config.h"
-#include "Globals.h"
-#include "Motion.h"
-#include "Qti.h"
-#include "Protocol.h"
-#include "Parser.h"
-#include "LineFollower.h"
-#include "EEPROM_Settings.h"
-
-/**
- * @file App.cpp
- * @brief Main application setup and loop implementation.
- */
-
-/**
- * @brief Sends periodic verbose debug telemetry when enabled.
- *
- * In verbose mode robot sends additional application events containing:
- * - raw QTI sensor state and values
- * - averaged battery voltage
- * - last applied motor pulse widths
- *
- * Verbose output is rate-limited so the serial link is not flooded.
- *
- * @param[in]  now Current time in milliseconds
- * @param[out] none
- * @return     void
- */
-static void sendVerboseIfDue(unsigned long now) {
-  if (!g_debug_mode) {
-    return;
-  }
-
-  if (now - g_last_debug_event_ms < VERBOSE_EVENT_MS) {
-    return;
-  }
-
-  g_last_debug_event_ms = now;
-
-  const unsigned int tl = readQtiTime(PIN_QTI_LEFT);
-  const unsigned int tm = readQtiTime(PIN_QTI_MIDDLE);
-  const unsigned int tr = readQtiTime(PIN_QTI_RIGHT);
-
-  const uint8_t l = (tl < g_qti_threshold_us) ? 1 : 0;
-  const uint8_t m = (tm < g_qti_threshold_us) ? 1 : 0;
-  const uint8_t r = (tr < g_qti_threshold_us) ? 1 : 0;
-
-  sendSensorEvent(l, m, r, tl, tm, tr);
-  sendEventData1(EV_APP_BAT, readBatteryMv());
-  sendEventData2(EV_APP_MOTOR, (uint16_t)g_last_left_us, (uint16_t)g_last_right_us);
-}
-
-/**
- * @brief Updates timed manual motor driving in idle/test modes.
- *
- * When a manual drive time was specified, wheels are stopped once the
- * timeout expires.
- *
- * @param[in]  now Current time in milliseconds
- * @param[out] none
- * @return     void
- */
-static void updateManualDrive(unsigned long now) {
-  if (!g_manual_drive_active) {
-    stopWheels();
-    return;
-  }
-
-  if (g_manual_drive_until_ms == 0) {
-    return;
-  }
-
-  if (now >= g_manual_drive_until_ms) {
-    g_manual_drive_active = false;
-    g_manual_drive_until_ms = 0;
-    stopWheels();
-  }
-}
-
-/**
- * @brief Initializes the application, hardware, and runtime state.
- *
- * Configures serial communication, GPIO pins, servos, internal state,
- * battery input, periodic timers, and loads persistent settings from
- * EEPROM. Sends the initial reset event and first status frame.
- * Optionally enables the watchdog.
- *
- * @param[in]  none
- * @param[out] none
- * @return     void
- */
-void appSetup() {
-  MCUSR = 0;
-  wdt_disable();
-
-  Serial.begin(SERIAL_BAUD);
-
-  pinMode(PIN_LED_RIGHT, OUTPUT);
-  pinMode(PIN_LED_LEFT, OUTPUT);
-  pinMode(PIN_BUTTON, INPUT_PULLUP);
-  pinMode(PIN_BATTERY, INPUT);
-
-  g_left_wheel.attach(PIN_SERVO_LEFT);
-  g_right_wheel.attach(PIN_SERVO_RIGHT);
-
-  stopWheels();
-  setLedRaw(LED_ON, LED_ON);
-  delay(BOOT_BLINK_MS);
-  setLedRaw(LED_OFF, LED_OFF);
-
-  g_mode = MODE_IDLE;
-  g_start_countdown_active = false;
-  g_start_boost_active = false;
-  g_lap_pause_active = false;
-  g_marker_pause_active = false;
-  g_show_qti_values = 0;
-  g_marker_counter = 0;
-  g_special_line_consec = 0;
-  g_centered_consec = 0;
-  g_special_line_armed = false;
-  g_line_lost_since_ms = 0;
-  g_manual_drive_active = false;
-  g_manual_drive_until_ms = 0;
-
-  eepromLoadSettings();
-
-  g_last_button_state = digitalRead(PIN_BUTTON);
-  g_button_ready_after_ms = millis() + BUTTON_STARTUP_IGNORE_MS;
-
-  g_last_status_ms = millis();
-  g_last_step_ms = millis();
-  g_last_sensor_event_ms = millis();
-  g_last_debug_event_ms = millis();
-
-  stopWheels();
-  setLedRaw(LED_OFF, LED_OFF);
-
-  sendEvent(EV_RESET);
-  sendStatus();
-
-  if (WATCHDOG_ENABLED) {
-    wdt_enable(WDTO_1S);
-  }
-}
-
-/**
- * @brief Runs one iteration of the main application loop.
- *
- * Services the watchdog, polls incoming commands, polls the user button,
- * sends periodic status frames, optionally sends verbose debug telemetry,
- * and executes the line follower state machine while the robot is in run
- * mode.
- *
- * @param[in]  none
- * @param[out] none
- * @return     void
- */
-void appLoop() {
-  if (WATCHDOG_ENABLED) {
-    wdt_reset();
-  }
-
-  pollCommands();
-  pollButton();
-
-  const unsigned long now = millis();
-
-  if (g_telemetry_enabled && (now - g_last_status_ms >= STATUS_INTERVAL_MS)) {
-    g_last_status_ms = now;
-    sendStatus();
-  }
-
-  sendVerboseIfDue(now);
-
-  if (g_mode == MODE_RUN) {
-    if (now - g_last_step_ms >= STEP_INTERVAL_MS) {
-      g_last_step_ms = now;
-      lineFollowerStep();
-    }
-  } else if (g_mode == MODE_TEST || g_mode == MODE_IDLE) {
-    updateManualDrive(now);
-  } else {
-    stopWheels();
-  }
-}
\ No newline at end of file