main.cpp

/*
	SlimeVR Code is placed under the MIT license
	Copyright (c) 2021 Eiren Rain & SlimeVR contributors

	Permission is hereby granted, free of charge, to any person obtaining a copy
	of this software and associated documentation files (the "Software"), to deal
	in the Software without restriction, including without limitation the rights
	to use, copy, modify, merge, publish, distribute, sublicense, and/or sell
	copies of the Software, and to permit persons to whom the Software is
	furnished to do so, subject to the following conditions:

	The above copyright notice and this permission notice shall be included in
	all copies or substantial portions of the Software.

	THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR
	IMPLIED, INCLUDING BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY,
	FITNESS FOR A PARTICULAR PURPOSE AND NONINFRINGEMENT. IN NO EVENT SHALL THE
	AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, DAMAGES OR OTHER
	LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM,
	OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN
	THE SOFTWARE.
*/

#include <i2cscan.h>

#include "GlobalVars.h"
#include "Wire.h"
#include "batterymonitor.h"
#include "button.h"
#include "credentials.h"
#include "debugging/TimeTaken.h"
#include "globals.h"
#include "logging/Logger.h"
#include "ota.h"
#include "serial/serialcommands.h"
#include "status/TPSCounter.h"

Timer<> globalTimer;
SlimeVR::Logging::Logger logger("SlimeVR");
SlimeVR::Sensors::SensorManager sensorManager;
SlimeVR::LEDManager ledManager;
SlimeVR::Status::StatusManager statusManager;
SlimeVR::Configuration::Configuration configuration;
SlimeVR::Network::Manager networkManager;
SlimeVR::Network::Connection networkConnection;

#if DEBUG_MEASURE_SENSOR_TIME_TAKEN
SlimeVR::Debugging::TimeTakenMeasurer sensorMeasurer{"Sensors"};
#endif

int sensorToCalibrate = -1;
bool blinking = false;
unsigned long blinkStart = 0;
unsigned long loopTime = 0;
unsigned long lastStatePrint = 0;
bool secondImuActive = false;
BatteryMonitor battery;
TPSCounter tpsCounter;

void setup() {
	Serial.begin(serialBaudRate);
	globalTimer = timer_create_default();

	Serial.println();
	Serial.println();
	Serial.println();

#ifdef ON_OFF_BUTTON_PIN
	OnOffButton::getInstance().setup();
	OnOffButton::getInstance().onBeforeSleep([]() { sensorManager.deinitAll(); });
#endif

	logger.info("SlimeVR v" FIRMWARE_VERSION " starting up...");

	statusManager.setStatus(SlimeVR::Status::LOADING, true);

	ledManager.setup();
	configuration.setup();

	SerialCommands::setUp();
	// Make sure the bus isn't stuck when resetting ESP without powering it down
	// Fixes I2C issues for certain IMUs. Previously this feature was enabled for
	// selected IMUs, now it's enabled for all. If some IMU turned out to be broken by
	// this, check needs to be re-added.
	auto clearResult = I2CSCAN::clearBus(PIN_IMU_SDA, PIN_IMU_SCL);
	if (clearResult != 0) {
		logger.warn("Can't clear I2C bus, error %d", clearResult);
	}

	// join I2C bus

#ifdef ESP32
	// For some unknown reason the I2C seem to be open on ESP32-C3 by default. Let's
	// just close it before opening it again. (The ESP32-C3 only has 1 I2C.)
	Wire.end();
#endif

	// using `static_cast` here seems to be better, because there are 2 similar function
	// signatures
	Wire.begin(static_cast<int>(PIN_IMU_SDA), static_cast<int>(PIN_IMU_SCL));

#ifdef ESP8266
	Wire.setClockStretchLimit(150000L);  // Default stretch limit 150mS
#endif
#ifdef ESP32  // Counterpart on ESP32 to ClockStretchLimit
	Wire.setTimeOut(150);
#endif
	Wire.setClock(I2C_SPEED);

	// Wait for IMU to boot
	delay(500);

	sensorManager.setup();

	networkManager.setup();
	OTA::otaSetup(otaPassword);
	battery.Setup();

	statusManager.setStatus(SlimeVR::Status::LOADING, false);

	sensorManager.postSetup();

	loopTime = micros();
	tpsCounter.reset();
}

void loop() {
	tpsCounter.update();
	globalTimer.tick();
	SerialCommands::update();
	OTA::otaUpdate();
	networkManager.update();

#if DEBUG_MEASURE_SENSOR_TIME_TAKEN
	sensorMeasurer.before();
#endif
	sensorManager.update();
#if DEBUG_MEASURE_SENSOR_TIME_TAKEN
	sensorMeasurer.after();
#endif

	battery.Loop();
	ledManager.update();
	I2CSCAN::update();

#ifdef ON_OFF_BUTTON_PIN
	OnOffButton::getInstance().tick();

	if (!sensorManager.allAtRest()) {
		OnOffButton::getInstance().signalTrackerMoved();
	}
#endif

#ifdef TARGET_LOOPTIME_MICROS
	long elapsed = (micros() - loopTime);
	if (elapsed < TARGET_LOOPTIME_MICROS) {
		long sleepus = TARGET_LOOPTIME_MICROS - elapsed - 100;  // µs to sleep
		long sleepms = sleepus / 1000;  // ms to sleep
		if (sleepms > 0)  // if >= 1 ms
		{
			delay(sleepms);  // sleep ms = save power
			sleepus -= sleepms * 1000;
		}
		if (sleepus > 100) {
			delayMicroseconds(sleepus);
		}
	}
	loopTime = micros();
#endif
#if defined(PRINT_STATE_EVERY_MS) && PRINT_STATE_EVERY_MS > 0
	unsigned long now = millis();
	if (lastStatePrint + PRINT_STATE_EVERY_MS < now) {
		lastStatePrint = now;
		SerialCommands::printState();
	}
#endif
}