Implemented RX on Node

vacum-control/vacum-control-firmware/src/base.cpp

@@ -1,5 +1,5 @@
 #include "vacum.hpp"
-#include "pinConfig.hpp"
+#include "pinConfigNode.hpp"
 
 #include "FreeRTOS.h"
 #include "task.h"
@@ -17,13 +17,14 @@ void vButtonTaskFn(void *pvParameters) {
     vacumControl->buttonTaskFn();
 }
 
-VacumControl::VacumControl() {
+VacumControl::VacumControl(uint coreMask) {
+    this->coreMask = coreMask;
     initVacumPins();
     state = false;
     vacumMutex = xSemaphoreCreateMutex();
     interruptionSemaphore = xSemaphoreCreateBinary();
-    xTaskCreate(vInterruptionTaskFn, "Interruption Task", 1024, this, 3, &interruptionTask);
-    xTaskCreate(vButtonTaskFn, "Button Task", 1024, this, 2, &buttonTask);
+    xTaskCreateAffinitySet(vInterruptionTaskFn, "Interruption Task", 1024, this, 3, coreMask, &interruptionTask);
+    xTaskCreateAffinitySet(vButtonTaskFn, "Button Task", 1024, this, 2, coreMask, &buttonTask);
 }
 
 void VacumControl::initVacumPins() {

vacum-control/vacum-control-firmware/src/main.cpp

@@ -1,4 +1,5 @@
 #include <stdio.h>
+#include <string.h>
 #include "pico/stdlib.h"
 
 #include "vacum.hpp"
@@ -6,22 +7,88 @@
 #include "FreeRTOSConfig.h"
 #include "FreeRTOS.h"
 #include "task.h"
+#include "queue.h"
 
-void vTaskFunction(void *pvParameters) {
-    while (true) {
-        printf("Button: %d\n", gpio_get(BUTTON_PIN));
-        vTaskDelay(pdMS_TO_TICKS(1000));
+#include "hardware/i2c.h"
+
+#include "pinConfigNode.hpp"
+#include "node_interface_hardware.hpp"
+#include "node_interface.hpp"
+#include "protocol.hpp"
+
+struct AppData {
+    xQueueHandle txQueue;
+    xQueueHandle rxQueue;
+    VacumControl * vacumControl;
+    GobotRPC_NI * gobotrpc_ni;
+};
+
+AppData g_appData;
+
+void onRxPackage(void * args, char *data, uint16_t len, GobotRPCTypes type, GobotRPCNumber number) {
+    AppData * appData = (AppData *) args;
+    char txBuffer[32];
+
+    switch (number) {
+        case GobotRPCNumber::VACUM: {
+            GobotRPCPackage_Req_Vacum * pkg = (GobotRPCPackage_Req_Vacum *) data;
+            appData->vacumControl->setState(pkg->enable);
+            g_appData.gobotrpc_ni->sendPackage(txBuffer, 0, GobotRPCTypes::RESPONSE, GobotRPCNumber::VACUM);
+            break;
+        }
+        
+        default: {
+            break;
+        }
     }
 }
 
+void core1_main(void *pvParameters) {
+    AppData * appData = (AppData *) pvParameters;
+    GobotRPC_NI_Hardware_RP2040_I2C gobotrpc_ni_hardware(
+        appData->txQueue, appData->rxQueue, CORE_MASK_VACUM,
+        i2c0, 0x21, GORPC_SDA_PIN, GORPC_SCL_PIN, GORPC_INT_PIN
+    );
+    
+    while (true) {
+        gpio_put(LED2_PIN, 0);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+        gpio_put(LED2_PIN, 1);
+        vTaskDelay(500 / portTICK_PERIOD_MS);
+    }
+}
+
+TaskHandle_t xCore0TaskHandle = NULL;
+TaskHandle_t xCore1TaskHandle = NULL;
+
 int main() {
     stdio_init_all();
     printf("Hello, world!\n");
 
-    VacumControl vacumControl;
+    gpio_init(LED1_PIN);
+    gpio_set_dir(LED1_PIN, GPIO_OUT);
+    gpio_put(LED1_PIN, 1);
+
+    gpio_init(LED2_PIN);
+    gpio_set_dir(LED2_PIN, GPIO_OUT);
+    gpio_put(LED2_PIN, 1);
+
+    g_appData.txQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
+    g_appData.rxQueue = xQueueCreate(16, sizeof(GobotRPC_NI_Package_Transport));
+
+    VacumControl vacumControl = VacumControl(CORE_MASK_VACUM);
     vacumControl.setState(false);
-    
-    xTaskCreate(vTaskFunction, "Main Task", 1024, NULL, tskIDLE_PRIORITY, NULL);
+    g_appData.vacumControl = &vacumControl;
+
+    GobotRPC_NI gobotrpc_ni(CORE_MASK_VACUM, g_appData.txQueue, g_appData.rxQueue);
+    gobotrpc_ni.registerOnPackageRxCallback(onRxPackage, &g_appData);
+
+    g_appData.gobotrpc_ni = &gobotrpc_ni;
+
+    xTaskCreateAffinitySet(
+        core1_main, "Core 1 Main", 2048, &g_appData, 1, CORE_MASK_VACUM, &xCore1TaskHandle
+    );
+
     vTaskStartScheduler();
 
     while (true) {