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feat(visual): add ledtest serial command and fix cooperative task shutdown
Add serial command `ledtest` that cycles through: - Mono LED PWM brightness sweep (up/down) - RGB LED color test (R/G/B/white, rainbow cycle, brightness sweep) - All visual state patterns (WiFi, WS, E-Stop states, critical error) Fix cooperative task shutdown in both LED drivers by chunking long vTaskDelay calls into 50ms intervals, allowing m_stopRequested to be checked promptly instead of force-killing tasks after timeout. Co-Authored-By: Claude Opus 4.6 (1M context) <noreply@anthropic.com>
1 parent 12baa02 commit 307fc02

6 files changed

Lines changed: 178 additions & 2 deletions

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‎include/serial/command_handlers/index.h‎

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@@ -21,6 +21,7 @@ namespace OpenShock::Serial::CommandHandlers {
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OpenShock::Serial::CommandGroup RawConfigHandler();
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OpenShock::Serial::CommandGroup RfTransmitHandler();
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OpenShock::Serial::CommandGroup FactoryResetHandler();
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OpenShock::Serial::CommandGroup LedTestHandler();
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inline std::vector<OpenShock::Serial::CommandGroup> AllCommandHandlers()
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{
@@ -41,6 +42,7 @@ namespace OpenShock::Serial::CommandHandlers {
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RawConfigHandler(),
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RfTransmitHandler(),
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FactoryResetHandler(),
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LedTestHandler(),
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};
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}
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} // namespace OpenShock::Serial::CommandHandlers

‎include/visual/VisualStateManager.h‎

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@@ -8,4 +8,7 @@ namespace OpenShock::VisualStateManager {
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void SetCriticalError();
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void SetScanningStarted();
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/// Cycles through all LED patterns for visual verification. Blocks for ~20s.
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void RunLedTest();
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} // namespace OpenShock::VisualStateManager

‎src/serial/command_handlers/ledtest.cpp‎

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@@ -0,0 +1,24 @@
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#include "serial/command_handlers/common.h"
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#include "visual/VisualStateManager.h"
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void _handleSerialLedTestCommand(std::string_view arg, bool isAutomated)
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{
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(void)arg;
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(void)isAutomated;
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SERPR_RESPONSE("LedTest|Starting LED test (~24s)...");
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OpenShock::VisualStateManager::RunLedTest();
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SERPR_SUCCESS("LedTest|Complete");
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}
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OpenShock::Serial::CommandGroup OpenShock::Serial::CommandHandlers::LedTestHandler()
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{
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auto group = OpenShock::Serial::CommandGroup("ledtest"sv);
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group.addCommand("Cycle through all LED patterns for visual verification"sv, _handleSerialLedTestCommand);
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return group;
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}

‎src/visual/MonoLedDriver.cpp‎

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@@ -130,7 +130,14 @@ void MonoLedDriver::RunPattern()
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if (m_stopRequested.load(std::memory_order_relaxed)) break;
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ledc_set_duty(OS_LEDC_SPEED, OS_LEDC_CHANNEL, state.level ? m_brightness : 0);
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ledc_update_duty(OS_LEDC_SPEED, OS_LEDC_CHANNEL);
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vTaskDelay(pdMS_TO_TICKS(state.duration));
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// Chunked delay so cooperative shutdown can interrupt long waits
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uint32_t remaining = state.duration;
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while (remaining > 0 && !m_stopRequested.load(std::memory_order_relaxed)) {
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uint32_t chunk = remaining > 50 ? 50 : remaining;
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vTaskDelay(pdMS_TO_TICKS(chunk));
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remaining -= chunk;
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}
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}
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}
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‎src/visual/RgbLedDriver.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -141,7 +141,14 @@ void RgbLedDriver::RunPattern()
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// Send the data
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rmtWriteBlocking(m_rmtHandle, led_data.data(), led_data.size());
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vTaskDelay(pdMS_TO_TICKS(state.duration));
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// Chunked delay so cooperative shutdown can interrupt long waits
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uint32_t remaining = state.duration;
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while (remaining > 0 && !m_stopRequested.load(std::memory_order_relaxed)) {
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uint32_t chunk = remaining > 50 ? 50 : remaining;
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vTaskDelay(pdMS_TO_TICKS(chunk));
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remaining -= chunk;
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}
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}
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}
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‎src/visual/VisualStateManager.cpp‎

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Original file line numberDiff line numberDiff line change
@@ -429,3 +429,136 @@ void VisualStateManager::SetScanningStarted()
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_updateVisualState();
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}
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}
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void VisualStateManager::RunLedTest()
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{
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// Save current state
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uint64_t savedFlags = s_stateFlags.load(std::memory_order_relaxed);
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OS_LOGI(TAG, "=== LED Test Started ===");
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// --- Phase 1: Mono LED brightness sweep (tests LEDC PWM) ---
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if (s_monoLedDriver != nullptr) {
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OS_LOGI(TAG, " [Mono] Brightness sweep up");
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s_monoLedDriver->ClearPattern();
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static const MonoLedDriver::State solidOn[] = {
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{true, 100'000}
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};
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for (uint16_t b = 0; b <= 255; b += 5) {
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s_monoLedDriver->SetBrightness(static_cast<uint8_t>(b));
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s_monoLedDriver->SetPattern(solidOn);
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vTaskDelay(pdMS_TO_TICKS(20));
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}
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OS_LOGI(TAG, " [Mono] Brightness sweep down");
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for (int16_t b = 255; b >= 0; b -= 5) {
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s_monoLedDriver->SetBrightness(static_cast<uint8_t>(b));
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s_monoLedDriver->SetPattern(solidOn);
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vTaskDelay(pdMS_TO_TICKS(20));
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}
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// Restore default brightness
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s_monoLedDriver->SetBrightness(255);
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s_monoLedDriver->ClearPattern();
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vTaskDelay(pdMS_TO_TICKS(500));
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}
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// --- Phase 2: RGB LED color test ---
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if (s_rgbLedDriver != nullptr) {
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uint8_t savedBrightness = 20; // default from Init()
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s_rgbLedDriver->SetBrightness(255);
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OS_LOGI(TAG, " [RGB] Red");
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static const RgbLedDriver::RGBState red[] = {
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{255, 0, 0, 100'000}
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};
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s_rgbLedDriver->SetPattern(red);
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vTaskDelay(pdMS_TO_TICKS(1500));
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OS_LOGI(TAG, " [RGB] Green");
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static const RgbLedDriver::RGBState green[] = {
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{0, 255, 0, 100'000}
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};
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s_rgbLedDriver->SetPattern(green);
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vTaskDelay(pdMS_TO_TICKS(1500));
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OS_LOGI(TAG, " [RGB] Blue");
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static const RgbLedDriver::RGBState blue[] = {
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{0, 0, 255, 100'000}
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};
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s_rgbLedDriver->SetPattern(blue);
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vTaskDelay(pdMS_TO_TICKS(1500));
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OS_LOGI(TAG, " [RGB] White");
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static const RgbLedDriver::RGBState white[] = {
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{255, 255, 255, 100'000}
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};
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s_rgbLedDriver->SetPattern(white);
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vTaskDelay(pdMS_TO_TICKS(1500));
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OS_LOGI(TAG, " [RGB] Color cycle");
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static const RgbLedDriver::RGBState cycle[] = {
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{255, 0, 0, 500},
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{255, 165, 0, 500},
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{255, 255, 0, 500},
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{ 0, 255, 0, 500},
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{ 0, 255, 255, 500},
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{ 0, 0, 255, 500},
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{128, 0, 255, 500},
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{255, 0, 255, 500},
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};
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s_rgbLedDriver->SetPattern(cycle);
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vTaskDelay(pdMS_TO_TICKS(4000));
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OS_LOGI(TAG, " [RGB] Brightness sweep");
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static const RgbLedDriver::RGBState solidWhite[] = {
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{255, 255, 255, 100'000}
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};
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for (uint16_t b = 0; b <= 255; b += 5) {
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s_rgbLedDriver->SetBrightness(static_cast<uint8_t>(b));
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s_rgbLedDriver->SetPattern(solidWhite);
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vTaskDelay(pdMS_TO_TICKS(20));
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}
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for (int16_t b = 255; b >= 0; b -= 5) {
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s_rgbLedDriver->SetBrightness(static_cast<uint8_t>(b));
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s_rgbLedDriver->SetPattern(solidWhite);
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vTaskDelay(pdMS_TO_TICKS(20));
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}
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s_rgbLedDriver->SetBrightness(savedBrightness);
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s_rgbLedDriver->ClearPattern();
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vTaskDelay(pdMS_TO_TICKS(500));
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}
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// --- Phase 3: State pattern test (both LEDs together) ---
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struct TestStep {
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const char* name;
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uint64_t flags;
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uint32_t durationMs;
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};
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static const TestStep steps[] = {
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{ "WiFi Disconnected", 0, 2000},
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{ "WiFi Connected (no WS)", kHasIpAddressFlag, 2000},
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{ "WebSocket Connected", kWebSocketConnectedFlag | kHasIpAddressFlag | kWiFiConnectedFlag, 2000},
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{ "E-Stop Active", kEmergencyStoppedFlag, 2000},
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{ "E-Stop Active Clearing", kEmergencyStoppedFlag | kEmergencyStopActiveClearingFlag, 2000},
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{"E-Stop Awaiting Release", kEmergencyStoppedFlag | kEmergencyStopAwaitingReleaseFlag, 2000},
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{ "Critical Error", kCriticalErrorFlag, 2000},
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};
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OS_LOGI(TAG, " State patterns:");
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for (const auto& step : steps) {
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OS_LOGI(TAG, " %s", step.name);
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s_stateFlags.store(step.flags, std::memory_order_relaxed);
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_updateVisualState();
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vTaskDelay(pdMS_TO_TICKS(step.durationMs));
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}
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// Restore original state
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OS_LOGI(TAG, "=== LED Test Complete, restoring state ===");
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s_stateFlags.store(savedFlags, std::memory_order_relaxed);
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_updateVisualState();
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}

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