#include <Arduino.h>
#include <REPTestOS.h>

REPTestOS OS; //create now Operating System object

void setup()
{
  OS.bootOS();
}

void loop()
{
  OS.runOS();
}

#include "REPTestOS.h"
#include "Util.h"

//global variable definitions
Util util;
PnumaControl pnuma1(9, 10);

REPTestOS::REPTestOS(){};  //constructor
REPTestOS::~REPTestOS(){}; //destructor

void REPTestOS::bootOS() //boot operating system function. To run in startup
{
  Wire.begin();              //Start wire
  setupMenu();               //Initialize menu system
  Serial.begin(9600);        // initialize serial communication at 9600 bits per second:
  Serial.println("Booting"); //small serial indicator during boot phase

  //Start remaining items
}

void REPTestOS::runOS() //constantly runs in loop
{
  taskManager.runLoop(); //handler for menu system task management
}

/*----------------------------------------------------------
------------------------------------------------------------
----------------- Menu System Handlers ---------------------
------------------------------------------------------------
----------------------------------------------------------*/

void CALLBACK_FUNCTION cycleFrequency(int id)
{
  pnuma1.cyclesPerSecond = int(menuTestSettingsCyclesPerSecond.getAsFloatingPointValue()); //update pnuma1 with value
}

void CALLBACK_FUNCTION pullControl(int id)
{
  pnuma1.setMode(menuTestSettingsPush.getBoolean(), menuTestSettingsPull.getBoolean()); //update pnuma1 with mode
}

void CALLBACK_FUNCTION pushControl(int id)
{
  pnuma1.setMode(menuTestSettingsPush.getBoolean(), menuTestSettingsPull.getBoolean()); //update pnuma1 with mode
}

void CALLBACK_FUNCTION stopTest(int id)
{
  pnuma1.running = false;
}

void CALLBACK_FUNCTION startTest(int id)
{
  pnuma1.running = true;
}

PnumaControl::PnumaControl(int pushIn, int pullIn)
{
    pushPin = pushIn; //constructor requires push and pull actuator pin #'s, set to private
    pullPin = pullIn;
}

PnumaControl::~PnumaControl()
{
}

void PnumaControl::setup()
{
    pinMode(pushPin, OUTPUT);
    pinMode(pullPin, OUTPUT);
    digitalWrite(pushPin, LOW);
    digitalWrite(pullPin, LOW);
}
void PnumaControl::control()
{
    if (running)
    {
        baseClock = millis();                                //update clock
        unsigned long timeDelta = baseClock - lastActuation; //find time difference between last actuation

        int freq = 1000 / cyclesPerSecond; //compare to desired frequency

        if (timeDelta > freq)
        {
            setNextCycle();           //update state based off of mode
            actuate();                //fire updated actuation state
            lastActuation = millis(); //reset timer
        }
    }
};

void CALLBACK_FUNCTION cycleFrequency(int id)
{
  auto cycles = int(menuTestSettingsCyclesPerSecond.getAsFloatingPointValue()); //update pnuma1 with value
  pnuma1.onCycleFrequencyChanged(cycles); 
}

If I define a global instance of PnumaControl, within REPTestOS, I have access to it within the callback functions which I've moved to REPTestOS

class Abc {
private:
  int a;
  int b;
  int c;

public:

  void onAChanged(int val) {
     a = val
  }
};

// forward declare Abc here, so it can be used anywhere
extern Abc myGlobalAbc;

// declare it global here
Abc myGlobalAbc;

#include <abc.h>
// use myGlobalAbc here

davetcc wrote:Instead of your control method that currently needs to do the timing loop, why not create a taskManager event or task that does this instead. TcMenu is built on top of taskManager, so it's there for you to use by default.

davetcc wrote:If I understand this correctly, you want to access your global instance in different places, this is a bit beyond to scope of this forum to be honest, it's more a C++ question. But hey let's give it a go here:

If I had class Abc that I wanted to access in various places.


Abc.h

class Abc {
private:
  int a;
  int b;
  int c;

public:

  void onAChanged(int val) {
     a = val
  }
};

// forward declare Abc here, so it can be used anywhere
extern Abc myGlobalAbc;

abc.cpp

// declare it global here
Abc myGlobalAbc;

main.cpp

#include <abc.h>
// use myGlobalAbc here

davetcc wrote:Also, are you confusing classes with libraries, or are you putting each class in it's own Arduino / PIO library?

davetcc wrote:At the moment you can't move the callbacks out of main when using the designer, it will just put them back into the main file again on the next pass, thinking that they are missing. Has tcMenu designer detected your main class with that name?

That said, as I understand it, globals are bad practice and should be avoided

davetcc wrote:Don’t forget that even the boards that sound huge has less available memory than you may expect after RTOS has started.

I did notice that all the required support tcmenu needs takes up a substantial amount of room. I'm currently at 29400bytes Flash, and 1065 Ram

I was under the impression that the compiler would look at all variables, functions and objects, and when they are called in say, the setup() function,