Merge branch 'feature/input-service-improvements' into feature/YF-cover-ui

Author: rovo89

.devcontainer/Dockerfile

@@ -18,6 +18,7 @@ RUN --mount=type=cache,target=/var/cache/apt,sharing=locked \
     cmake make \
     gdb-multiarch && \
     ln -s /usr/bin/nm /usr/bin/nm-multiarch && \
-    ln -s /usr/bin/objdump /usr/bin/objdump-multiarch
+    ln -s /usr/bin/objdump /usr/bin/objdump-multiarch && \
+    echo 'source /usr/share/bash-completion/completions/git' >> /home/dev/.bashrc
 
 USER $USERNAME

.devcontainer/devcontainer.json

@@ -6,7 +6,7 @@
 		"vscode": {
 			"extensions": [
 				"ms-vscode.cpptools-extension-pack",
-				"marus25.cortex-debug",
+				"marus25.cortex-debug"
 			]
 		}
 	}

src/drivers/input/input_driver.cpp

@@ -5,23 +5,43 @@
 
 namespace xbot::driver::input {
 
-bool Input::Update(bool new_active) {
+bool Input::Update(bool new_active, uint32_t predate) {
   if (invert) {
     new_active = !new_active;
   }
   bool expected = !new_active;
   if (active.compare_exchange_strong(expected, new_active)) {
-    const uint32_t now = xbot::service::system::getTimeMicros();
+    const uint32_t now = xbot::service::system::getTimeMicros() - predate;
     if (new_active) {
       active_since = now;
+      input_service.OnInputChanged(*this, true, 0);
+    } else {
+      const uint32_t duration = ActiveDuration(now);
+      if (emergency_reason != 0 && duration >= emergency_delay_ms * 1'000) {
+        emergency_pending = true;
+      }
+      input_service.OnInputChanged(*this, false, duration);
     }
-    input_service.OnInputChanged(*this, new_active, ActiveDuration(now));
     chEvtBroadcastFlags(&mower_events, MowerEvents::INPUTS_CHANGED);
     return true;
   }
   return false;
 }
 
+bool Input::GetAndClearPendingEmergency() {
+  bool only_if_pending = true;
+  return emergency_pending.compare_exchange_strong(only_if_pending, false);
+}
+
+void Input::InjectPress(bool long_press) {
+  InjectPress(input_service.GetPressDelay(long_press));
+}
+
+void Input::InjectPress(uint32_t duration) {
+  Update(true, duration);
+  Update(false);
+}
+
 void InputDriver::AddInput(Input* input) {
   if (inputs_head_ == nullptr) {
     inputs_head_ = input;

src/drivers/input/input_driver.hpp

@@ -33,16 +33,21 @@ struct Input {
     return active;
   }
 
-  bool Update(bool new_active);
+  bool Update(bool new_active, uint32_t predate = 0);
+  bool GetAndClearPendingEmergency();
+
+  void InjectPress(bool long_press = false);
+  void InjectPress(uint32_t duration);
 
   uint32_t ActiveDuration(const uint32_t now) const {
     return now - active_since;
   }
 
  private:
-  etl::atomic<bool> active = false;
-  uint32_t active_since = 0;
-  Input* next_for_driver_ = nullptr;
+  etl::atomic<bool> active{false};
+  etl::atomic<bool> emergency_pending{false};
+  uint32_t active_since{0};
+  Input* next_for_driver_{nullptr};
 
   friend class InputDriver;
   friend struct InputIterable;

src/services/input_service/input_service.cpp

@@ -223,10 +223,13 @@ etl::pair<uint16_t, uint32_t> InputService::GetEmergencyReasons(uint32_t now) {
   Lock lk(&mutex_);
   uint16_t reasons = 0;
   uint32_t block_time = UINT32_MAX;
-  for (const auto& input : all_inputs_) {
-    // TODO: What if the input was triggered so briefly that we couldn't observe it?
-    if (input.emergency_reason == 0 || !input.IsActive()) continue;
-    if (TimeoutReached(input.ActiveDuration(now), input.emergency_delay_ms * 1'000, block_time)) {
+  for (auto& input : all_inputs_) {
+    if (input.emergency_reason == 0) continue;
+    if (input.GetAndClearPendingEmergency()) {
+      reasons |= input.emergency_reason;
+      block_time = 0;
+    } else if (input.IsActive() &&
+               TimeoutReached(input.ActiveDuration(now), input.emergency_delay_ms * 1'000, block_time)) {
       reasons |= input.emergency_reason;
     }
   }

src/services/input_service/input_service.hpp

@@ -32,6 +32,10 @@ class InputService : public InputServiceBase {
 
   etl::pair<uint16_t, uint32_t> GetEmergencyReasons(uint32_t now);
 
+  uint32_t GetPressDelay(bool long_press = false) {
+    return long_press ? LongPressTime.value : DebounceTime.value;
+  }
+
  private:
   MUTEX_DECL(mutex_);