feat: added statistics

README.md

@@ -61,6 +61,14 @@ void app_main(void)
     printf("Encoder position %0.2f.\n", position); // For ESP8266 first disable "Component config -> Newlib -> Enable ‘nano’ formatting options for printf/scanf family" via menuconfig.
     // zh_encoder_set(&encoder_handle, 5); // Just for example.
     // zh_encoder_reset(&encoder_handle);  // Just for example.
+    for (;;)
+    {
+        const zh_encoder_stats_t *stats = zh_encoder_get_stats();
+        printf("Number of event post error: %ld.\n", stats->event_post_error);
+        printf("Number of queue overflow error: %ld.\n", stats->queue_overflow_error);
+        printf("Minimum free stack size: %ld.\n", stats->min_stack_size);
+        vTaskDelay(10000 / portTICK_PERIOD_MS);
+    }
 }
 
 void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)

include/zh_encoder.h

@@ -64,6 +64,16 @@ extern "C"
         bool is_initialized;       /*!< Encoder initialization flag. */
     } zh_encoder_handle_t;
 
+    /**
+     * @brief Structure for error statistics storage.
+     */
+    typedef struct
+    {
+        uint32_t event_post_error;     /*!< Number of event post error. */
+        uint32_t queue_overflow_error; /*!< Number of queue overflow error. */
+        uint32_t min_stack_size;       /*!< Minimum free stack size. */
+    } zh_encoder_stats_t;
+
     ESP_EVENT_DECLARE_BASE(ZH_ENCODER);
 
     /**
@@ -124,6 +134,18 @@ extern "C"
      */
     esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle);
 
+    /**
+     * @brief Get error statistics.
+     *
+     * @return Pointer to the statistics structure.
+     */
+    const zh_encoder_stats_t *zh_encoder_get_stats(void);
+
+    /**
+     * @brief Reset error statistics.
+     */
+    void zh_encoder_reset_stats(void);
+
 #ifdef __cplusplus
 }
 #endif

version.txt

@@ -1 +1 @@
-1.0.0
+1.1.0

zh_encoder.c

@@ -28,12 +28,13 @@ static const uint8_t _encoder_matrix[7][4] = {
 TaskHandle_t zh_encoder = NULL;
 static QueueHandle_t _queue_handle = NULL;
 static bool _is_initialized = false;
+static bool _is_prev_gpio_isr_handler = false;
+static zh_encoder_stats_t _stats = {0};
 
 static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config);
-static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config);
-static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
-static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *config);
-static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config);
+static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle);
+static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config);
+static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config);
 static void _zh_encoder_isr_handler(void *arg);
 static void _zh_encoder_isr_processing_task(void *pvParameter);
 
@@ -44,26 +45,37 @@ esp_err_t zh_encoder_init(const zh_encoder_init_config_t *config, zh_encoder_han
     ZH_LOGI("Encoder initialization started.");
     esp_err_t err = _zh_encoder_validate_config(config);
     ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Initial configuration check failed.");
-    ZH_LOGI("Encoder initial configuration check completed successfully.");
+    err = _zh_encoder_gpio_init(config, handle);
+    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. GPIO initialization failed.");
+    err = _zh_encoder_resources_init(config);
+    if (_is_prev_gpio_isr_handler == true)
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number);
+                       gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed.");
+    }
+    else
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number); gpio_uninstall_isr_service();
+                       gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Resources initialization failed.");
+    }
+    err = _zh_encoder_task_init(config);
+    if (_is_prev_gpio_isr_handler == true)
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
+                       gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Processing task initialization failed.");
+    }
+    else
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, vQueueDelete(_queue_handle); _queue_handle = NULL; gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_isr_handler_remove((gpio_num_t)config->b_gpio_number);
+                       gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Encoder initialization failed. Processing task initialization failed.");
+    }
+    handle->a_gpio_number = config->a_gpio_number;
+    handle->b_gpio_number = config->b_gpio_number;
     handle->encoder_number = config->encoder_number;
     handle->encoder_min_value = config->encoder_min_value;
     handle->encoder_max_value = config->encoder_max_value;
     handle->encoder_step = config->encoder_step;
     handle->encoder_position = (handle->encoder_min_value + handle->encoder_max_value) / 2;
-    err = _zh_encoder_gpio_init(config);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. GPIO initialization failed.");
-    ZH_LOGI("Encoder GPIO initialization completed successfully.");
-    handle->a_gpio_number = config->a_gpio_number;
-    handle->b_gpio_number = config->b_gpio_number;
-    err = _zh_encoder_configure_interrupts(config, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Interrupt initialization failed.");
-    ZH_LOGI("Encoder interrupt initialization completed successfully.");
-    err = _zh_encoder_init_resources(config);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Resources initialization failed.");
-    ZH_LOGI("Encoder resources initialization completed successfully.");
-    err = _zh_encoder_create_task(config);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Encoder initialization failed. Processing task initialization failed.");
-    ZH_LOGI("Encoder processing task initialization completed successfully.");
     handle->is_initialized = true;
     _is_initialized = true;
     ZH_LOGI("Encoder initialization completed successfully.");
@@ -98,6 +110,20 @@ esp_err_t zh_encoder_reset(zh_encoder_handle_t *handle)
     return ESP_OK;
 }
 
+const zh_encoder_stats_t *zh_encoder_get_stats(void)
+{
+    return &_stats;
+}
+
+void zh_encoder_reset_stats(void)
+{
+    ZH_LOGI("Error statistic reset started.");
+    _stats.event_post_error = 0;
+    _stats.queue_overflow_error = 0;
+    _stats.min_stack_size = 0;
+    ZH_LOGI("Error statistic reset successfully.");
+}
+
 static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *config)
 {
     ZH_ERROR_CHECK(config != NULL, ESP_ERR_INVALID_ARG, NULL, "Invalid configuration.");
@@ -108,10 +134,10 @@ static esp_err_t _zh_encoder_validate_config(const zh_encoder_init_config_t *con
     return ESP_OK;
 }
 
-static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config)
+static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
 {
-    ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX || config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
-    ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
+    ZH_ERROR_CHECK(config->a_gpio_number < GPIO_NUM_MAX && config->b_gpio_number < GPIO_NUM_MAX, ESP_ERR_INVALID_ARG, NULL, "Invalid GPIO number.")
+    ZH_ERROR_CHECK(config->a_gpio_number != config->b_gpio_number, ESP_ERR_INVALID_ARG, NULL, "Both GPIO is same.")
     gpio_config_t pin_config = {
         .mode = GPIO_MODE_INPUT,
         .pin_bit_mask = (1ULL << config->a_gpio_number) | (1ULL << config->b_gpio_number),
@@ -119,42 +145,45 @@ static esp_err_t _zh_encoder_gpio_init(const zh_encoder_init_config_t *config)
         .intr_type = GPIO_INTR_ANYEDGE};
     esp_err_t err = gpio_config(&pin_config);
     ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "GPIO initialization failed.");
-    return ESP_OK;
-}
-
-static esp_err_t _zh_encoder_configure_interrupts(const zh_encoder_init_config_t *config, zh_encoder_handle_t *handle)
-{
-    gpio_install_isr_service(0);
-    esp_err_t err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Interrupt initialization failed.");
-    err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle);
-    ZH_ERROR_CHECK(err == ESP_OK, err, NULL, "Interrupt initialization failed.");
-    return ESP_OK;
-}
-
-static esp_err_t _zh_encoder_init_resources(const zh_encoder_init_config_t *config)
-{
     if (_is_initialized == false)
     {
-        _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
-        ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Queue creation failed.");
+        err = gpio_install_isr_service(ESP_INTR_FLAG_LOWMED);
+        ZH_ERROR_CHECK(err == ESP_OK || err == ESP_ERR_INVALID_STATE, err, gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Failed install isr service.");
+        if (err == ESP_ERR_INVALID_STATE)
+        {
+            _is_prev_gpio_isr_handler = true;
+        }
+    }
+    err = gpio_isr_handler_add(config->a_gpio_number, _zh_encoder_isr_handler, handle);
+    ZH_ERROR_CHECK(err == ESP_OK, err, gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
+    err = gpio_isr_handler_add(config->b_gpio_number, _zh_encoder_isr_handler, handle);
+    if (_is_prev_gpio_isr_handler == true)
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
+    }
+    else
+    {
+        ZH_ERROR_CHECK(err == ESP_OK, err, gpio_isr_handler_remove((gpio_num_t)config->a_gpio_number); gpio_uninstall_isr_service(); gpio_reset_pin((gpio_num_t)config->a_gpio_number); gpio_reset_pin((gpio_num_t)config->b_gpio_number), "Interrupt initialization failed.");
     }
     return ESP_OK;
 }
 
-static esp_err_t _zh_encoder_create_task(const zh_encoder_init_config_t *config)
+static esp_err_t _zh_encoder_resources_init(const zh_encoder_init_config_t *config)
 {
     if (_is_initialized == false)
     {
-        BaseType_t err = xTaskCreatePinnedToCore(
-            &_zh_encoder_isr_processing_task,
-            "zh_encoder_isr_processing",
-            config->stack_size,
-            NULL,
-            config->task_priority,
-            &zh_encoder,
-            tskNO_AFFINITY);
-        ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Task creation failed.");
+        _queue_handle = xQueueCreate(config->queue_size, sizeof(zh_encoder_handle_t));
+        ZH_ERROR_CHECK(_queue_handle != NULL, ESP_FAIL, NULL, "Failed to create queue.");
+    }
+    return ESP_OK;
+}
+
+static esp_err_t _zh_encoder_task_init(const zh_encoder_init_config_t *config)
+{
+    if (_is_initialized == false)
+    {
+        BaseType_t err = xTaskCreatePinnedToCore(&_zh_encoder_isr_processing_task, "zh_encoder_isr_processing", config->stack_size, NULL, config->task_priority, &zh_encoder, tskNO_AFFINITY);
+        ZH_ERROR_CHECK(err == pdPASS, ESP_FAIL, NULL, "Failed to create isr processing task.");
     }
     return ESP_OK;
 }
@@ -163,8 +192,7 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
 {
     zh_encoder_handle_t *encoder_handle = (zh_encoder_handle_t *)arg;
     BaseType_t xHigherPriorityTaskWoken = pdFALSE;
-    encoder_handle->encoder_state = _encoder_matrix[encoder_handle->encoder_state & 0x0F]
-                                                   [(gpio_get_level(encoder_handle->b_gpio_number) << 1) | gpio_get_level(encoder_handle->a_gpio_number)];
+    encoder_handle->encoder_state = _encoder_matrix[encoder_handle->encoder_state & 0x0F][(gpio_get_level(encoder_handle->b_gpio_number) << 1) | gpio_get_level(encoder_handle->a_gpio_number)];
     switch (encoder_handle->encoder_state & 0x30)
     {
     case ZH_ENCODER_DIRECTION_CW:
@@ -175,7 +203,10 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
             {
                 encoder_handle->encoder_position = encoder_handle->encoder_max_value;
             }
-            xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken);
+            if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
+            {
+                ++_stats.queue_overflow_error;
+            }
         }
         break;
     case ZH_ENCODER_DIRECTION_CCW:
@@ -186,7 +217,10 @@ static void IRAM_ATTR _zh_encoder_isr_handler(void *arg)
             {
                 encoder_handle->encoder_position = encoder_handle->encoder_min_value;
             }
-            xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken);
+            if (xQueueSendFromISR(_queue_handle, encoder_handle, &xHigherPriorityTaskWoken) != pdTRUE)
+            {
+                ++_stats.queue_overflow_error;
+            }
         }
         break;
     default:
@@ -204,15 +238,15 @@ static void IRAM_ATTR _zh_encoder_isr_processing_task(void *pvParameter)
     zh_encoder_event_on_isr_t encoder_data = {0};
     while (xQueueReceive(_queue_handle, &queue, portMAX_DELAY) == pdTRUE)
     {
-        ZH_LOGI("Encoder isr processing begin.");
         encoder_data.encoder_number = queue.encoder_number;
         encoder_data.encoder_position = queue.encoder_position;
-        esp_err_t err = esp_event_post(ZH_ENCODER, 0, &encoder_data, sizeof(zh_encoder_event_on_isr_t), portTICK_PERIOD_MS);
+        esp_err_t err = esp_event_post(ZH_ENCODER, 0, &encoder_data, sizeof(zh_encoder_event_on_isr_t), 1000 / portTICK_PERIOD_MS);
         if (err != ESP_OK)
         {
+            ++_stats.event_post_error;
             ZH_LOGE("Encoder isr processing failed. Failed to post interrupt event.", err);
         }
-        ZH_LOGI("Encoder isr processing completed successfully.");
+        _stats.min_stack_size = (uint32_t)uxTaskGetStackHighWaterMark(NULL);
     }
     vTaskDelete(NULL);
 }