# esp_component_template

esp_component_template

#include "zh_encoder.h"

zh_encoder_handle_t encoder_handle = {0};

void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data);

// #define ROT_ENC_A_GPIO (CONFIG_ROT_ENC_A_GPIO)
// #define ROT_ENC_B_GPIO (CONFIG_ROT_ENC_B_GPIO)

// #define ENABLE_HALF_STEPS false  // Set to true to enable tracking of rotary encoder at half step resolution
// #define RESET_AT          0      // Set to a positive non-zero number to reset the position if this value is exceeded
// #define FLIP_DIRECTION    false  // Set to true to reverse the clockwise/counterclockwise sense

void app_main(void)
{
    esp_log_level_set("zh_encoder", ESP_LOG_NONE); // For ESP8266 first enable "Component config -> Log output -> Enable log set level" via menuconfig.
    esp_event_loop_create_default();
#ifdef CONFIG_IDF_TARGET_ESP8266
    esp_event_handler_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL);
#else
    esp_event_handler_instance_register(ZH_ENCODER, ESP_EVENT_ANY_ID, &zh_encoder_event_handler, NULL, NULL);
#endif
    zh_encoder_init_config_t encoder_init_config = ZH_ENCODER_INIT_CONFIG_DEFAULT();
    encoder_init_config.a_gpio_number = GPIO_NUM_26;
    encoder_init_config.b_gpio_number = GPIO_NUM_27;
    encoder_init_config.encoder_min_value = -10; // Just for example.
    encoder_init_config.encoder_max_value = 20;  // Just for example.
    encoder_init_config.encoder_step = 0.1;      // Just for example.
    encoder_init_config.encoder_number = 1;
    zh_encoder_init(&encoder_init_config, &encoder_handle);
    zh_encoder_reset(&encoder_handle);  // Just for example.
    zh_encoder_set(&encoder_handle, 5); // Just for example.

    // esp32-rotary-encoder requires that the GPIO ISR service is installed before calling rotary_encoder_register()
    //     ESP_ERROR_CHECK(gpio_install_isr_service(0));

    //     // Initialise the rotary encoder device with the GPIOs for A and B signals
    //     rotary_encoder_info_t info = { 0 };
    //     ESP_ERROR_CHECK(rotary_encoder_init(&info, ROT_ENC_A_GPIO, ROT_ENC_B_GPIO));
    //     ESP_ERROR_CHECK(rotary_encoder_enable_half_steps(&info, ENABLE_HALF_STEPS));
    // #ifdef FLIP_DIRECTION
    //     // ESP_ERROR_CHECK(rotary_encoder_flip_direction(&info));
    // #endif

    //     // Create a queue for events from the rotary encoder driver.
    //     // Tasks can read from this queue to receive up to date position information.
    //     QueueHandle_t event_queue = rotary_encoder_create_queue();
    //     ESP_ERROR_CHECK(rotary_encoder_set_queue(&info, event_queue));

    //     while (1)
    //     {
    //         // Wait for incoming events on the event queue.
    //         rotary_encoder_event_t event = { 0 };
    //         if (xQueueReceive(event_queue, &event, portMAX_DELAY) == pdTRUE)
    //         {
    //             ESP_LOGI(TAG, "Event: position %ld, direction %s", event.state.position,
    //                      event.state.direction ? (event.state.direction == ROTARY_ENCODER_DIRECTION_CLOCKWISE ? "CW" : "CCW") : "NOT_SET");
    //         }
    //         // else
    // {
    //     // Poll current position and direction
    //     rotary_encoder_state_t state = { 0 };
    //     ESP_ERROR_CHECK(rotary_encoder_get_state(&info, &state));
    //     ESP_LOGI(TAG, "Poll: position %ld, direction %s", state.position,
    //              state.direction ? (state.direction == ROTARY_ENCODER_DIRECTION_CLOCKWISE ? "CW" : "CCW") : "NOT_SET");

    //     // Reset the device
    //     if (RESET_AT && (state.position >= RESET_AT || state.position <= -RESET_AT))
    //     {
    //         ESP_LOGI(TAG, "Reset");
    //         ESP_ERROR_CHECK(rotary_encoder_reset(&info));
    //     }
    // }
    // }
    // ESP_LOGE(TAG, "queue receive failed");

    // ESP_ERROR_CHECK(rotary_encoder_uninit(&info));
}

void zh_encoder_event_handler(void *arg, esp_event_base_t event_base, int32_t event_id, void *event_data)
{
    zh_encoder_event_on_isr_t *event = event_data;
    printf("Uncoder number %d position %f.\n", event->encoder_number, event->encoder_position);
}