Cute-On-Off-Robot/firmware/cute_useless_robot/tasks.ino

/* Multi-core Task Handler*/
TaskHandle_t primaryTask;
TaskHandle_t animationTask;
SemaphoreHandle_t animationMutex;

/* Semaphore for handling mutex */
void createSemaphore() {
  animationMutex = xSemaphoreCreateMutex();
  xSemaphoreGive(animationMutex);
}

void mutexLock() {
  xSemaphoreTake(animationMutex, portMAX_DELAY);
}

void mutexUnlock() {
  xSemaphoreGive(animationMutex);
}

//Set the animation code, suppose to be used in core 0 only
void setAnimationCode(char filename) {
  Serial.println("Updating animation frame to " + String(filename));
  mutexLock();
  animation = filename;
  mutexUnlock();
}

//Get the animation code, suppose to be used in core 1 only
char getAnimationCode() {
  char anicode = 'a';
  mutexLock();
  anicode = animation;
  mutexUnlock();
  return anicode;
}

//Get the current state of the switch
// true = After human pushed
// false = After robot pushed
bool getSwitchState() {
  int switchState = digitalRead(TOGGLE_SWITCH);
  return (switchState == 1);
}


/* Multi-core process definations */
void startCoreTasks() {
  //core 1
  xTaskCreatePinnedToCore(
    AnimationController,   /* Task function. */
    "animator",     /* name of task. */
    10000,       /* Stack size of task */
    NULL,        /* parameter of the task */
    1,           /* priority of the task */
    &animationTask,      /* Task handle to keep track of created task */
    1
  );
  delay(500);

  //core 0
  xTaskCreatePinnedToCore(
    PrimaryController,   /* Task function. */
    "primary",     /* name of task. */
    10000,       /* Stack size of task */
    NULL,        /* parameter of the task */
    1,           /* priority of the task */
    &primaryTask,      /* Task handle to keep track of created task */
    0
  );          /* pin task to core 0 */
}

//Core 0 code, for movement and primary logics
void PrimaryController( void * pvParameters ) {
  Serial.println("Primary logic process started on core " + String(xPortGetCoreID()));
  clearFrame();
  int seqCounter = 0; //Modify this value to change start state of seq

  /*
    for (;;) {
    runDebugSequence();
    Serial.println("Sequence ended, restart in 3 sec");
    delay(3000);
    }
  */

  for (;;) {
    bool switchPushed = getSwitchState();
    if (switchPushed) {
      //Switch pushed
      executePushAnimationSequence(seqCounter);
      seqCounter++;
    } else {
      delay(100);
    }
  }

}

//Core 1 code, for animation rendering
void AnimationController( void * pvParameters ) {
  Serial.println("Animation render started on core " + String(xPortGetCoreID()));
  for (;;) {
    char anicode = getAnimationCode();
    handleAnimationRendering(anicode);
  }
}