Add existing code: Power consumption test cases and Semaphore power scheduler skeleton

example/advanced/Power_Measurements/Display/Display.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot = Dezibot();
+
+// How many times to run a command on the display consecutively;
+const uint16_t iterations = 5000;
+
+void setup() {
+  dezibot.begin();
+}
+
+void loop() {
+  //Typical output
+  dezibot.display.println("Typical output");
+  for(uint16_t iter=0; iter<iterations; iter++) {
+    dezibot.display.println(iter);
+  }
+  delay(10);
+  //Lots of pixels turned on
+  dezibot.display.invertColor();
+  dezibot.display.println("Inverted output");
+  for(uint16_t iter=0; iter<iterations; iter++) {
+    dezibot.display.println(iter);
+  }
+  delay(10);
+}

example/advanced/Power_Measurements/ESP32_baseline/ESP32_baseline.ino

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+#include "Dezibot.h"
+#include "esp_pm.h"
+#include "esp_task_wdt.h"
+
+Dezibot dezibot;
+
+const uint16_t cycleTime = 2e4;  //20000 ms = 20 s
+
+esp_pm_lock_handle_t cpuFreqLock;
+esp_pm_lock_handle_t apbFreqLock;
+esp_pm_lock_handle_t lightSleepLock;
+static bool pmLocksCreated = false;
+
+
+void stress_task0(void *pvParameters) {
+  // Register ourselves with the task watchdog
+  if (esp_task_wdt_add(NULL) != ESP_OK) {
+    Serial.println("Failed to add task 0 to TWDT");
+  }
+  while (1) {
+    volatile uint32_t x = 0;
+    for (uint32_t i = 0; i < 10000; i++) {
+      x += i;
+    }
+    esp_task_wdt_reset();
+  }
+}
+
+void stress_task1(void *pvParameters) {
+  // Register ourselves with the task watchdog
+  if (esp_task_wdt_add(NULL) != ESP_OK) {
+    Serial.println("Failed to add task 0 to TWDT");
+  }
+  while (1) {
+    volatile uint32_t x = 0;
+    for (uint32_t i = 0; i < 10000; i++) {
+      x += i;
+    }
+    esp_task_wdt_reset();
+  }
+}
+
+void setup() {
+  Serial.begin(115200);
+  while (!Serial) {
+    ;
+  }
+  uint32_t Freq = getCpuFrequencyMhz();
+  Serial.print("CPU Freq = ");
+  Serial.print(Freq);
+  Serial.println(" MHz");
+  Freq = getXtalFrequencyMhz();
+  Serial.print("XTAL Freq = ");
+  Serial.print(Freq);
+  Serial.println(" MHz");
+  Freq = getApbFrequency();
+  Serial.print("APB Freq = ");
+  Serial.print(Freq);
+  Serial.println(" Hz");
+  // Create lock handles for controlling power management features
+  // Parameter arg is always unused and should thus be set to 0
+  // Ref: https://docs.espressif.com/projects/esp-idf/en/v3.3.6/api-reference/system/power_management.html#enumerations
+  if (!pmLocksCreated) {
+    bool cpuFreqLockSuccess = esp_pm_lock_create(ESP_PM_CPU_FREQ_MAX, 0, "CPU_FREQ_MAX", &cpuFreqLock);
+    bool apbFreqLockSuccess = esp_pm_lock_create(ESP_PM_APB_FREQ_MAX, 0, "APB_FREQ_MAX", &apbFreqLock);
+    bool lightSleepLockSuccess = esp_pm_lock_create(ESP_PM_NO_LIGHT_SLEEP, 0, "NO_LIGHT_SLEEP", &lightSleepLock);
+    if ((cpuFreqLockSuccess && apbFreqLockSuccess && lightSleepLockSuccess)) {
+      pmLocksCreated = true;
+      Serial.println("Sucessfully created handles to control power management features.");
+    } else {
+      Serial.println("Failed to create handles to control power management features!");
+    }
+  } else {
+    Serial.println("Powermanagement lock handles already created, skipping creation!");
+  }
+  // Configure Task Watchdog so it does not interfere
+  esp_task_wdt_config_t twdt_config = {
+    .timeout_ms = 30000,
+    .idle_core_mask = (1 << portNUM_PROCESSORS) - 1,
+    .trigger_panic = true
+  };
+  if (esp_task_wdt_reconfigure(&twdt_config) != ESP_OK) {
+    Serial.println("Failed to reconfigure task watchdog!");
+  }
+  delay(500);
+  Serial.flush();
+  Serial.end();
+}
+
+/*
+ * A function that prints to serial, setting up the serial peripheral beforehand, and shutting it down afterwards.
+ * Do not use this on a regular basis, as it is probably very slow. It is useful for not having the serial peripheral
+ * active at all times.
+ *
+ * @param str The text to print
+ */
+void setupAndCleanupSerialPrint(char *str) {
+  Serial.begin(115200);
+  while (!Serial) {
+    ;
+    ;
+  }
+  delay(10);
+  Serial.print(str);
+  delay(10);
+  Serial.flush();
+  delay(10);
+  Serial.end();
+}
+
+void loop() {
+  // Alternate between 20 Seconds at 100% CPU load, no artificial load but not sleeping, and normal behaviour (light sleep when there is nothing to do).
+  setupAndCleanupSerialPrint("Beginning stress phase\n");
+  TaskHandle_t core0StressTask = NULL;
+  TaskHandle_t core1StressTask = NULL;
+  xTaskCreatePinnedToCore(stress_task0, "CPU0Stress", 4096, NULL, 1, &core0StressTask, 0);
+  xTaskCreatePinnedToCore(stress_task1, "CPU1Stress", 4096, NULL, 1, &core1StressTask, 1);
+  vTaskDelay(pdMS_TO_TICKS(cycleTime));
+  setupAndCleanupSerialPrint("Still alive after waiting cycleTime after setting up stress tasks...\n");
+  esp_task_wdt_delete(core0StressTask);
+  esp_task_wdt_delete(core1StressTask);
+  vTaskDelete(core0StressTask);
+  vTaskDelete(core1StressTask);
+  // Now disable light sleep
+  setupAndCleanupSerialPrint("Beginning idle with power management disabled\n");
+  esp_pm_lock_acquire(cpuFreqLock);
+  esp_pm_lock_acquire(apbFreqLock);
+  esp_pm_lock_acquire(lightSleepLock);
+  vTaskDelay(pdMS_TO_TICKS(cycleTime));
+  // Restore auto light sleep and dynamic frequency scaling
+  setupAndCleanupSerialPrint("Beginning idle with power management reenabled\n");
+  esp_pm_lock_release(cpuFreqLock);
+  esp_pm_lock_release(apbFreqLock);
+  esp_pm_lock_release(lightSleepLock);
+  vTaskDelay(pdMS_TO_TICKS(cycleTime));
+}

example/advanced/Power_Measurements/IMU/IMU.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot;
+
+// How many times to run a command on the IMU consecutively;
+const uint16_t iterations = 5000;
+
+void setup() {
+  dezibot.motion.detection.begin();
+  //dezibot.motion.detection.end();
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+  // Wait for Serial to init
+  while (!Serial) {
+    ;;
+  }
+  // Test if IMU is working correctly
+  char imu_whoami = dezibot.motion.detection.getWhoAmI();
+  if (imu_whoami == 0x67) {
+    Serial.println("IMU seems to be working. Starting measurements...");
+  } else {
+    Serial.println("IMU does not seemm to be working correctly.");
+    exit(0);
+  }
+  dezibot.motion.detection.end();
+  Serial.println("Returned IMU to low-power mode. Killing Serial peripheral. Goodbye!");
+  delay(1000);
+  Serial.end();
+  delay(1000);
+}
+
+void loop() {
+  // This puts both accelerometer and gyroscope into low noise mode, which is their highest
+  // power consumption state
+  dezibot.motion.detection.begin();
+  for (uint16_t iter = 0; iter < iterations; iter++) {
+    dezibot.motion.detection.getRotation();
+    dezibot.motion.detection.getAcceleration();
+    delay(1);
+  }
+  // Turn everything back off to measure baseline power consumption
+  delay(iterations);
+}

example/advanced/Power_Measurements/IR_LED/IR_LED.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot;
+
+const uint16_t cycleMillis = 2e4;
+
+void setup() {
+  // put your setup code here, to run once:
+  dezibot.infraredLight.begin();
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  // Just turn the lights on alternating each five seconds, to get the consumption
+  dezibot.infraredLight.front.turnOn();
+  delay(cycleMillis);
+  dezibot.infraredLight.front.turnOff();
+  dezibot.infraredLight.bottom.turnOn();
+  delay(cycleMillis);
+  //Turn off and wait a little to measure baseline consumption
+  dezibot.infraredLight.bottom.turnOff();
+  delay(cycleMillis);
+}

example/advanced/Power_Measurements/LightSensorsDaylight/LightSensorsDaylight.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot;
+
+void setup() {
+  dezibot.lightDetection.begin();
+  //dezibot.motion.detection.end();
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+  // Wait for Serial to init
+  while (!Serial) {
+    ;;
+  }
+  delay(1000);
+  // Test if SFH325 (Q3) is working correctly
+  char light_value = dezibot.lightDetection.getValue(DL_FRONT);
+  if (light_value != UINT16_MAX) {
+    Serial.printf("Light detection seems to be working (detected value: %d). Starting measurements...\r\n", light_value);
+  } else {
+    Serial.printf("Light detection does not seem to be working correctly (detected value: %d).\n",light_value);
+    exit(0);
+  }
+  Serial.println("Killing Serial peripheral now to not influence anything. Goodbye!");
+  delay(1000);
+  Serial.flush();
+  Serial.end();
+  delay(1000);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  dezibot.lightDetection.getValue(DL_FRONT);
+  delay(10);
+}

example/advanced/Power_Measurements/LightSensorsDaylightBottom/LightSensorsDaylightBottom.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot;
+
+void setup() {
+  dezibot.lightDetection.begin();
+  //dezibot.motion.detection.end();
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+  // Wait for Serial to init
+  while (!Serial) {
+    ;;
+  }
+  delay(1000);
+  // Test if SFH320 (Q12) is working correctly
+  char light_value = dezibot.lightDetection.getValue(DL_FRONT);
+  if (light_value != UINT16_MAX) {
+    Serial.printf("Light detection seems to be working (detected value: %d). Starting measurements...\r\n", light_value);
+  } else {
+    Serial.printf("Light detection does not seem to be working correctly (detected value: %d).\n",light_value);
+    exit(0);
+  }
+  Serial.println("Killing Serial peripheral now to not influence anything. Goodbye!");
+  delay(1000);
+  Serial.flush();
+  Serial.end();
+  delay(1000);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  dezibot.lightDetection.getValue(DL_BOTTOM);
+  delay(10);
+}

example/advanced/Power_Measurements/LightSensorsInfrared/LightSensorsInfrared.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot;
+
+void setup() {
+  dezibot.lightDetection.begin();
+  //dezibot.motion.detection.end();
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+  // Wait for Serial to init
+  while (!Serial) {
+    ;;
+  }
+  delay(1000);
+  // Test if VEML6040 is working correctly
+  char ir_value = dezibot.lightDetection.getValue(DL_FRONT);
+  if (ir_value != UINT16_MAX) {
+    Serial.printf("IR detection seems to be working (detected value: %d). Starting measurements...\r\n", ir_value);
+  } else {
+    Serial.printf("IR detection does not seem to be working correctly (detected value: %d).\n",ir_value);
+    exit(0);
+  }
+  Serial.println("Killing Serial peripheral now to not influence anything. Goodbye!");
+  delay(1000);
+  Serial.flush();
+  Serial.end();
+  delay(1000);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  dezibot.lightDetection.getValue(IR_FRONT);
+  delay(10);
+}

example/advanced/Power_Measurements/Motors/Motors.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot;
+
+void setup() {
+  dezibot.motion.begin();
+}
+
+void loop() {
+  // Alternatingly turn on the Motors. Use the commands provided by motion for this, using the provided
+  // functions (with their duty cycle), as it represents typical usage
+  dezibot.motion.rotateClockwise();
+  delay(20000);
+  dezibot.motion.rotateAntiClockwise();
+  delay(20000);
+  // Turn on both motors at the same time
+  dezibot.motion.left.setSpeed(DEFAULT_BASE_VALUE);
+  dezibot.motion.right.setSpeed(DEFAULT_BASE_VALUE);  
+  delay(20000);
+  dezibot.motion.stop();
+  delay(20000);
+}

example/advanced/Power_Measurements/Motors_Full/Motors_Full.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot;
+
+const uint duty = 8192; //Full tilt
+
+void setup() {
+  dezibot.motion.begin();
+}
+
+void loop() {
+  // Alternatingly turn on the Motors. Use the commands provided by motion for this, using the provided
+  // functions (with their duty cycle), as it represents typical usage
+  dezibot.motion.rotateClockwise(0,duty);
+  delay(20000);
+  dezibot.motion.rotateAntiClockwise(0,duty);
+  delay(20000);
+  // Turn on both motors at the same time
+  dezibot.motion.left.setSpeed(duty);
+  dezibot.motion.right.setSpeed(duty);  
+  delay(20000);
+  dezibot.motion.stop();
+  delay(20000);
+}

example/advanced/Power_Measurements/RGB_LED/RGB_LED.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot = Dezibot();
+
+void setup() {
+  dezibot.multiColorLight.begin();
+}
+
+void loop() {
+  /* Loop through the LEDs at full brightness for measurements, with 20 seconds to measure for each state */
+  for (int state = 0; state < 6; state++) {
+    switch (state) {
+      case 0:
+        dezibot.multiColorLight.turnOffLed(ALL);
+        break;
+      case 1:
+        dezibot.multiColorLight.turnOffLed(ALL);
+        delay(10);
+        dezibot.multiColorLight.setLed(TOP_LEFT,WHITE);
+        break;
+      case 2:
+        dezibot.multiColorLight.turnOffLed(ALL);
+        delay(10);
+        dezibot.multiColorLight.setLed(TOP_RIGHT,WHITE);
+        break;
+      case 3:
+        dezibot.multiColorLight.turnOffLed(ALL);
+        delay(10);
+        dezibot.multiColorLight.setLed(BOTTOM,WHITE);
+        break;
+      case 4:
+        dezibot.multiColorLight.turnOffLed(ALL);
+        delay(10);
+        dezibot.multiColorLight.setLed(TOP,WHITE);
+        break;
+      case 5:
+        dezibot.multiColorLight.turnOffLed(ALL);
+        delay(10);
+        dezibot.multiColorLight.setLed(ALL,WHITE);
+        break;
+    }
+    sleep(20);
+  }
+}

example/advanced/Power_Measurements/Template/Template.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot;
+
+void setup() {
+  dezibot.lightDetection.begin();
+  //dezibot.motion.detection.end();
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+  // Wait for Serial to init
+  while (!Serial) {
+    ;;
+  }
+  delay(1000);
+  // Test if Part under Test is working correctly
+  if (result = working) {
+    Serial.printf("Part X seems to be working (detected value: %d). Starting measurements...\r\n", result);
+  } else {
+    Serial.printf("Part X does not seem to be working correctly (detected value: %d).\n",result);
+    exit(0);
+  }
+  Serial.println("Killing Serial peripheral now to not influence anything. Goodbye!");
+  delay(1000);
+  Serial.flush();
+  Serial.end();
+  delay(1000);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  delay(10);
+}

example/advanced/Power_Measurements/VEML6040/VEML6040.ino

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+#include "Dezibot.h"
+
+Dezibot dezibot;
+
+void setup() {
+  dezibot.lightDetection.begin();
+  //dezibot.motion.detection.end();
+  // put your setup code here, to run once:
+  Serial.begin(115200);
+  // Wait for Serial to init
+  while (!Serial) {
+    ;;
+  }
+  delay(1000);
+  // Test if VEML6040 is working correctly
+  char light_value = dezibot.lightDetection.getValue(DL_FRONT);
+  if (light_value != UINT16_MAX) {
+    Serial.printf("Light detection seems to be working (detected value: %d). Starting measurements...\r\n", light_value);
+  } else {
+    Serial.printf("Light detection does not seem to be working correctly (detected value: %d).\n",light_value);
+    exit(0);
+  }
+  Serial.println("Killing Serial peripheral now to not influence anything. Goodbye!");
+  delay(1000);
+  Serial.flush();
+  Serial.end();
+  delay(1000);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  dezibot.lightDetection.getValue(DL_FRONT);
+  delay(10);
+}

example/advanced/Power_Measurements/WLAN/WLAN.ino

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+#include "Dezibot.h"
+#define DEBUG
+
+Dezibot dezibot = Dezibot();
+
+void setup() {
+  Serial.begin(112500);
+  while (!Serial) {
+    ; /* Wait for USB-CDC Serial init to complete. */
+  }
+  #ifdef DEBUG
+  dezibot.display.begin();
+  dezibot.display.println("Debug enabled.");
+  Serial.println("Debug enabled.");
+  #endif
+  dezibot.communication.begin();
+  dezibot.communication.setGroupNumber(1);
+  dezibot.communication.sendMessage("Repeated send power consumption test commencing");
+  #ifdef DEBUG
+  dezibot.display.println("Mesh set up");
+  /* Set up receive handler */
+  dezibot.communication.onReceive(handle_receive);
+  dezibot.display.println("Set up receive. Printing incoming messages:");
+  Serial.println("Sending broadcast messages to generate TX power consumption:");
+  #endif
+}
+
+void handle_receive(String &message) {
+  dezibot.display.println(message);
+}
+
+void loop() {
+    /* Continuously send to consume power on TX */
+    dezibot.communication.sendMessage("Power Test Message");
+
+}