HoHCI-BikeSim/Assets/Scripts/SicknessReduction/Haptic/VibrationController.cs

using Sensors;

namespace SicknessReduction.Haptic
{
    public class VibrationController : EspController
    {
        private const string TOPIC_CYCLE = "Vibration/Control/Cycle";
        private const string TOPIC_CADENCE = "Vibration/Control/Cadence";
        private const int THRES_CADENCE_CHANGE = 4;

        private const int CYCLE = 56;
        private bool initialCyclePublished;
        private int previousCadence = -1;

        protected override async void Update()
        {
            base.Update();
            if (!DoUpdate || PreviousUpdateActive) return;
            var cadence = BikeSensorData.Instance.PowermeterData?.InstantaneousCadence;
            if (!cadence.HasValue) return;
            var c = cadence.Value;
            
            PreviousUpdateActive = true; //flag to avoid concurrent updates
            //as soon as we have a cadence, we want the motors to vibrate
            if (!initialCyclePublished)
            {
                await Broker.Publish(TOPIC_CYCLE, $"{CYCLE}");
                initialCyclePublished = true;
            }
            //if the cadence changes to 0, we have to switch off vibration
            if (c == 0)
            {
                await Broker.Publish(TOPIC_CYCLE, "0");
                previousCadence = c;
            }
            //as soon as we have cadence again, we want to switch on vibration again, and then immediately set cadence again
            else if (previousCadence == 0)
            {
                await Broker.Publish(TOPIC_CYCLE, $"{CYCLE}");
                PublishCadence(c);
            }
            //if we have never set cadence, or the change of cadence is high enough, we tell the ESP to change cadence
            else if (previousCadence < 0 || c - previousCadence > THRES_CADENCE_CHANGE)
            {
                PublishCadence(c);
            }

            PreviousUpdateActive = false;
        }

        private async void PublishCadence(int cadence)
        {
            await Broker.Publish(TOPIC_CADENCE, $"{cadence}");
            previousCadence = cadence;
        }
    }
}