loop()

void loop

(

)

Definition at line 558 of file AutoResearch.ino.

            {
    // Unified watchdog guard. First iteration: arms the WDT, prints any
    // prior-boot reset/crash info, pauses 3 s on a crash. Every iteration:
    // feeds on construction (now) and again on destruction (end of scope).
    FL_WATCHDOG_AUTO(AUTORESEARCH_WATCHDOG_TIMEOUT_MS);
 
    // Aggressively pump async tasks (including JSON-RPC task)
    // This ensures RPC commands are processed frequently even without delay() calls
    for (int i = 0; i < 100; i++) {
        fl::task::run();
    }
 
    // ========================================================================
    // Watchdog autoresearch trigger (FastLED#2731) — when the host RPC sends
    // `deliberateHang`, the handler flips this flag. We let one more pass of
    // task::run() drain the response queue so the host sees the ACK, then
    // we disable interrupts (so no async machinery can keep the WDT happy)
    // and spin forever. The next watchdog tick must fire and reset the chip.
    // The host's recovery test passes if the device re-enumerates afterward
    // and is reflashable.
    // ========================================================================
    if (g_autoresearch_state->deliberate_hang_requested) {
        FL_WARN("[deliberateHang] entering forced-hang loop NOW");
        delay(200);  // give Serial TX FIFO time to flush
        // noInterrupts() is an Arduino-only macro; guard it so the host stub
        // build (which compiles this .ino for the unit-test framework) doesn't
        // hit an undeclared identifier. On host the while(1) below still spins
        // and prevents feed(), which is the actual hang we want to test.
#if !defined(FL_IS_STUB) && !defined(FL_IS_WASM)
        noInterrupts();
#endif
        while (true) { /* deliberate hang */ }
    }
 
    // Feed the watchdog at the end of every loop iteration. On platforms
    // where begin() was a no-op the feed is also a no-op. The mark-clean
    // shutdown zeros the consecutive-crash counter so a transient hang
    // doesn't eventually push the board into safe mode.
    FastLED.watchdog().feed();
    FastLED.watchdog().markCleanShutdown();
 
    // Run GPIO baseline test once after device is ready (allows JSON-RPC to be operational first)
    // This test is informational only - we continue regardless of pass/fail
    if (!g_autoresearch_state->gpio_baseline_test_done) {
        // Wait 500ms after boot to ensure JSON-RPC is fully operational
        if (millis() > 500) {
            g_autoresearch_state->gpio_baseline_test_done = true;
 
            FL_PRINT("\n[GPIO BASELINE TEST] Testing GPIO " << PIN_TX << " → GPIO " << PIN_RX << " connectivity");
 
            // Test RX channel with manual GPIO toggle to confirm hardware path works
            // This isolates GPIO/hardware issues from PARLIO driver issues
            // Buffer size = 100 symbols, hz = 40MHz (same as LED autoresearch)
            if (!testRxChannel(g_autoresearch_state->rx_channel, PIN_TX, PIN_RX, 40000000, 100)) {
                FL_WARN("[GPIO BASELINE TEST] FAILED - RX did not capture manual GPIO toggles");
                FL_WARN("[GPIO BASELINE TEST] Possible causes:");
                FL_WARN("  1. GPIO " << PIN_TX << " and GPIO " << PIN_RX << " are not physically connected");
                FL_WARN("  2. RX channel initialization failed");
                FL_WARN("  3. GPIO conflict with other peripherals (USB Serial JTAG on C6 uses certain GPIOs)");
                FL_WARN("[GPIO BASELINE TEST] Continuing - JSON-RPC pin discovery/testing available");
            } else {
                FL_WARN("\n[GPIO BASELINE TEST] ✓ PASSED - GPIO path confirmed working");
                FL_WARN("[GPIO BASELINE TEST] ✓ RX successfully captured manual GPIO toggles");
                FL_WARN("[GPIO BASELINE TEST] ✓ Hardware connectivity verified (GPIO " << PIN_TX << " → GPIO " << PIN_RX << ")");
            }
        }
    }
 
    // Emit periodic ready status (every 5 seconds) for Python connection detection
    static uint32_t last_status_ms = 0;
    uint32_t now = millis();
    if (now - last_status_ms >= 5000) {
        fl::json status = fl::json::object();
        status.set("ready", true);
        status.set("uptimeMs", static_cast<int64_t>(now));
        printStreamRaw("status", status);
        last_status_ms = now;
    }
}

References AUTORESEARCH_WATCHDOG_TIMEOUT_MS, FastLED, FL_PRINT, FL_WARN, FL_WATCHDOG_AUTO, g_autoresearch_state, fl::json::object(), PIN_RX, PIN_TX, printStreamRaw(), fl::task::run(), fl::json::set(), and testRxChannel().

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