renderbug-cpp/firmware/main.cpp

#define RENDERBUG_VERSION 1
#define PLATFORM_PHOTON
//#define PLATFORM_ESP2800

#include "FastLED/FastLED.h"
#include "Figments/Figments.h"

#include "Static.h"
#include "Config.h"
#include "colors.h"

#include "WebTelemetry.cpp"
#include "MDNSService.cpp"
#include "Sequencer.h"

#include "animations/Power.cpp"
#include "animations/SolidAnimation.cpp"
#include "animations/Chimes.cpp"
#include "animations/Flashlight.cpp"
#include "animations/Drain.cpp"
#include "animations/UpdateStatus.h"

#include "inputs/ColorCycle.h"
#include "inputs/Buttons.h"
#include "inputs/MPU6050.h"

#ifdef PLATFORM_PHOTON
#include "platform/particle/inputs/Photon.h"
#include "platform/particle/inputs/CloudStatus.h"
#include "platform/particle/PhotonTelemetry.h"
#endif

SerialLogHandler logHandler;

using namespace NSFastLED;

#define MAX_BRIGHTNESS 255
//#define PSU_MILLIAMPS 4800
//#define PSU_MILLIAMPS 500
//#define PSU_MILLIAMPS 1000
#define PSU_MILLIAMPS 2000

// Enable system thread, so rendering happens while booting
SYSTEM_THREAD(ENABLED);

// Setup FastLED and the display
CRGB leds[HardwareConfig::MAX_LED_NUM];
Display dpy(leds, HardwareConfig::MAX_LED_NUM, Static<ConfigService>::instance()->coordMap());

LinearCoordinateMapping neckMap{60, 0};
Display neckDisplay(leds, HardwareConfig::MAX_LED_NUM, &neckMap);

// Setup power management
Power<MAX_BRIGHTNESS, PSU_MILLIAMPS> power;

// Clip the display at whatever is configured while still showing over-paints
FigmentFunc displayClip([](Display* dpy) {
    auto coords = Static<ConfigService>::instance()->coordMap();
    for(int i = 0; i < HardwareConfig::MAX_LED_NUM; i++) {
        if (i < coords->startPixel || i > coords->pixelCount + coords->startPixel) {
            dpy->pixelAt(i) %= 40;
        }
    }
});

FigmentFunc configDisplay([](Display* dpy) {
    uint8_t brightness = brighten8_video(beatsin8(60));
    auto coords = Static<ConfigService>::instance()->coordMap();
    for(int i = 0; i < HardwareConfig::MAX_LED_NUM; i++) {
        if (i < coords->startPixel || i > coords->startPixel + coords->pixelCount) {
            dpy->pixelAt(i) += CRGB(brightness, 0, 0);
        } else {
            dpy->pixelAt(i) += CRGB(255 - brightness, 255 - brightness, 255 - brightness);
        }
    }
});

class InputBlip: public Figment {
public:
    InputBlip() : Figment("InputBlip", Task::Stopped) {}

    void handleEvent(const InputEvent& evt) override {
        if (evt.intent != InputEvent::None) {
            m_time = qadd8(m_time, 5);
        }
    }
    void loop() override {
        if (m_time > 0) {
            m_time--;
        }
    }
    void render(Display* dpy) const override {
        if (m_time > 0) {
            dpy->pixelAt(0) = CRGB(0, brighten8_video(ease8InOutApprox(m_time)), 0);
        }
    }
private:
    uint8_t m_time = 0;
};

InputBlip inputBlip;

InputFunc randomPulse([]() {
    static unsigned int pulse = 0;
    EVERY_N_MILLISECONDS(25) {
        if (pulse == 0) {
            pulse = random(25) + 25;
        }
    }
    if (pulse > 0) {
        if (random(255) >= 25) {
            pulse--;
            return InputEvent{InputEvent::Acceleration, beatsin16(60 * 8, 0, 4972)};
        }
    }
    return InputEvent{};
}, "Pulse", Task::Running);

InputMapper keyMap([](const InputEvent& evt) {
    if (evt.intent == InputEvent::UserInput) {
        Buttons::Chord chord = (Buttons::Chord)evt.asInt();
        switch(chord) {
            case Buttons::Circle:
                return InputEvent::PowerToggle;
                break;
            case Buttons::Triangle:
                return InputEvent::NextPattern;
                break;
            case Buttons::Cross:
                return InputEvent::UserInput;
                break;
        }
    }
    return InputEvent::None;
});

ChimesAnimation chimes{Task::Stopped};
SolidAnimation solid{Task::Running};
DrainAnimation drain{Task::Stopped};
Flashlight flashlight{Task::Stopped};

Sequencer sequencer{{
  {"Idle", {"Solid", "MPU5060", "Pulse", "Hackerbots", "Kieryn", "CircadianRhythm"}},
  {"Solid", {"Solid", "MPU5060", "Pulse", "CircadianRhythm"}},
  {"Interactive", {"Drain", "CircadianRhythm"}},
  {"Flashlight", {"Flashlight"}},
  {"Nightlight", {"Drain", "Pulse", "Noisebridge"}},
  {"Gay", {"Solid", "Pulse", "Rainbow", "Hackerbots", "Kieryn"}},
  {"Acid", {"Chimes", "Pulse", "MPU5060", "Hackerbots", "Rainbow"}},
}};


// Render all layers to the displays
Renderer renderer{
    //{&dpy, &neckDisplay},
    {&dpy},
    {
        &chimes,
        &drain,
        &solid,
        &flashlight,
        Static<UpdateStatus>::instance(),
        &displayClip,
        &inputBlip,
        &power,
    }
};

Renderer configRenderer{
    {&dpy},
    {&drain, &configDisplay, &inputBlip, &power}
};

MDNSService mdnsService;

class OnlineTaskMixin : public virtual Loopable {
  public:
    void handleEvent(const InputEvent &evt) override {
        if (evt.intent == InputEvent::NetworkStatus) {
            m_online = evt.asInt();
        }
        if (m_online) {
            handleEventOnline(evt);
        }
    }

    virtual void handleEventOnline(const InputEvent &evt) = 0;

    void loop() override {
        if (m_online) {
            loopOnline();
        }
    }

    virtual void loopOnline() = 0;

  private:
    bool m_online = false;
};

#include "MQTT/MQTT.h"

class MQTTTelemetry : public BufferedInputSource, OnlineTaskMixin {
  public:
    MQTTTelemetry() : BufferedInputSource("MQTT"), m_client("relay.malloc.hackerbots.net", 1883, 512, 15, MQTTTelemetry::s_callback, true) {
        strcpy(m_deviceName, System.deviceID().c_str());
    }

    void loop() override {
        BufferedInputSource::loop();
        OnlineTaskMixin::loop();
    }

    void handleEventOnline(const InputEvent& event) override {
      char response[255];
      if (event.intent == InputEvent::SetPower) {
        JSONBufferWriter writer(response, sizeof(response));
        writer.beginObject();
        writer.name("state").value(event.asInt() == 0 ? "OFF" : "ON");
        writer.endObject();
        writer.buffer()[std::min(writer.bufferSize(), writer.dataSize())] = 0;
        m_client.publish(m_statTopic, response, MQTT::QOS1);
      } else if (event.intent == InputEvent::SetBrightness) {
        JSONBufferWriter writer(response, sizeof(response));
        writer.beginObject();
        writer.name("brightness").value(event.asInt());
        writer.endObject();
        writer.buffer()[std::min(writer.bufferSize(), writer.dataSize())] = 0;
        m_client.publish(m_statTopic, response, MQTT::QOS1);
      } else if (event.intent == InputEvent::SetColor) {
        JSONBufferWriter writer(response, sizeof(response));
        writer.beginObject();
        writer.name("color").beginObject();
        CRGB rgb = event.asRGB();
        writer.name("r").value(rgb.r);
        writer.name("g").value(rgb.g);
        writer.name("b").value(rgb.b);
        writer.endObject();
        writer.endObject();
        writer.buffer()[std::min(writer.bufferSize(), writer.dataSize())] = 0;
        m_client.publish(m_statTopic, response, MQTT::QOS1);
      } else if (event.intent == InputEvent::SetPattern) {
        JSONBufferWriter writer(response, sizeof(response));
        writer.beginObject();
        writer.name("effect").value(event.asString());
        writer.endObject();
        writer.buffer()[std::min(writer.bufferSize(), writer.dataSize())] = 0;
        m_client.publish(m_statTopic, response, MQTT::QOS1);
      } else {
        if (m_lastIntent != event.intent) {
          m_lastIntent = event.intent;
          JSONBufferWriter writer(response, sizeof(response));
          writer.beginObject();
          writer.name("intent").value(event.intent);
          writer.endObject();
          writer.buffer()[std::min(writer.bufferSize(), writer.dataSize())] = 0;
          m_client.publish("renderbug/events", response, MQTT::QOS1);
        }
      }
    }

    void loopOnline() override {
        if (m_client.isConnected()) {
            m_client.loop();
            EVERY_N_SECONDS(10) {
                char heartbeatBuf[255];
                JSONBufferWriter writer(heartbeatBuf, sizeof(heartbeatBuf));
                writer.beginObject();
                writer.name("fps").value(FastLED.getFPS());
                writer.name("os_version").value(System.version());
                writer.name("free_ram").value((unsigned int)System.freeMemory());
                //writer.name("uptime").value(System.uptime());
                /*WiFiSignal sig = WiFi.RSSI();
                writer.name("strength").value(sig.getStrength());
                writer.name("quality").value(sig.getQuality());*/
                writer.name("RSSI").value(WiFi.RSSI());
                writer.name("SSID").value(WiFi.SSID());
                //writer.name("MAC").value(WiFi.macAddress());
                writer.name("localip").value(WiFi.localIP().toString());
                writer.name("startPixel").value(Static<ConfigService>::instance()->coordMap()->startPixel);
                writer.name("pixelCount").value(Static<ConfigService>::instance()->coordMap()->pixelCount);
                writer.endObject();
                writer.buffer()[std::min(writer.bufferSize(), writer.dataSize())] = 0;
                m_client.publish(m_attrTopic, heartbeatBuf);
            }
        } else {
            m_client.connect("renderbug_" + String(m_deviceName) + "_" + String(Time.now()));
            char response[512];
            JSONBufferWriter writer(response, sizeof(response));

            String devTopic = String("homeassistant/light/renderbug/") + m_deviceName;
            writer.beginObject();
            writer.name("~").value(devTopic.c_str());
            writer.name("name").value("Renderbug");
            writer.name("unique_id").value(m_deviceName);
            writer.name("cmd_t").value("~/set");
            writer.name("stat_t").value("~/set");
            writer.name("json_attr_t").value("~/attributes");
            writer.name("schema").value("json");
            writer.name("brightness").value(true);
            writer.name("rgb").value(true);
            writer.name("ret").value(true);

            writer.name("dev").beginObject();
            writer.name("name").value("Renderbug");
            writer.name("mdl").value("Renderbug");
            writer.name("sw").value(RENDERBUG_VERSION);
            writer.name("mf").value("Phong Robotics");

            writer.name("ids").beginArray();
            writer.value(m_deviceName);
            writer.endArray();

            writer.endObject();

            writer.name("fx_list").beginArray();
            for(const Sequencer::Scene& scene : sequencer.scenes()) {
              writer.value(scene.name);
            }
            writer.endArray();

            writer.endObject();
            writer.buffer()[std::min(writer.bufferSize(), writer.dataSize())] = 0;

            String configTopic = devTopic + "/config";
            m_client.publish(configTopic, response, true);

            String statTopic = devTopic + "/state";
            String cmdTopic = devTopic + "/set";
            String attrTopic = devTopic + "/attributes";
            strcpy(m_statTopic, statTopic.c_str());
            strcpy(m_attrTopic, attrTopic.c_str());
            strcpy(m_cmdTopic, cmdTopic.c_str());
            m_client.subscribe(m_cmdTopic, MQTT::QOS1);
        }
    }

  private:
    void callback(char* topic, byte* payload, unsigned int length) {
        MainLoop::instance()->dispatch(InputEvent::NetworkActivity);
        if (!strcmp(topic, m_cmdTopic)) {
          JSONValue cmd = JSONValue::parseCopy((char*)payload, length);
          JSONObjectIterator cmdIter(cmd);
          while(cmdIter.next()) {
            if (cmdIter.name() == "state" && cmdIter.value().toString() == "ON") {
              setEvent({InputEvent::SetPower, 1});
            } else if (cmdIter.name() == "state" && cmdIter.value().toString() == "OFF") {
              setEvent({InputEvent::SetPower, 0});
            }

            if (cmdIter.name() == "color") {
              JSONObjectIterator colorIter(cmdIter.value());
              uint8_t r, g, b;
              while(colorIter.next()) {
                if (colorIter.name() == "r") {
                  r = colorIter.value().toInt();
                } else if (colorIter.name() == "g") {
                  g = colorIter.value().toInt();
                } else if (colorIter.name() == "b") {
                  b = colorIter.value().toInt();
                }
              }
              setEvent(InputEvent{InputEvent::SetColor, CRGB{r, g, b}});
            }

            if (cmdIter.name() == "brightness") {
              uint8_t brightness = cmdIter.value().toInt();
              setEvent(InputEvent{InputEvent::SetBrightness, brightness});
            }

            if (cmdIter.name() == "effect") {
              strcpy(m_patternBuf, (const char*) cmdIter.value().toString());
              setEvent(InputEvent{InputEvent::SetPattern, m_patternBuf});
            }

            if (cmdIter.name() == "pixelCount") {
              setEvent(InputEvent{InputEvent::SetDisplayLength, cmdIter.value().toInt()});
            }

            if (cmdIter.name() == "startPixel") {
              setEvent(InputEvent{InputEvent::SetDisplayOffset, cmdIter.value().toInt()});
            }

            if (cmdIter.name() == "save") {
              setEvent(InputEvent{InputEvent::SaveConfigurationRequest});
            }
          }
        }
    }

    static void s_callback(char* topic, byte* payload, unsigned int length) {
      Static<MQTTTelemetry>::instance()->callback(topic, payload, length);
    };

    MQTT m_client;
    InputEvent::Intent m_lastIntent;
    char m_deviceName[100];
    char m_statTopic[100];
    char m_attrTopic[100];
    char m_cmdTopic[100];
    char m_patternBuf[48];
};

STATIC_ALLOC(MQTTTelemetry);

WebTelemetry webTelemetry(sequencer);

// Cycle some random colors
ColorSequenceInput<7> noisebridgeCycle{{colorForName("Red").rgb}, "Noisebridge", Task::Stopped};

ColorSequenceInput<13> kierynCycle{{
    colorForName("Cerulean").rgb,
    colorForName("Electric Purple").rgb,
    colorForName("Emerald").rgb,
    colorForName("Sky Magenta").rgb
}, "Kieryn", Task::Stopped};

ColorSequenceInput<7> rainbowCycle{{
    colorForName("Red").rgb,
    colorForName("Orange").rgb,
    colorForName("Yellow").rgb,
    colorForName("Green").rgb,
    colorForName("Blue").rgb,
    colorForName("Purple").rgb,
    colorForName("White").rgb,
}, "Rainbow", Task::Stopped};

ColorSequenceInput<7> hackerbotsCycle{{
    colorForName("Purple").rgb,
    colorForName("White").rgb,
    colorForName("Cyan").rgb,
}, "Hackerbots", Task::Stopped};

struct ConfigInputTask: public BufferedInputSource {
public:
    ConfigInputTask() : BufferedInputSource("ConfigInput") {}

    void handleEvent(const InputEvent& evt) override {
        if (evt.intent == InputEvent::UserInput) {
            Buttons::Chord chord = (Buttons::Chord) evt.asInt();
            switch (chord) {
                case Buttons::Circle:
                    m_currentIntent = nextIntent();
                    Log.info("Next setting... (%d)", m_currentIntent);
                    break;
                case Buttons::CircleTriangle:
                    Log.info("Increment...");
                    increment();
                    break;
                case Buttons::CircleCross:
                    Log.info("Decrement...");
                    decrement();
                    break;
                case Buttons::Triangle:
                    Log.info("Save...");
                    setEvent(InputEvent::SaveConfigurationRequest);
                    break;
            }
        }
    }

private:
    InputEvent::Intent m_currentIntent = InputEvent::SetDisplayLength;

    void decrement() {
        int current = 0;
        switch (m_currentIntent) {
            case InputEvent::SetDisplayLength:
              current = Static<ConfigService>::instance()->coordMap()->pixelCount;
              break;
            case InputEvent::SetDisplayOffset:
              current = Static<ConfigService>::instance()->coordMap()->startPixel;
              break;
        }
        setEvent(InputEvent{m_currentIntent, current - 1});
    }

    void increment() {
        int current = 0;
        switch (m_currentIntent) {
            case InputEvent::SetDisplayLength:
              current = Static<ConfigService>::instance()->coordMap()->pixelCount;
              break;
            case InputEvent::SetDisplayOffset:
              current = Static<ConfigService>::instance()->coordMap()->startPixel;
              break;
        }
        setEvent(InputEvent{m_currentIntent, current + 1});
    }

    InputEvent::Intent nextIntent() {
        switch (m_currentIntent) {
            case InputEvent::SetDisplayLength:
              return InputEvent::SetDisplayOffset;
            case InputEvent::SetDisplayOffset:
              return InputEvent::SetDisplayLength;
        }
    }
};

enum Phase {
  Null,
  AstronomicalDay,
  NauticalDay,
  CivilDay,
  CivilNight,
  NauticalNight,
  AstronomicalNight,
  Evening,
  Bedtime,
};

struct ScheduleEntry {
  uint8_t hour;
  uint8_t brightness;
};

std::array<ScheduleEntry, 10> schedule{{
  {0, 0},
  {5, 0},
  {6, 0},
  {7, 10},
  {8, 80},
  {11, 120},
  {18, 200},
  {19, 255},
  {22, 120},
  {23, 20}
}};

uint8_t brightnessForTime(uint8_t hour, uint8_t minute) {
  ScheduleEntry start = schedule.back();
  ScheduleEntry end = schedule.front();
  for(ScheduleEntry cur : schedule) {
    // Find the last hour that is prior to or equal to now
    if (cur.hour <= hour) {
      start = cur;
    } else {
      break;
    }
  }
  for(ScheduleEntry cur : schedule) {
    // Find the first hour that is after now
    // If no such hour exists, we should automatically wrap back to hour 0
    if (cur.hour > hour) {
      end = cur;
      break;
    }
  }

  if (start.hour > end.hour) {
    end.hour += 24;
  }

  uint16_t startTime = start.hour * 60;
  uint16_t endTime = end.hour * 60;
  uint16_t nowTime = hour * 60 + minute;

  uint16_t duration = endTime - startTime;
  uint16_t curDuration = nowTime - startTime;

  uint8_t frac = ((double)curDuration / (double)duration) * 255.0;

  return lerp8by8(start.brightness, end.brightness, frac);
}

InputFunc circadianRhythm([]() {
    static Phase lastPhase = Null;
    static bool needsUpdate = true;
    if (Time.isValid()) {
      EVERY_N_SECONDS(60) {
        needsUpdate = true;
      }
      if (needsUpdate) {
        needsUpdate = false;
        return InputEvent{InputEvent::SetBrightness, brightnessForTime(Time.hour(), Time.minute())};
      }
    }
    return InputEvent{};
}, "CircadianRhythm", Task::Running);

// A special mainloop app for configuring hardware settings that reboots the
// device when the user is finished.
MainLoop configApp{{
    // Manage read/write of configuration data
    Static<ConfigService>::instance(),

#ifdef PLATFORM_PHOTON
    // Update photon telemetry
    Static<PhotonTelemetry>::instance(),
#endif

    // Read hardware inputs
    new Buttons(),

    // Map input buttons to configuration commands
    new ConfigInputTask(),

    // Fill the entire display with a color, to see size
    &configDisplay,
    // Render some basic input feedback
    &inputBlip,
    // Render it all
    &configRenderer,
}};

// Turn on,
MainLoop renderbugApp{{

    // Load/update graphics configuration from EEPROM and Particle
    Static<ConfigService>::instance(),

    // Platform inputs
#ifdef PLATFORM_PHOTON
    // Particle cloud status
    Static<CloudStatus>::instance(),

    // Monitor network state and provide particle API events
    Static<PhotonInput>::instance(),
#endif

    // Hardware drivers
    new MPU5060(),
    new Buttons(),

    // Map buttons to events
    &keyMap,

    // Pattern sequencer
    &sequencer,

    // Daily rhythm activities
    &circadianRhythm,

    // Periodic motion input
    &randomPulse,

    // Periodic color inputs
    &noisebridgeCycle,
    &kierynCycle,
    &rainbowCycle,
    &hackerbotsCycle,

    // Animations
    &chimes,
    &drain,
    &solid,
    &flashlight,

    // Update UI layer
    &power,
    &displayClip,
    Static<UpdateStatus>::instance(),
    &inputBlip,

    // Render everything
    &renderer,

    // Platform telemetry
#ifdef PLATFORM_PHOTON
    // Update photon telemetry
    Static<PhotonTelemetry>::instance(),

    // Web telemetry UI
    &webTelemetry,

    // MQTT telemetry
    Static<MQTTTelemetry>::instance(),

    // Network discovery
    &mdnsService,
#endif
}};

MainLoop &runner = renderbugApp;

retained bool LAST_BOOT_WAS_FLASH;
retained bool LAST_BOOT_WAS_SERIAL;

struct BootOptions {
    static void initPins() {
        pinMode(2, INPUT_PULLDOWN);
        pinMode(3, INPUT_PULLDOWN);
        pinMode(4, INPUT_PULLDOWN);
    }

    BootOptions() {
        isSetup = digitalRead(2) == HIGH;
        isSerial = digitalRead(3) == HIGH || LAST_BOOT_WAS_SERIAL;
        isFlash = digitalRead(4) == HIGH;

        LAST_BOOT_WAS_FLASH = isFlash;
        LAST_BOOT_WAS_SERIAL |= isSerial;

        configStatus.setActive(isSetup);
        serialStatus.setActive(isSerial);
    }

    void waitForRelease() {
        while(digitalRead(2) == HIGH || digitalRead(3) == HIGH) {};
    }

    bool isSetup = false;
    bool isSerial = false;
    bool isFlash = false;

    LEDStatus serialStatus = LEDStatus(RGB_COLOR_ORANGE, LED_PATTERN_FADE, LED_SPEED_FAST, LED_PRIORITY_BACKGROUND);
    LEDStatus configStatus = LEDStatus(RGB_COLOR_YELLOW, LED_PATTERN_FADE, LED_SPEED_NORMAL, LED_PRIORITY_IMPORTANT);
};

STARTUP(BootOptions::initPins());

retained BootOptions bootopts;

ApplicationWatchdog *wd;

void watchdogHandler() {
    for(int i = 0; i < 8; i++) {
        leds[i] = CRGB(i % 3 ? 35 : 255, 0, 0);
    }
    FastLED.show();
    if (LAST_BOOT_WAS_FLASH) {
        System.dfu();
    } else {
        System.enterSafeMode();
    }
}

// Tune in,
void setup() {
  System.enableFeature(FEATURE_RETAINED_MEMORY);
  wd = new ApplicationWatchdog(5000, watchdogHandler, 1536);
  Serial.begin(115200);
  if (bootopts.isFlash) {
      System.dfu();
  }
  if (bootopts.isSerial) {
      bootopts.waitForRelease();
      while(!Serial.isConnected()) {
#ifdef PLATFORM_PHOTON
        Particle.process();
#endif
      }
      Log.info("\xf0\x9f\x94\x8c Serial connected");
  }
  Log.info(u8"🐛 Booting Renderbug %s!", System.deviceID().c_str());
  Log.info(u8"🐞 I am built for %d LEDs running on %dmA", HardwareConfig::MAX_LED_NUM, PSU_MILLIAMPS);
#ifdef PLATFORM_PHOTON
  Log.info(u8"📡 Particle version %s", System.version().c_str());
#endif
  Log.info(u8" Boot pin configuration:");
  Log.info(u8"  2: Setup - %d", bootopts.isSetup);
  Log.info(u8"  3: Serial - %d", bootopts.isSerial);
  Log.info(u8"  4: Flash - %d", bootopts.isFlash);

  Log.info(u8" Setting timezone to UTC-7");
  Time.zone(-7);

  Log.info(u8"💡 Starting FastLED...");
  FastLED.addLeds<NEOPIXEL, 6>(leds, HardwareConfig::MAX_LED_NUM);

  if (bootopts.isSetup) {
    Log.info(u8"🌌 Starting Figment in configuration mode...");
    runner = configApp;
  } else {
    Log.info(u8"🌌 Starting Figment...");
  }
  Serial.flush();
  runner.start();

  Log.info(u8"💽 %lu bytes of free RAM", System.freeMemory());
  Log.info(u8"🚀 Setup complete! Ready to rock and roll.");
  Serial.flush();
}

// Drop out.
void loop() {
  runner.loop();
  wd->checkin();
}