add cmd Queue for mqtt and cc1101 #5

changeNew.md

@@ -1,8 +1,9 @@
-# v1.x.x
+# v1.2.0
 
 ## what's new
 
-this is a minor bug fix version!
+Implemented a command queue for incomming mqtt messages and also for the CC1101 commands.
+Commands are now buffered and processed sequentially to prevent timing issues during transmission.
 
 this project is still in an early phase.
 If you like this project, feel free to push the **[Star ⭐️]** button and click **[Watch 👁]** to stay updated.
@@ -12,3 +13,6 @@ If you have any further questions, suggestions or requests, please use the discu
 ## changelog
 
 - fix missing SW-Version in MQTT-SysInfo and Home Assistant
+- Implemented a command queue for incoming mqtt messages. #5
+- Implemented a command queue for CC1101 to handle rapid consecutive commands to prevent timing issues during transmission. #5
+- update to Arduino core 3.1.0 based on IDF 5.3.2.241210

include/config.h

@@ -4,7 +4,7 @@
 /*-------------------------------------------------------------------------------
 General Configuration
 --------------------------------------------------------------------------------*/
-#define VERSION "v1.1.1" // internal program version
+#define VERSION "v1.2.0" // internal program version
 
 #define WIFI_RECONNECT 30000 // Delay between wifi reconnection tries
 #define MQTT_RECONNECT 10000 // Delay between mqtt reconnection tries

include/gzip_login_html.h

@@ -1,2 +1,2 @@
-const uint8_t PROGMEM gzip_login_html[] = {0x1f, 0x8b, 0x08, 0x00, 0x3f, 0x00, 0x63, 0x67, 0x02, 0xff, 0x75, 0x53, 0xb1, 0x92, 0xd4, 0x30, 0x0c, 0xed, 0xef, 0x2b, 0x84, 0x5b, 0xc8, 0xe6, 0x38, 0x1a, 0x8a, 0x64, 0x1b, 0xb8, 0x2b, 0x18, 0x66, 0xd8, 0x19, 0x8e, 0x82, 0x52, 0x89, 0xb5, 0xb1, 0xe7, 0x1c, 0xdb, 0xd8, 0xca, 0xee, 0x85, 0xaf, 0xc7, 0x59, 0x27, 0x24, 0x3b, 0x2c, 0x95, 0xe5, 0xf7, 0xe4, 0x27, 0xe9, 0x69, 0x5c, 0xbd, 0xf9, 0xfc, 0xed, 0xd3, 0xf3, 0xcf, 0xc3, 0x23, 0x28, 0xee, 0xcd, 0xfe, 0xae, 0x9a, 0x0e, 0x30, 0x68, 0xbb, 0x5a, 0x90, 0x15, 0x20, 0x75, 0xa8, 0x85, 0xe1, 0x90, 0x22, 0x64, 0x2c, 0x58, 0x51, 0x4f, 0xb5, 0x90, 0x18, 0x5e, 0xc4, 0xfe, 0x0e, 0xa0, 0x52, 0x84, 0x72, 0x0a, 0x52, 0xd8, 0x13, 0x23, 0xb4, 0x0a, 0x43, 0x24, 0xae, 0xc5, 0x8f, 0xe7, 0xa7, 0xe2, 0xa3, 0x80, 0x72, 0x4b, 0x5a, 0x9c, 0x1e, 0xa3, 0xf7, 0x86, 0x8a, 0xde, 0x35, 0x3a, 0x1d, 0x67, 0x6a, 0x8a, 0x04, 0x14, 0x2d, 0x7a, 0x6c, 0x0c, 0x09, 0x68, 0x9d, 0x65, 0xb2, 0x49, 0x60, 0xa4, 0xb8, 0x3e, 0x67, 0xcd, 0x86, 0xf6, 0x8f, 0xdf, 0x0f, 0x1f, 0x1e, 0x8a, 0x2f, 0x18, 0x9c, 0xd1, 0x47, 0xae, 0xca, 0x8c, 0xe6, 0x0c, 0xa3, 0xed, 0x0b, 0x04, 0x32, 0xb5, 0xd0, 0x49, 0x42, 0x80, 0x0a, 0x74, 0xac, 0x45, 0x79, 0xc4, 0xd3, 0x74, 0xdf, 0xc5, 0x53, 0x27, 0x20, 0xea, 0xdf, 0x14, 0x53, 0x03, 0x76, 0x14, 0xc0, 0xa3, 0x4f, 0xbd, 0xe8, 0x1e, 0x3b, 0x2a, 0x13, 0xf9, 0xf6, 0xb5, 0x37, 0x6b, 0xb9, 0x55, 0x2c, 0xf2, 0x68, 0x28, 0x2a, 0x22, 0x5e, 0x9e, 0x30, 0xbd, 0x72, 0xd9, 0xc6, 0xb8, 0x94, 0xe8, 0x51, 0xdb, 0xdd, 0xe5, 0x7e, 0x63, 0xd6, 0x93, 0xa6, 0xb3, 0x77, 0x81, 0x37, 0x73, 0x9d, 0xb5, 0x64, 0x55, 0x4b, 0x4a, 0x7d, 0xa5, 0xf1, 0xa7, 0xcb, 0x3b, 0xd0, 0x56, 0xb3, 0x46, 0x53, 0xc4, 0x16, 0x0d, 0xd5, 0xef, 0x77, 0xf7, 0xb3, 0x58, 0x55, 0x2e, 0xfe, 0x56, 0x8d, 0x93, 0xe3, 0xac, 0x2f, 0x53, 0xaa, 0xeb, 0xc0, 0x79, 0xb2, 0x19, 0x49, 0x18, 0x06, 0xd6, 0xed, 0x62, 0xc6, 0x05, 0x51, 0x0f, 0xff, 0xf8, 0x95, 0xa0, 0x95, 0xf7, 0xfb, 0x83, 0x21, 0x8c, 0x04, 0x5f, 0x5d, 0xa7, 0x6d, 0x55, 0xfa, 0x0d, 0x77, 0x74, 0xa1, 0x07, 0x6c, 0x59, 0x3b, 0x9b, 0x3c, 0x34, 0x53, 0x82, 0x80, 0x34, 0x96, 0x72, 0xb2, 0x16, 0xde, 0x45, 0x16, 0x6b, 0x72, 0x4a, 0xd7, 0xd6, 0x0f, 0xbc, 0xb1, 0x47, 0xcc, 0xd3, 0x0f, 0x91, 0xc2, 0x14, 0x09, 0xf0, 0x06, 0x5b, 0x52, 0xce, 0x48, 0x0a, 0x19, 0x86, 0x8c, 0x07, 0xfa, 0x35, 0xe8, 0x40, 0x72, 0xf1, 0x6e, 0x2b, 0xb8, 0x01, 0x60, 0x16, 0xf7, 0x18, 0xe3, 0xd9, 0x05, 0x29, 0xae, 0xb8, 0x5c, 0xec, 0x36, 0x77, 0x55, 0xf8, 0x76, 0xca, 0x7f, 0x7a, 0x68, 0x06, 0x66, 0x67, 0xe7, 0xc2, 0x71, 0x68, 0x7a, 0x9d, 0xa6, 0x9e, 0xbd, 0xca, 0xdc, 0xc6, 0xb0, 0x72, 0x72, 0xec, 0xef, 0x32, 0xca, 0xab, 0x6d, 0x54, 0x65, 0x5e, 0x58, 0x5e, 0x68, 0xde, 0x63, 0xda, 0xc5, 0xe5, 0xbb, 0xfd, 0x01, 0x84, 0x40, 0xe8, 0x4e, 0x7f, 0x03, 0x00, 0x00};
+const uint8_t PROGMEM gzip_login_html[] = {0x1f, 0x8b, 0x08, 0x00, 0xdc, 0x7a, 0x66, 0x67, 0x02, 0xff, 0x75, 0x53, 0xb1, 0x92, 0xd4, 0x30, 0x0c, 0xed, 0xef, 0x2b, 0x84, 0x5b, 0xc8, 0xe6, 0x38, 0x1a, 0x8a, 0x64, 0x1b, 0xb8, 0x2b, 0x18, 0x66, 0xd8, 0x19, 0x8e, 0x82, 0x52, 0x89, 0xb5, 0xb1, 0xe7, 0x1c, 0xdb, 0xd8, 0xca, 0xee, 0x85, 0xaf, 0xc7, 0x59, 0x27, 0x24, 0x3b, 0x2c, 0x95, 0xe5, 0xf7, 0xe4, 0x27, 0xe9, 0x69, 0x5c, 0xbd, 0xf9, 0xfc, 0xed, 0xd3, 0xf3, 0xcf, 0xc3, 0x23, 0x28, 0xee, 0xcd, 0xfe, 0xae, 0x9a, 0x0e, 0x30, 0x68, 0xbb, 0x5a, 0x90, 0x15, 0x20, 0x75, 0xa8, 0x85, 0xe1, 0x90, 0x22, 0x64, 0x2c, 0x58, 0x51, 0x4f, 0xb5, 0x90, 0x18, 0x5e, 0xc4, 0xfe, 0x0e, 0xa0, 0x52, 0x84, 0x72, 0x0a, 0x52, 0xd8, 0x13, 0x23, 0xb4, 0x0a, 0x43, 0x24, 0xae, 0xc5, 0x8f, 0xe7, 0xa7, 0xe2, 0xa3, 0x80, 0x72, 0x4b, 0x5a, 0x9c, 0x1e, 0xa3, 0xf7, 0x86, 0x8a, 0xde, 0x35, 0x3a, 0x1d, 0x67, 0x6a, 0x8a, 0x04, 0x14, 0x2d, 0x7a, 0x6c, 0x0c, 0x09, 0x68, 0x9d, 0x65, 0xb2, 0x49, 0x60, 0xa4, 0xb8, 0x3e, 0x67, 0xcd, 0x86, 0xf6, 0x8f, 0xdf, 0x0f, 0x1f, 0x1e, 0x8a, 0x2f, 0x18, 0x9c, 0xd1, 0x47, 0xae, 0xca, 0x8c, 0xe6, 0x0c, 0xa3, 0xed, 0x0b, 0x04, 0x32, 0xb5, 0xd0, 0x49, 0x42, 0x80, 0x0a, 0x74, 0xac, 0x45, 0x79, 0xc4, 0xd3, 0x74, 0xdf, 0xc5, 0x53, 0x27, 0x20, 0xea, 0xdf, 0x14, 0x53, 0x03, 0x76, 0x14, 0xc0, 0xa3, 0x4f, 0xbd, 0xe8, 0x1e, 0x3b, 0x2a, 0x13, 0xf9, 0xf6, 0xb5, 0x37, 0x6b, 0xb9, 0x55, 0x2c, 0xf2, 0x68, 0x28, 0x2a, 0x22, 0x5e, 0x9e, 0x30, 0xbd, 0x72, 0xd9, 0xc6, 0xb8, 0x94, 0xe8, 0x51, 0xdb, 0xdd, 0xe5, 0x7e, 0x63, 0xd6, 0x93, 0xa6, 0xb3, 0x77, 0x81, 0x37, 0x73, 0x9d, 0xb5, 0x64, 0x55, 0x4b, 0x4a, 0x7d, 0xa5, 0xf1, 0xa7, 0xcb, 0x3b, 0xd0, 0x56, 0xb3, 0x46, 0x53, 0xc4, 0x16, 0x0d, 0xd5, 0xef, 0x77, 0xf7, 0xb3, 0x58, 0x55, 0x2e, 0xfe, 0x56, 0x8d, 0x93, 0xe3, 0xac, 0x2f, 0x53, 0xaa, 0xeb, 0xc0, 0x79, 0xb2, 0x19, 0x49, 0x18, 0x06, 0xd6, 0xed, 0x62, 0xc6, 0x05, 0x51, 0x0f, 0xff, 0xf8, 0x95, 0xa0, 0x95, 0xf7, 0xfb, 0x83, 0x21, 0x8c, 0x04, 0x5f, 0x5d, 0xa7, 0x6d, 0x55, 0xfa, 0x0d, 0x77, 0x74, 0xa1, 0x07, 0x6c, 0x59, 0x3b, 0x9b, 0x3c, 0x34, 0x53, 0x82, 0x80, 0x34, 0x96, 0x72, 0xb2, 0x16, 0xde, 0x45, 0x16, 0x6b, 0x72, 0x4a, 0xd7, 0xd6, 0x0f, 0xbc, 0xb1, 0x47, 0xcc, 0xd3, 0x0f, 0x91, 0xc2, 0x14, 0x09, 0xf0, 0x06, 0x5b, 0x52, 0xce, 0x48, 0x0a, 0x19, 0x86, 0x8c, 0x07, 0xfa, 0x35, 0xe8, 0x40, 0x72, 0xf1, 0x6e, 0x2b, 0xb8, 0x01, 0x60, 0x16, 0xf7, 0x18, 0xe3, 0xd9, 0x05, 0x29, 0xae, 0xb8, 0x5c, 0xec, 0x36, 0x77, 0x55, 0xf8, 0x76, 0xca, 0x7f, 0x7a, 0x68, 0x06, 0x66, 0x67, 0xe7, 0xc2, 0x71, 0x68, 0x7a, 0x9d, 0xa6, 0x9e, 0xbd, 0xca, 0xdc, 0xc6, 0xb0, 0x72, 0x72, 0xec, 0xef, 0x32, 0xca, 0xab, 0x6d, 0x54, 0x65, 0x5e, 0x58, 0x5e, 0x68, 0xde, 0x63, 0xda, 0xc5, 0xe5, 0xbb, 0xfd, 0x01, 0x84, 0x40, 0xe8, 0x4e, 0x7f, 0x03, 0x00, 0x00};
 const unsigned int gzip_login_html_size = 448;

include/jarolift.h

@@ -1,11 +1,5 @@
 #pragma once
 
-void jaroCmdUp(uint8_t channel);
-void jaroCmdDown(uint8_t channel);
-void jaroCmdStop(uint8_t channel);
-void jaroCmdSetShade(uint8_t channel);
-void jaroCmdShade(uint8_t channel);
-void jaroCmdLearn(uint8_t channel);
 void jaroCmdSetDevCnt(uint16_t value);
 void jaroCmdReInit();
 bool getCC1101State();
@@ -14,3 +8,12 @@ uint16_t jaroGetDevCnt();
 
 void jaroliftSetup();
 void jaroliftCyclic();
+
+enum JaroCommandType { CMD_UP, CMD_DOWN, CMD_STOP, CMD_SET_SHADE, CMD_SHADE, CMD_LEARN };
+
+struct JaroCommand {
+  JaroCommandType type;
+  uint8_t channel;
+};
+
+void jaroCmd(JaroCommandType type, uint8_t channel);

include/mqtt.h

@@ -6,11 +6,6 @@
 #include <config.h>
 #include <language.h>
 
-struct MqttMessage {
-  String topic;
-  String payload;
-};
-
 /* P R O T O T Y P E S ********************************************************/
 const char *addTopic(const char *suffix);
 void mqttSetup();

lib/JaroliftController/JaroliftController.cpp

@@ -85,7 +85,7 @@ void JaroliftController::devcnt_handler(boolean do_increment) {
     devcnt++;
   EEPROM.put(cntadr, devcnt);
   EEPROM.commit();
-  sendMsg(ESP_LOG_INFO, "Device Counter: %i", devcnt);
+  sendMsg(ESP_LOG_DEBUG, "Device Counter: %i", devcnt);
 } // void devcnt_handler
 
 // ####################################################################
@@ -136,7 +136,7 @@ bool JaroliftController::getCC1101State(void) { return cc1101.connected(); }
 // ####################################################################
 uint32_t JaroliftController::cmd_get_serial(int channel) {
   uint32_t serial = (config.serial << 8) + channel;
-  sendMsg(ESP_LOG_DEBUG, "get serial: 0x%08x for channel: %i", serial, channel);
+  sendMsg(ESP_LOG_DEBUG, "get serial: 0x%08x for channel: %i", serial, channel + 1);
   return serial;
 }
 
@@ -428,7 +428,7 @@ void JaroliftController::cmdStop(uint8_t channel) {
   radio_tx(2);
   enterrx();
   rx_function = 0x4;
-  sendMsg(ESP_LOG_INFO, "command STOP for channel %i sent", channel);
+  sendMsg(ESP_LOG_INFO, "command STOP for channel %i sent", channel + 1);
   devcnt_handler(true);
 } // void jaroCmdStop
 
@@ -486,7 +486,7 @@ void JaroliftController::cmdSetShade(uint8_t channel) {
     delay(300);
   }
   rx_function = 0x6;
-  sendMsg(ESP_LOG_INFO, "command SET SHADE for channel %i sent", channel);
+  sendMsg(ESP_LOG_INFO, "command SET SHADE for channel %i sent", channel + 1);
   devcnt_handler(false);
   delay(2000); // Safety time to prevent accidentally erase of end-points.
 } // void cmd_set_shade_position
@@ -501,7 +501,7 @@ void JaroliftController::cmdLearn(uint8_t channel) {
     return;
   }
 
-  sendMsg(ESP_LOG_INFO, "putting channel %i into learn mode ...", channel);
+  sendMsg(ESP_LOG_INFO, "putting channel %i into learn mode ...", channel + 1);
   new_serial = cmd_get_serial(channel);
   EEPROM.get(cntadr, devcnt);
   sendMsg(ESP_LOG_DEBUG, "Device Counter from EEPROM: %i", devcnt);
@@ -553,7 +553,7 @@ void JaroliftController::cmdUpDown(uint8_t channel) {
   radio_tx(1);
   enterrx();
   devcnt_handler(true);
-  sendMsg(ESP_LOG_INFO, "command UPDOWN for channel %i sent", channel);
+  sendMsg(ESP_LOG_INFO, "command UPDOWN for channel %i sent", channel + 1);
 } // void cmd_updown
 
 void JaroliftController::begin() {

platformio.ini

@@ -1,6 +1,6 @@
 
 [env:esp32]
-platform = https://github.com/pioarduino/platform-espressif32/releases/download/51.03.07/platform-espressif32.zip
+platform = https://github.com/pioarduino/platform-espressif32/releases/download/53.03.10/platform-espressif32.zip
 board = upesy_wroom
 board_flash_size = 4MB
 framework = arduino
@@ -31,25 +31,25 @@ extra_scripts =
 ; ----------------------------------------------------------------
 ;upload_port = /dev/cu.usbserial-0258166D
 ;upload_port = /dev/cu.usbserial-576D0483281
-upload_port = /dev/cu.usbserial-576D0481591
+;upload_port = /dev/cu.usbserial-576D0481591
 ;upload_port = /dev/cu.usbserial-0001
 ;upload_port = /dev/cu.usbmodem01
 
 
 ; ----------------------------------------------------------------
 ; OPTION 2: wireless OTA Update
 ; ----------------------------------------------------------------
-;upload_protocol = espota
-;upload_speed = 115000
-;upload_port = 192.168.178.199   ; Conneted to Router
+upload_protocol = espota
+upload_speed = 115000
+upload_port = 192.168.178.30   ; Conneted to Router
 ;upload_port = 192.168.4.1      ; Setup Mode (ESP create Accesspoint)
 
 
 lib_compat_mode = strict
 lib_ldf_mode = chain
 lib_deps =
   mathieucarbou/AsyncTCP @ 3.3.1
-  mathieucarbou/ESPAsyncWebServer @ 3.4.3
+  mathieucarbou/ESPAsyncWebServer @ 3.4.5
   bblanchon/ArduinoJson @ 7.2.0
 lib_ignore =
   ;LittleFS_esp32

src/jarolift.cpp

@@ -1,11 +1,25 @@
 #include <JaroliftController.h>
+#include <basics.h>
 #include <config.h>
+#include <jarolift.h>
 #include <mqtt.h>
+#include <queue>
 
+#define MAX_CMD 20
+#define SEND_CYCLE 500
+
+static muTimer cmdTimer = muTimer();
 static const char *TAG = "JARO"; // LOG TAG
+std::queue<JaroCommand> jaroCmdQueue;
 
 JaroliftController jarolift;
 
+/**
+ * *******************************************************************
+ * @brief   message callback for JaroliftController
+ * @param   level,msg
+ * @return  none
+ * *******************************************************************/
 void msgCallback(esp_log_level_t level, const char *msg) {
   switch (level) {
   case ESP_LOG_ERROR:
@@ -26,6 +40,27 @@ void msgCallback(esp_log_level_t level, const char *msg) {
   }
 }
 
+/**
+ * *******************************************************************
+ * @brief   add jarolift command to buffer
+ * @param   type, channel
+ * @return  none
+ * *******************************************************************/
+void jaroCmd(JaroCommandType type, uint8_t channel) {
+  if (jaroCmdQueue.size() < MAX_CMD) {
+    jaroCmdQueue.push({type, channel});
+    MY_LOGD(TAG, "add cmd to buffer: %i, %i", type, channel + 1);
+  } else {
+    MY_LOGE(TAG, "to many commands within to short time");
+  }
+}
+
+/**
+ * *******************************************************************
+ * @brief   Jarolift Setup function
+ * @param   none
+ * @return  none
+ * *******************************************************************/
 void jaroliftSetup() {
 
   // initialize
@@ -45,6 +80,12 @@ void jaroliftSetup() {
   MY_LOGI(TAG, "read Device Counter from EEPROM: %i", jarolift.getDeviceCounter());
 }
 
+/**
+ * *******************************************************************
+ * @brief   send expected position via mqtt
+ * @param   channel, position
+ * @return  none
+ * *******************************************************************/
 void mqttSendPosition(uint8_t channel, uint8_t position) {
   char topic[64];
   char pos[16];
@@ -60,28 +101,68 @@ void mqttSendPosition(uint8_t channel, uint8_t position) {
   }
 }
 
-void jaroCmdUp(uint8_t channel) {
-  jarolift.cmdUp(channel);
-  mqttSendPosition(channel, 0);
-};
-
-void jaroCmdDown(uint8_t channel) {
-  jarolift.cmdDown(channel);
-  mqttSendPosition(channel, 100);
-};
-void jaroCmdStop(uint8_t channel) { jarolift.cmdStop(channel); };
-
-void jaroCmdShade(uint8_t channel) {
-  jarolift.cmdShade(channel);
-  mqttSendPosition(channel, 90);
-};
-
 void jaroCmdReInit() { jaroliftSetup(); };
-void jaroCmdSetShade(uint8_t channel) { jarolift.cmdSetShade(channel); };
-void jaroCmdLearn(uint8_t channel) { jarolift.cmdLearn(channel); };
 void jaroCmdSetDevCnt(uint16_t value) { jarolift.setDeviceCounter(value); };
 uint16_t jaroGetDevCnt() { return jarolift.getDeviceCounter(); };
 bool getCC1101State() { return jarolift.getCC1101State(); };
 uint8_t getCC1101Rssi() { return jarolift.getRssi(); }
 
-void jaroliftCyclic() { jarolift.loop(); }
+/**
+ * *******************************************************************
+ * @brief   execute jarolift commands from buffer
+ * @param   type, channel
+ * @return  none
+ * *******************************************************************/
+void processJaroCommands() {
+  if (!jaroCmdQueue.empty()) {
+
+    JaroCommand cmd = jaroCmdQueue.front();
+
+    switch (cmd.type) {
+    case CMD_UP:
+      jarolift.cmdUp(cmd.channel);
+      mqttSendPosition(cmd.channel, 0);
+      MY_LOGI(TAG, "execute cmd: UP - channel: %i", cmd.channel + 1);
+      break;
+    case CMD_DOWN:
+      jarolift.cmdDown(cmd.channel);
+      mqttSendPosition(cmd.channel, 100);
+      MY_LOGI(TAG, "execute cmd: DOWN - channel: %i", cmd.channel + 1);
+      break;
+    case CMD_STOP:
+      jarolift.cmdStop(cmd.channel);
+      MY_LOGI(TAG, "execute cmd: STOP - channel: %i", cmd.channel + 1);
+      break;
+    case CMD_SET_SHADE:
+      jarolift.cmdSetShade(cmd.channel);
+      mqttSendPosition(cmd.channel, 90);
+      MY_LOGI(TAG, "execute cmd: SETSHADE - channel: %i", cmd.channel + 1);
+      break;
+    case CMD_SHADE:
+      jarolift.cmdShade(cmd.channel);
+      MY_LOGI(TAG, "execute cmd: SHADE - channel: %i", cmd.channel + 1);
+      break;
+    case CMD_LEARN:
+      jarolift.cmdLearn(cmd.channel);
+      MY_LOGI(TAG, "execute cmd: LEARN - channel: %i", cmd.channel + 1);
+      break;
+    }
+
+    jaroCmdQueue.pop();
+  }
+}
+
+/**
+ * *******************************************************************
+ * @brief   jarolift cyclic function
+ * @param   none
+ * @return  none
+ * *******************************************************************/
+void jaroliftCyclic() {
+
+  if (cmdTimer.cycleTrigger(SEND_CYCLE)) {
+    processJaroCommands();
+  }
+
+  jarolift.loop();
+}