start with position undefined error. do not allow commands if position unknown

src/main.cpp

@@ -11,13 +11,10 @@
       - has to stop when no sensor change detected for some time
       - in classifySensorValue() only allow a certain time of unclassified reading
       - has to stop when driving upwards (or in general) for too long (for example end marker missing)
-  - do not allow certain commands if error mode
   - manual mover function should work better with iot commands (set position, no errors)
 */
 
 
-//right blind kind off delayed to commands?? ////
-
 #define FW_NAME "blindctrl"
 #define FW_VERSION "1.0.0"
 
@@ -151,6 +148,7 @@ unsigned long last_motor_send=0;
 #define DIFF_ERROR_FACTOR 0.6 //between 0 and 1. 1=error when estimated position error is at maximum (between two possible encoder readings). 0=no deviation allowed
 #define ERRORCODE_POSITIONDIFFTOOHIGH 1 //deviation too high on position correction
 #define ERRORCODE_N_NOT_NEXT 2 //skipped one transition. position jumped too far?
+#define ERRORCODE_UNDEFINED_POSITION 3
 
 #define THRESHOLD_GO_TO_POS 20 //how close blind has to be to have reached position (in mm)
 
@@ -168,6 +166,7 @@ void updateMotor(blindmodel &blind, Motor motor);
 void setError(blindmodel &blind, uint8_t errorcode, HomieNode& node);
 String modeNumToString(uint8_t modenum);
 String sensestatusNumToString(uint8_t sensestatusnum);
+String errorcodeNumToString(uint8_t errorcode);
 
 
 bool blind_l_positionHandler(const HomieRange& range, const String& value);
@@ -215,6 +214,7 @@ void setup() {
   blind1.simulated_acc_inc=200;
   blind1.softlimit_min=0;
   blind1.softlimit_max=2500;
+  setError(blind1,ERRORCODE_UNDEFINED_POSITION,blind1Node);
 
   blind2.pin_sensor_led=PIN_SENSE_LED2;
   blind2.length_clear=50;
@@ -232,6 +232,7 @@ void setup() {
   blind2.simulated_acc_inc=200;
   blind2.softlimit_min=0;
   blind2.softlimit_max=2500;
+  setError(blind2,ERRORCODE_UNDEFINED_POSITION,blind2Node);
 
   //Test
   //blind1.mode = MODE_FIND_END;
@@ -565,6 +566,8 @@ void updateMotor(blindmodel &blind, Motor motor)
 }
 
 void checkModes(blindmodel &blind, HomieNode &node) {
+  if (blind.error==0)  //only if no errors
+  {
     switch(blind.mode) {
       case MODE_FIND_END:
         switch(blind.mode_find_end_state) {
@@ -675,6 +678,7 @@ void checkModes(blindmodel &blind, HomieNode &node) {
         }
         break;
     }
+  }
 }
 
 
@@ -683,7 +687,8 @@ void setError(blindmodel &blind, uint8_t errorcode, HomieNode& node){
     blind.error=errorcode;
   }
   Serial.print("ERROR CODE="); Serial.println(errorcode);
-  node.setProperty("debug").send("Error="+(String)errorcode);
+  node.setProperty("debug").send("Error="+errorcodeNumToString(errorcode));
+  
   blind.mode=MODE_ERROR;
 }
 
@@ -725,6 +730,20 @@ String sensestatusNumToString(uint8_t sensestatusnum){
   }
 }
 
+String errorcodeNumToString(uint8_t errorcode) {
+  switch(errorcode){
+    case ERRORCODE_UNDEFINED_POSITION:
+      return "ERROR_UNDEFINED_POSITION";
+      break;
+    case ERRORCODE_POSITIONDIFFTOOHIGH:
+      return "ERROR_POSITIONDIFFTOOHIGH";
+      break;
+    case ERRORCODE_N_NOT_NEXT:
+      return "ERROR_N_NOT_NEXT";
+      break;
+  }
+}
+
 
 bool blind_l_positionHandler(const HomieRange& range, const String& value) {
   if (range.isRange) {
@@ -800,6 +819,10 @@ bool blind_cmdHandler(blindmodel &blind, HomieNode& node, const String& value) {
   {
     blind.mode = MODE_FIND_END;
     blind.mode_find_end_state=0; //reset mode find state
+    
+    if (blind.error==ERRORCODE_UNDEFINED_POSITION) {
+      blind.error=0; //reset
+    }
     node.setProperty("cmd").send("cmd end");
   }else if (value=="SPEEDFACTOR") 
   {