kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity

fix reconnect gamepad

Browse Source
This commit is contained in:
kleiax
2022-12-13 16:26:28 +01:00
parent f14992c040
commit 1f80548797
10 changed files with 99 additions and 43 deletions
Download Patch File Download Diff File Expand all files Collapse all files
.vscode/settings.json
Vendored
+1
View File
@@ -83,6 +83,7 @@
"Ahnung",
"akku",
"blox",
"bluedroid",
"gast",
"GNSS",
"GPGGA",
doc/Notes and TODOs/TODO allgemein.txt
+2
View File
@@ -3,4 +3,6 @@
-> Program battery pack tracking
-> Add an beeper
-> Program the beeper
-> GPS-Menu without Wlan NtripClient
-> CaptureRoute Modus crash when someone try's to save a point
doc/Notes and TODOs/ps3 reconnect.txt
+26
View File
@@ -0,0 +1,26 @@
ps3.h
void ps3ResetGlobals();
ps3.c
void ps3ResetGlobals() {
// Own Code
is_active = false;
ps3_connection_cb = NULL;
ps3_connection_object_cb = NULL;
ps3_connection_object = NULL;
ps3_event_cb = NULL;
ps3_event_object_cb = NULL;
ps3_event_object = NULL;
}
Ps3Controller.h
private
void resetGlobals();
Ps3Controller.cpp
void Ps3Controller::resetGlobals() {
ps3ResetGlobals();
}
in -> Ps3Controller::begin
this->resetGlobals();
include/config.h
+8
View File
@@ -15,6 +15,14 @@
* The PS3-Controller only connects to the address which is saved in it.
*/
#define CONTROLLER_MAC "24:62:AB:F2:4B:3A"
/**
* @brief Prevents creation of the global object
*
* The PS3-Controller class creates a global object to use.
*/
#define NO_GLOBAL_INSTANCES
#define UBLOX_GNSS_SPI_CS 17
#define UBLOX_GNSS_SPI_COPI 16
#define UBLOX_GNSS_SPI_CIPO 4
lib/Navigation/navigation.cpp
+3 -3
View File
@@ -80,13 +80,13 @@ void Navigation::loop() {
this->updateCurrentLocation();
std::cout << "duration between: " << millis() - lastTime << std::endl;
lastTime = millis();
} else if (millis() - lastTime > 20000) {
std::cout << "Keine Daten mehr!" << std::endl;
} else if (millis() - lastTime > 20000 && !this->gps->getGnssFixOk()) {
std::cout << "No Data from ZED arrived since a long time. Navigation::loop" << std::endl;
this->gps->flushPVT();
this->gps->softwareResetGNSSOnly();
lastTime = millis();
// std::cout
//std::cout
// << "checkUblox: " << this->gps->checkUblox() << " -|- "
// << "getGnssFixOk: " << this->gps->getGnssFixOk() << " -|- "
// << "getHWstatus: " << this->gps->getHWstatus() << " -|- "
lib/Times/debugTimes.cpp
+1 -1
View File
@@ -16,7 +16,7 @@ bool DebugTimes::printWarning = true;
DebugTimes::DebugTimes() {
this->startTime = millis();
if (!DebugTimes::printWarning) {
if (DebugTimes::printWarning) {
std::cout << std::endl << "Warning: DebugTimes is muuted, no times are be shown." << std::endl << std::endl;
DebugTimes::printWarning = false;
}
src/SpecialMenus/Akku/menuAkku.cpp
+4 -3
View File
@@ -11,8 +11,9 @@
#include "menuAkku.h"
MenuAkku::MenuAkku(Battery* mainBattery) {
MenuAkku::MenuAkku(Battery* mainBattery, Ps3Controller* gamepad) {
this->mainBattery = mainBattery;
this->gamepad = gamepad;
}
void MenuAkku::right() {
@@ -38,8 +39,8 @@ void MenuAkku::printMenu() {
uint8_t mainBattery = this->mainBattery->getBatteryPercent();
double mainBatteryVolt = this->mainBattery->getBatteryVoltage();
if( controllerBattery != Ps3.data.status.battery ){
controllerBattery = Ps3.data.status.battery;
if( controllerBattery != this->gamepad->data.status.battery ){
controllerBattery = this->gamepad->data.status.battery;
}
if( controllerBattery == ps3_status_battery_charging ) sprintf(buf, "LOAD");
src/SpecialMenus/Akku/menuAkku.h
+2 -1
View File
@@ -30,7 +30,7 @@ class MenuAkku : public MenuControl {
* @brief Construct a new Menu Akku object
*
*/
MenuAkku(Battery* mainBattery);
MenuAkku(Battery* mainBattery, Ps3Controller* gamepad);
void down() override {}
void up() override {}
@@ -58,6 +58,7 @@ class MenuAkku : public MenuControl {
uint32_t lastMillis = 0;
Battery* mainBattery;
Ps3Controller* gamepad;
};
src/driveModi/driveManager.cpp
+1 -1
View File
@@ -39,7 +39,7 @@ void DriveManager::loop() {
DebugTimes navigationTime;
this->navigation->loop();
navigationTime.stopConsol("NavigationTime", 5);
navigationTime.stopConsol("NavigationTime", 20);
if (currentModusPtr)
this->currentModusPtr->loop();
src/main.cpp
+51 -34
View File
@@ -14,14 +14,16 @@
*/
#include <Arduino.h>
#include "config.h"
#include <Ps3Controller.h>
#include <iostream>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <BluetoothSerial.h>
#include <ESP32Ping.h>
#include "config.h"
#include <BluetoothSerial.h>
#include <esp_bt_main.h>
#include "driveModi/driveManager.h"
#include "OutputBuf/outputBuf.h"
@@ -47,11 +49,15 @@ Menu* main_m;
LiquidCrystal_I2C* lcd;
OutputBuf* outputBuf;
DebugMqtt* debugMqtt = nullptr;
BluetoothSerial* serialBT = nullptr;
Battery* mainBattery;
Ps3Controller* gamepad;
BluetoothSerial SerialBT;
bool wifiIsActive;
bool disconnectPs3 = false;
void configureController(void);
void callbackControllerAction(void);
void callbackControllerConnect(void);
void callbackControllerDisconnect(void);
@@ -61,7 +67,7 @@ void makeMenu(void);
void setup() {
Serial.begin(115200);
// DebugTimes::setConsolOutput(true);
DebugTimes::setConsolOutput(true);
DebugTimes setupTime;
char wifiIndicator = 'X';
@@ -104,18 +110,9 @@ void setup() {
std::cout << "Welcome to Kleiax-Rover" << std::endl;
std::cout << "All actions from the main program run on Core -> " << xPortGetCoreID() << std::endl;
Ps3.attach(callbackControllerAction);
Ps3.attachOnConnect(callbackControllerConnect);
Ps3.attachOnDisconnect(callbackControllerDisconnect);
std::cout << "\nReady to connect a PS3 Controller... \n";
gamepad = new Ps3Controller;
configureController();
// Need to be connected befor an other device connect
Ps3.begin(CONTROLLER_MAC);
std::cout << "Activate additional output via Bluetooth..." << std::endl;
serialBT = new BluetoothSerial;
serialBT->begin("Kleiax-Rover");
outputBuf->setSerialBT(serialBT);
outputBuf->activateMqtt(false);
lcd->backlight();
@@ -141,11 +138,26 @@ void loop() {
mainBattery->loop();
mainBatteryTime.stopConsol("MainBatteryTime", 5);
// static uint32_t lastMillis = 0;
// if (millis() - lastMillis > 2000) {
// std::cout << "Is BT-Consol connected: " << serialBT->connected() << std::endl;
// lastMillis = millis();
// }
if (disconnectPs3) {
DebugTimes disconnectPS3Time;
std::cout << "Disconnect PS3 Controller." << std::endl;
gamepad->end();
esp_bluedroid_disable();
esp_bluedroid_deinit();
configureController();
disconnectPs3 = false;
disconnectPS3Time.stopConsol("Ps3 Disconnect");
}
}
void configureController() {
gamepad->attach(callbackControllerAction);
gamepad->attachOnConnect(callbackControllerConnect);
gamepad->attachOnDisconnect(callbackControllerDisconnect);
std::cout << "\nReady to connect a PS3 Controller... \n";
gamepad->begin(CONTROLLER_MAC);
}
void callbackControllerAction() {
@@ -153,7 +165,7 @@ void callbackControllerAction() {
static uint32_t lastMillis = 0;
if (reset)
lastMillis = millis();
static const uint16_t delay = 300;
static const uint16_t delay = 100;
bool res = false;
if (millis() - lastMillis > delay)
@@ -163,19 +175,19 @@ void callbackControllerAction() {
// Menu controlling
if (isDelayReached()) {
if (Ps3.data.button.up)
if (gamepad->data.button.up)
main_m->up();
else if (Ps3.data.button.down)
else if (gamepad->data.button.down)
main_m->down();
else if (Ps3.data.button.left)
else if (gamepad->data.button.left)
main_m->left();
else if (Ps3.data.button.right)
else if (gamepad->data.button.right)
main_m->right();
else if (Ps3.data.button.circle)
else if (gamepad->data.button.circle)
main_m->yes();
else if (Ps3.data.button.cross)
else if (gamepad->data.button.cross)
main_m->no();
else if (Ps3.data.button.select)
else if (gamepad->data.button.select)
debugMqtt->sendMsg(Loglevel::info, "Here we are: callbackController..");
isDelayReached(true);
@@ -185,18 +197,23 @@ void callbackControllerAction() {
}
void callbackControllerConnect() {
static bool firstConnect = true;
std::cout << "Controller connected to ESP32" << std::endl;
std::cout << "All actions from the Controller run on Core -> " << xPortGetCoreID() << std::endl;
// Display is not functional without this seconde init, first init is in setup(),
// because after the setup the other core control the display.
lcd->init();
main_m->printMenu();
if (firstConnect) {
lcd->init();
main_m->printMenu();
firstConnect = false;
}
}
void callbackControllerDisconnect() {
std::cout << "Controller disconnected..." << std::endl;
// Ps3.end();
// gamepad->end();
}
void i2cScanner() {
@@ -243,7 +260,7 @@ void makeMenu() {
};
auto disconnectController = [&]() {
Ps3.end();
disconnectPs3 = true;
};
// Create Menu
@@ -257,7 +274,7 @@ void makeMenu() {
MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
MenuTestMode* test_m = new MenuTestMode(driveManager);
MenuGPS* gps_m = new MenuGPS(driveManager);
MenuAkku* akku_m = new MenuAkku(mainBattery);
MenuAkku* akku_m = new MenuAkku(mainBattery, gamepad);
// Set Menus on LCD
main_m->setLcd(lcd);