remove all PS3 things and begin with ControllPad

lib/ControllPad/controllPad.cpp

@@ -0,0 +1,57 @@
+/**
+ * @file controllPad.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-03-30
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#include "controllPad.h"
+
+ControllPad::ControllPad() {
+
+}
+
+bool ControllPad::loop() {
+    if (millis() - this->lastLoopMillis < this->loopDelay)
+        return false;
+    this->lastLoopMillis = millis();
+
+    if(!this->connected)
+        return false;
+
+    if (millis() - this->lastMessageRecive > this->disconnectTime) {
+        this->connected = false;
+        return false;
+    }
+
+    if (this->menuControl && this->controllInput.buttons > 0 && this->updated)
+        if (!this->firstButtonPress)
+            this->menuControl->printMenu();
+
+        if (ControllPadButton::isControllPadButtonPressed(&this->controllInput, ControllPadButton::PadButton::Left))
+            this->menuControl->left();
+        else if (ControllPadButton::isControllPadButtonPressed(&this->controllInput, ControllPadButton::PadButton::Right))
+            this->menuControl->right();
+        else if (ControllPadButton::isControllPadButtonPressed(&this->controllInput, ControllPadButton::PadButton::Up))
+            this->menuControl->up();
+        else if (ControllPadButton::isControllPadButtonPressed(&this->controllInput, ControllPadButton::PadButton::Down))
+            this->menuControl->down();
+        else if (ControllPadButton::isControllPadButtonPressed(&this->controllInput, ControllPadButton::PadButton::Yes))
+            this->menuControl->yes();
+        else if (ControllPadButton::isControllPadButtonPressed(&this->controllInput, ControllPadButton::PadButton::No))
+            this->menuControl->no();
+
+    this->menuControl->update();
+
+    return true;
+}
+
+const ControllPadInput * ControllPad::getControllPadDataPtr(uint16_t maxElapsedTime) const {
+    if (maxElapsedTime && millis() - this->lastMessageRecive > maxElapsedTime)
+        return nullptr;
+    return &this->controllInput;
+}

lib/ControllPad/controllPad.h

@@ -0,0 +1,45 @@
+/**
+ * @file controllPad.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-03-30
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#pragma once
+
+#include <menuControl.h>
+
+#include "controllPadInput.h"
+
+class ControllPad {
+    public:
+        ControllPad();
+
+        bool loop();
+
+        void setMenuControll(MenuControl* menuControll) { this->menuControl = menuControl; }
+
+        const ControllPadInput * getControllPadDataPtr(uint16_t maxElapsedTime = 0) const;
+
+        bool isControllPadConnected() const { return this->connected; }
+
+    private:
+        MenuControl* menuControl = nullptr;
+        ControllPadInput controllInput;
+
+        bool connected = false;
+        bool updated = false;
+        bool firstButtonPress = false;
+
+        uint16_t disconnectTime = 50;
+        uint16_t loopDelay = 5;
+
+        uint32_t lastMessageRecive = 0;
+        uint32_t lastLoopMillis = 0;
+
+
+};

lib/ControllPad/controllPadInput.h

@@ -0,0 +1,42 @@
+/**
+ * @file controllPadInput.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2023-03-30
+ * 
+ * @copyright Copyright (c) 2023
+ * 
+ */
+
+#ifndef CONTROLL_PAD_INPUT_H
+#define CONTROLL_PAD_INPUT_H
+
+#include <stdint.h>
+
+struct ControllPadInput {
+    uint8_t buttons;
+    uint8_t x;
+    uint8_t y;
+    uint8_t counter;
+};
+
+
+class ControllPadButton {
+    public:
+        enum PadButton {
+            Left,
+            Right,
+            Up,
+            Down,
+            Yes,
+            No,
+            Action
+        };
+
+        static bool isControllPadButtonPressed(const ControllPadInput *input, PadButton button) {
+            return false;
+        }
+};
+
+#endif // CONTROLL_PAD_INPUT_H

platformio.ini

@@ -17,12 +17,10 @@ monitor_speed = 115200
 upload_speed = 921600
 monitor_port = COM3
 lib_deps = 
-	jvpernis/PS3 Controller Host@^1.1.0
 	sparkfun/SparkFun u-blox GNSS Arduino Library@^2.2.7
 	knolleary/PubSubClient@^2.8
 	br3ttb/PID@^1.2.1
 	marcoschwartz/LiquidCrystal_I2C@^1.1.4
-	marian-craciunescu/ESP32Ping@^1.7
 	bblanchon/ArduinoJson@^6.20.0
 	mprograms/QMC5883LCompass@^1.1.1
 	https://git.kleiax.de/PlatformIO-Libs/Menu.git#v1.0

src/SpecialMenus/Systeminformation/menuSysteminformatio.cpp

@@ -11,10 +11,9 @@
 
 #include "menuSysteminformation.h"
 
-MenuSysteminformation::MenuSysteminformation(Battery* mainBattery, Ps3Controller* gamepad) 
+MenuSysteminformation::MenuSysteminformation(Battery* mainBattery) 
             : MenuInformationSites(5) {
     this->mainBattery = mainBattery;
-    this->gamepad = gamepad;
 }
 
 void MenuSysteminformation::printPage() const {
@@ -44,11 +43,11 @@ void MenuSysteminformation::printPage() const {
             lineTwo.concat(this->mainBattery->getBatteryVoltage());
             break;
 
-        case 4:
+        // case 4:
-            lineOne = "PS3 battery";
+        //     lineOne = "PS3 battery";
-            lineTwo = "is ";
+        //     lineTwo = "is ";
-            lineTwo.concat(MenuSysteminformation::ps3ToString(this->gamepad->data.status.battery));
+        //     lineTwo.concat(MenuSysteminformation::ps3ToString(this->gamepad->data.status.battery));
-            break;
+        //     break;
 
         default:
             this->printDefault();
@@ -58,12 +57,3 @@ void MenuSysteminformation::printPage() const {
     this->print(lineOne, lineTwo);
 }
 
-String MenuSysteminformation::ps3ToString(uint8_t battery) {
-    if( battery == ps3_status_battery_charging )      return "LOAD";
-    else if( battery == ps3_status_battery_full )     return "FULL";
-    else if( battery == ps3_status_battery_high )     return "HIGH";
-    else if( battery == ps3_status_battery_low)       return "LOW";
-    else if( battery == ps3_status_battery_dying )    return "BAD";
-    else if( battery == ps3_status_battery_shutdown ) return "OFF";
-    else                                              return "UNDEF";
-}

src/SpecialMenus/Systeminformation/menuSysteminformation.h

@@ -13,8 +13,8 @@
 #define MENU_SYSTEMINFORMATION_H
 
 #include <Arduino.h>
-#include <Ps3Controller.h>
 
+#include "controllPadInput.h"
 #include "menuInformationSites.h"
 #include "battery.h"
 
@@ -31,14 +31,12 @@ class MenuSysteminformation : public MenuInformationSites {
          * @param mainBattery 
          * @param gamepad 
          */
-        MenuSysteminformation(Battery* mainBattery, Ps3Controller* gamepad);
+        MenuSysteminformation(Battery* mainBattery);
 
     private:
         void printPage() const override;
-        static String ps3ToString(uint8_t battery);
 
         Battery* mainBattery;
-        Ps3Controller* gamepad;
 };
 
 #endif // MENU_SYSTEMINFORMATION_H

src/driveModi/Modi/Autopilot/autopilot.cpp

@@ -11,8 +11,8 @@
 
 #include "driveModi/Modi/Autopilot/autopilot.h"
 
-Autopilot::Autopilot(MoveControl* moveControl, Ps3Controller *gamepad, Navigation* navigation)
+Autopilot::Autopilot(MoveControl* moveControl, const ControllPadInput *input, Navigation* navigation)
-    : ManualControl(moveControl, gamepad) {
+    : ManualControl(moveControl, input) {
         this->navigation = navigation;
         this->navigationStarted = this->navigation->startNavigation();
         this->routeInfo = this->navigation->getRouteInfo();
@@ -45,7 +45,7 @@ void Autopilot::runAutopilot() {
         this->selfDrivingAvailable = true;
 
     if (!this->selfDriving && this->selfDrivingAvailable)
-        this->setSelfDriving(this->gamepad->data.button.triangle);
+        this->setSelfDriving(ControllPadButton::isControllPadButtonPressed(this->input, ControllPadButton::PadButton::Action));
 
     if (this->routeInfo.currentPoint == this->routeInfo.totalPoints) {
         this->navigationEnded = true;

src/driveModi/Modi/Autopilot/autopilot.h

@@ -35,7 +35,7 @@ class Autopilot : public ManualControl {
          * @param moveControl for ManualControl
          * @param navigation for route instructions
          */
-        Autopilot(MoveControl* moveControl, Ps3Controller *gamepad, Navigation* navigation);
+        Autopilot(MoveControl* moveControl, const ControllPadInput *input, Navigation* navigation);
 
         /**
          * @brief Calls runAutopilot or ManualControl loop

src/driveModi/Modi/CaptureRoute/captureRoute.cpp

@@ -11,8 +11,8 @@
 
 #include "driveModi/Modi/CaptureRoute/captureRoute.h"
 
-CaptureRoute::CaptureRoute(MoveControl* moveControl, Ps3Controller *gamepad, Navigation* navigation) 
+CaptureRoute::CaptureRoute(MoveControl* moveControl, const ControllPadInput *input, Navigation* navigation) 
-    : ManualControl(moveControl, gamepad) {
+    : ManualControl(moveControl, input) {
         this->navigation = navigation;
         this->routeInfo = navigation->getRouteInfo();
 }
@@ -28,7 +28,7 @@ void CaptureRoute::loop() {
 }
 
 void CaptureRoute::runCaptureRoute() {
-    if (this->gamepad->data.button.triangle) {
+    if (ControllPadButton::isControllPadButtonPressed(this->input, ControllPadButton::PadButton::Action)) {
         if (this->navigation->addCurrentPosToRoute()) {
             this->routeInfo = navigation->getRouteInfo();
             this->updateDisplay = true;

src/driveModi/Modi/CaptureRoute/captureRoute.h

@@ -33,7 +33,7 @@ class CaptureRoute : public ManualControl {
          * @param moveControl for ManualControl
          * @param navigation to add Points
          */
-        CaptureRoute(MoveControl* moveControl, Ps3Controller *gamepad, Navigation* navigation);
+        CaptureRoute(MoveControl* moveControl, const ControllPadInput *input, Navigation* navigation);
 
         /**
          * @brief Calls runCaptureRoute and ManualControl::loop

src/driveModi/Modi/ManualControl/manualControl.cpp

@@ -10,9 +10,9 @@
  */
 #include "manualControl.h"
 
-ManualControl::ManualControl(MoveControl *moveControl, Ps3Controller *gamepad) { 
+ManualControl::ManualControl(MoveControl *moveControl, const ControllPadInput *input) { 
     this->moveControl = moveControl;
-    this->gamepad = gamepad;
+    this->input = input;
     this->moveControl->setDrivingStatus(DrivingStatus::drive);
 }
 
@@ -31,8 +31,8 @@ void ManualControl::loop() {
 }
 
 void ManualControl::runManualControl() {
-    int8_t x = this->gamepad->data.analog.stick.lx;
+    int8_t x = this->input->x;
-    int8_t y = this->gamepad->data.analog.stick.ly;
+    int8_t y = this->input->y;
 
     double value_per_step = this->max_speed * 2 / 256;
     this->moveControl->setSpeed((y * -1) * value_per_step);

src/driveModi/Modi/ManualControl/manualControl.h

@@ -13,6 +13,7 @@
 
 #include "moveControl.h"
 #include "driveModi/driveModi.h"
+#include "controllPadInput.h"
 
 /**
  * @brief Drive the Rover with a Joystick
@@ -24,7 +25,7 @@
  */
 class ManualControl : public DriveModi {
     public:
-        ManualControl(MoveControl *moveControl, Ps3Controller *gamepad);
+        ManualControl(MoveControl *moveControl, const ControllPadInput *input);
 
         /**
          * @brief Destroy the Manual Control object
@@ -71,7 +72,7 @@ class ManualControl : public DriveModi {
 
     protected:
         MoveControl *moveControl;
-        Ps3Controller *gamepad;
+        const ControllPadInput* input;
 
     private:
         uint32_t lastMillis = 0;

src/driveModi/driveManager.cpp

@@ -15,9 +15,9 @@ Modi& operator++(Modi& m, int) {
     return m = (m == Modi::TestMode) ? Modi::Off : static_cast<Modi>(static_cast<int>(m)+1);
 }
 
-DriveManager::DriveManager(MoveControl *moveControl, Ps3Controller *gamepad, bool wifi) {
+DriveManager::DriveManager(MoveControl *moveControl, const ControllPadInput *input, bool wifi) {
     this->moveControl = moveControl;
-    this->gamepad = gamepad;
+    this->input = input;
 
     this->spiPort = new SPIClass(HSPI);
     spiPort->begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
@@ -66,17 +66,17 @@ void DriveManager::changeModus(Modi modus) {
             break;
 
         case Modi::ManualControl: {
-            this->currentModusPtr = new ManualControl(this->moveControl, this->gamepad);
+            this->currentModusPtr = new ManualControl(this->moveControl, this->input);
             }
             break;
 
         case Modi::CaptureRoute: {
-            this->currentModusPtr = new CaptureRoute(this->moveControl, this->gamepad,  this->navigation);
+            this->currentModusPtr = new CaptureRoute(this->moveControl, this->input,  this->navigation);
             }
             break;
 
         case Modi::Autopilot: {
-            this->currentModusPtr = new Autopilot(this->moveControl, this->gamepad, this->navigation);
+            this->currentModusPtr = new Autopilot(this->moveControl, this->input, this->navigation);
             }
             break;
 

src/driveModi/driveManager.h

@@ -21,6 +21,7 @@
 #include "config.h"
 #include "networkConfig.h"
 #include "debugTimes.h"
+#include "controllPadInput.h"
 
 // All Drive Modi
 #include "driveModi/Modi/ManualControl/manualControl.h"
@@ -51,7 +52,7 @@ class DriveManager {
          * 
          * @param moveControl 
          */
-        DriveManager(MoveControl *moveControl, Ps3Controller *gamepad, bool wifi = false);
+        DriveManager(MoveControl *moveControl, const ControllPadInput *input, bool wifi = false);
 
         /**
          * @brief Destroy the Drive Manager object
@@ -117,7 +118,7 @@ class DriveManager {
     private:
         Modi currentModus = Modi::Off;
         MoveControl *moveControl;
-        Ps3Controller *gamepad;
+        const ControllPadInput* input;
         DriveModi *currentModusPtr = nullptr;
         Navigation* navigation;
         SPIClass* spiPort;

src/driveModi/driveModi.h

@@ -12,8 +12,6 @@
 #ifndef DRIVEMODI_H
 #define DRIVEMODI_H
 
-#include <Ps3Controller.h>
-
 /**
  * @brief Baseclass to build DriveModi
  * 

src/main.cpp

@@ -17,13 +17,9 @@
 
 #include "config.h"
 
-#include <Ps3Controller.h>
 #include <iostream>
 #include <Wire.h>
 #include <LiquidCrystal_I2C.h>
-#include <ESP32Ping.h>
-#include <BluetoothSerial.h>
-#include <esp_bt_main.h>
 
 #include "driveModi/driveManager.h"
 #include "OutputBuf/outputBuf.h"
@@ -33,6 +29,7 @@
 #include "debugMqtt.h"
 #include "battery.h"
 #include "debugTimes.h"
+#include "controllPad.h"
 
 #include "menu.h"
 #include "menuAction.h"
@@ -53,21 +50,13 @@ LcdWrapper* lcdWrapper;
 OutputBuf* outputBuf;
 DebugMqtt* debugMqtt = nullptr;
 Battery* mainBattery;
-Ps3Controller* gamepad;
+ControllPad* controllPad;
-BluetoothSerial SerialBT;
 
 bool wifiIsActive;
-bool disconnectPs3 = false;
 
-
-void configureController(void);
-void callbackControllerAction(void);
-void callbackControllerConnect(void);
-void callbackControllerDisconnect(void);
 void i2cScanner(void);
 void makeMenu(void);
 void restart(void);
-void disconnectController(void);
 
 
 void setup() {
@@ -77,6 +66,8 @@ void setup() {
     char wifiIndicator = 'X';
 
     mainBattery = new Battery(35, 692000, 218500);
+    controllPad = new ControllPad();
+    controllPad->setMenuControll(main_m);
 
     Wire.begin(21, 19);
     Wire.setClock(400000);
@@ -90,14 +81,6 @@ void setup() {
     Network::setupMQTT();
     wifiIsActive = Network::connectWifi();
     if (wifiIsActive) {
-        
-        // const char* remoteHost = "www.google.com";
-        // std::cout << "Pinging host: " << remoteHost << std::endl;
-        // if (Ping.ping(remoteHost))
-        //     std::cout << "Ping successful..." << std::endl;
-        // else
-        //     std::cout << "Ping failed. :/" << std::endl;
-
         if (Network::checkMQTT()) {
             DebugMqtt::init(Network::getMqttClient(), Loglevel::debug);
             std::cout << "Activate additional output via MQTT..." << std::endl;
@@ -114,9 +97,7 @@ void setup() {
     std::cout << "Welcome to Kleiax-Rover" << std::endl;
     std::cout << "All actions from the main program run on Core -> " << xPortGetCoreID() << std::endl;
 
-    gamepad = new Ps3Controller;
+    driveManager = new DriveManager(&moveController, controllPad->getControllPadDataPtr(), wifiIsActive);
-    driveManager = new DriveManager(&moveController, gamepad, wifiIsActive);
-    configureController();
 
     outputBuf->activateMqtt(false);
 
@@ -139,6 +120,7 @@ void loop() {
         wifiTime.stopConsol("WiFi-Time", 10);
     }
     driveManager->loop();
+    controllPad->loop();
     lcdWrapper->loop();
 
     mainBattery->loop();
@@ -156,75 +138,6 @@ void loop() {
         
         while (true);
     }
-
-    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() {
-    auto isDelayReached = [](bool reset = false) -> bool {
-        static uint32_t lastMillis = 0;
-        if (reset)
-            lastMillis = millis();
-        static const uint16_t delay = 100;
-        bool res = false;
-
-        if (millis() - lastMillis > delay)
-            res = true;    
-        return res;
-    };
-
-    // Menu controlling
-    if (isDelayReached()) {
-        if (gamepad->data.button.up)
-            main_m->up();
-        else if (gamepad->data.button.down)
-            main_m->down();
-        else if (gamepad->data.button.left)
-            main_m->left();
-        else if (gamepad->data.button.right)
-            main_m->right();
-        else if (gamepad->data.button.circle)
-            main_m->yes();
-        else if (gamepad->data.button.cross)
-            main_m->no();
-        else if (gamepad->data.button.select)
-            std::cout << "main.cpp callbackControllerAction - Here we are!" << std::endl;
-
-        isDelayReached(true);        
-    }
-    // This have to be stand here because it have to be run on the other Core
-    main_m->update();
-}
-
-void callbackControllerConnect() {
-    std::cout << "Controller connected to ESP32" << std::endl;
-    std::cout << "All actions from the Controller run on Core -> " << xPortGetCoreID() << std::endl;
-
-    main_m->printMenu();
-}
-
-void callbackControllerDisconnect() {
-    std::cout << "Controller disconnected..." << std::endl;
-    // gamepad->end();
 }
 
 void i2cScanner() {
@@ -274,7 +187,7 @@ void makeMenu() {
     MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
     MenuTestMode* testM_m = new MenuTestMode(driveManager);
     MenuGPS* gps_m = new MenuGPS(driveManager);
-    MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery, gamepad);
+    MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery);
     MenuRoute* rout_m = new MenuRoute(driveManager->getNavigation()->getRoute());
 
     // Set Menus on LCD
@@ -297,7 +210,6 @@ void makeMenu() {
     MenuAction* gps_e = new MenuAction("GPS", gps_m);
     MenuAction* pid_e = new MenuAction("PID", pid_m);
     MenuAction* restart_e = new MenuAction("Restart", restart);
-    MenuAction* contr_e = new MenuAction("Remove PS3", disconnectController);
     MenuAction* sys_e = new MenuAction("Systeminfo", sys_m);
     MenuAction* rout_e = new MenuAction("Route", rout_m);
     main_m->addEntry(mode_e);
@@ -305,7 +217,6 @@ void makeMenu() {
     main_m->addEntry(rout_e);
     main_m->addEntry(pid_e);
     main_m->addEntry(sys_e);
-    main_m->addEntry(contr_e);
     main_m->addEntry(restart_e);
 
     // Entry for the mode Menu
@@ -344,12 +255,3 @@ void restart(void) {
     lcdWrapper->print("Rebooting ...");
     ESP.restart();
 }
-
-void disconnectController(void) {
-    disconnectPs3 = true;
-    lcdWrapper->clear();
-    lcdWrapper->setCursor(0, 0);
-    lcdWrapper->print("Controller is");
-    lcdWrapper->setCursor(0, 1);
-    lcdWrapper->print("disconnected.");
-}