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remove all PS3 things and begin with ControllPad

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kleiax
2023-03-30 22:20:28 +02:00
parent e4cdc5f98d
commit 33fe6916ed
16 changed files with 182 additions and 150 deletions
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lib/ControllPad/controllPad.cpp
+57
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@@ -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
+45
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@@ -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
+42
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@@ -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
-2
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@@ -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
+6 -16
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@@ -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:
lineOne = "PS3 battery";
lineTwo = "is ";
lineTwo.concat(MenuSysteminformation::ps3ToString(this->gamepad->data.status.battery));
break;
// case 4:
// lineOne = "PS3 battery";
// lineTwo = "is ";
// lineTwo.concat(MenuSysteminformation::ps3ToString(this->gamepad->data.status.battery));
// 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
+2 -4
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@@ -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
+3 -3
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@@ -11,8 +11,8 @@
#include "driveModi/Modi/Autopilot/autopilot.h"
Autopilot::Autopilot(MoveControl* moveControl, Ps3Controller *gamepad, Navigation* navigation)
: ManualControl(moveControl, gamepad) {
Autopilot::Autopilot(MoveControl* moveControl, const ControllPadInput *input, Navigation* navigation)
: 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
+1 -1
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@@ -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
+3 -3
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@@ -11,8 +11,8 @@
#include "driveModi/Modi/CaptureRoute/captureRoute.h"
CaptureRoute::CaptureRoute(MoveControl* moveControl, Ps3Controller *gamepad, Navigation* navigation)
: ManualControl(moveControl, gamepad) {
CaptureRoute::CaptureRoute(MoveControl* moveControl, const ControllPadInput *input, Navigation* navigation)
: 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
+1 -1
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@@ -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
+4 -4
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@@ -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 y = this->gamepad->data.analog.stick.ly;
int8_t x = this->input->x;
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
+3 -2
View File
@@ -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
+5 -5
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@@ -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
+3 -2
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@@ -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
-2
View File
@@ -12,8 +12,6 @@
#ifndef DRIVEMODI_H
#define DRIVEMODI_H
#include <Ps3Controller.h>
/**
* @brief Baseclass to build DriveModi
*
src/main.cpp
+7 -105
View File
@@ -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;
BluetoothSerial SerialBT;
ControllPad* controllPad;
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, gamepad, wifiIsActive);
configureController();
driveManager = new DriveManager(&moveController, controllPad->getControllPadDataPtr(), wifiIsActive);
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.");
}