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working remoteControl via espNow

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This commit is contained in:
kleiax
2023-04-11 12:47:32 +02:00
parent e3c452436d
commit 3fab7c7f83
8 changed files with 125 additions and 78 deletions
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.vscode/settings.json
Vendored
+3
View File
@@ -85,9 +85,12 @@
"ardui",
"blox",
"bluedroid",
"CIPO",
"COPI",
"gast",
"GNSS",
"GPGGA",
"HSPI",
"Huus",
"Keine",
"kleiax",
include/networkConfig.h
+1 -1
View File
@@ -62,7 +62,7 @@
#endif // NTRIP_RTK2GO
#define RHEDE
#define DORO
//Network config ESP32
#ifdef ESP32BROKER
lib/ControllPad/controlPad.cpp
+42 -35
View File
@@ -16,58 +16,65 @@ ControlPad::ControlPad() {
}
bool ControlPad::loop() {
this->receiveData();
if (millis() - this->lastLoopMillis < this->loopDelay)
return false;
this->lastLoopMillis = millis();
// if(!this->connected)
// return false;
if(!this->connected)
return false;
// if (millis() - this->lastMessageReceive > this->disconnectTime) {
// this->connected = false;
// return false;
// }
if (millis() - this->lastMessageReceive > this->disconnectTime) {
this->connected = false;
this->controlInput.buttons = 0;
this->controlInput.x = 127;
this->controlInput.y = 127;
return false;
}
// if (this->menuControl && this->controlInput.buttons > 0 && this->updated)
// if (!this->firstButtonPress)
// this->menuControl->printMenu();
if (this->lastButtons != controlInput.buttons)
this->updated = true;
// if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Left))
// this->menuControl->left();
// else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Right))
// this->menuControl->right();
// else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Up))
// this->menuControl->up();
// else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Down))
// this->menuControl->down();
// else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Yes))
// this->menuControl->yes();
// else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::No))
// this->menuControl->no();
if (this->menuControl && this->controlInput.buttons > 0 && this->updated) {
if (this->firstButtonPress) {
this->menuControl->printMenu();
this->firstButtonPress = false;
std::cout << "ControlPad::loop - First menu print" << std::endl;
return true;
}
// this->menuControl->update();
if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Left))
this->menuControl->left();
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Right))
this->menuControl->right();
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Up))
this->menuControl->up();
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Down))
this->menuControl->down();
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Yes))
this->menuControl->yes();
else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::No))
this->menuControl->no();
this->updated = false;
this->lastButtons = controlInput.buttons;
}
return true;
}
void ControlPad::insertData(const uint8_t *data) {
this->connected = true;
this->lastMessageReceive = millis();
uint8_t lastCount = this->controlInput.counter + 1;
memcpy(&(this->controlInput), data, sizeof(this->controlInput));
if (lastCount != this->controlInput.counter)
std::cout << "ControlPad::insertData counter wrong value" << std::endl;
this->lastMessageReceive = millis();
std::cout << "data: " << (int) this->controlInput.counter << std::endl;
}
const ControlPadInput * ControlPad::getControlPadDataPtr(uint16_t maxElapsedTime) const {
if (maxElapsedTime && millis() - this->lastMessageReceive > maxElapsedTime)
return nullptr;
return &this->controlInput;
}
void ControlPad::receiveData() {
if (this->controlInput.x > 127 - this->deadZoneX
&& this->controlInput.x < 127 + this->deadZoneX)
this->controlInput.x = 127;
if (this->controlInput.y > 127 - this->deadZoneY
&& this->controlInput.y < 127 + this->deadZoneY)
this->controlInput.y = 127;
}
lib/ControllPad/controlPad.h
+5 -6
View File
@@ -25,7 +25,7 @@ class ControlPad {
void setMenuControl(MenuControl* menuControl) { this->menuControl = menuControl; }
const ControlPadInput * getControlPadDataPtr(uint16_t maxElapsedTime = 0) const;
const ControlPadInput * getControlPadDataPtr() const { return &this->controlInput; }
bool isControlPadConnected() const { return this->connected; }
@@ -33,13 +33,13 @@ class ControlPad {
MenuControl* menuControl = nullptr;
ControlPadInput controlInput;
void receiveData();
bool connected = false;
bool updated = false;
bool firstButtonPress = false;
bool firstButtonPress = true;
const uint8_t address[2][6] = { "rover", "ardui" };
uint8_t deadZoneX = 10;
uint8_t deadZoneY = 10;
uint8_t lastButtons = 0;
uint16_t disconnectTime = 50;
uint16_t loopDelay = 5;
@@ -47,5 +47,4 @@ class ControlPad {
uint32_t lastMessageReceive = 0;
uint32_t lastLoopMillis = 0;
};
lib/ControllPad/controlPadInput.h
+40 -8
View File
@@ -25,17 +25,49 @@ struct ControlPadInput {
class ControlPadButton {
public:
enum PadButton {
Left,
Right,
Up,
Down,
Yes,
No,
Action
Left = 4,
Right = 8,
Up = 2,
Down = 1,
Yes = 32,
No = 16,
Action = 64
};
static bool isControlPadButtonPressed(const ControlPadInput *input, PadButton button) {
return false;
uint8_t buttonNum = input->buttons;
switch (button) {
case PadButton::Left :
return buttonNum & (uint8_t) PadButton::Left;
break;
case PadButton::Right :
return buttonNum & (uint8_t) PadButton::Right;
break;
case PadButton::Up :
return buttonNum & (uint8_t) PadButton::Up;
break;
case PadButton::Down :
return buttonNum & (uint8_t) PadButton::Down;
break;
case PadButton::Yes :
return buttonNum & (uint8_t) PadButton::Yes;
break;
case PadButton::No :
return buttonNum & (uint8_t) PadButton::No;
break;
case PadButton::Action :
return buttonNum & (uint8_t) PadButton::Action;
break;
default:
return false;;
}
}
};
lib/LcdWrapper/LcdWrapper.cpp
+12 -7
View File
@@ -18,14 +18,19 @@ LcdWrapper::LcdWrapper(LiquidCrystal_I2C* lcd) {
}
void LcdWrapper::loop() {
if (this->changed) {
this->lcd->clear();
for (uint8_t i = 0; i < DISPLAY_WRAPPER_LINES; i++) {
this->lcd->setCursor(0, i);
this->lcd->print(this->data[i]);
}
this->changed = false;
if (!this->changed)
return;
this->lcd->clear();
for (uint8_t i = 0; i < DISPLAY_WRAPPER_LINES; i++) {
this->lcd->setCursor(0, i);
this->lcd->print(this->data[i]);
}
if (this->callback)
this->callback(this->data, DISPLAY_WRAPPER_LINES, DISPLAY_WRAPPER_ROWS);
this->changed = false;
}
void LcdWrapper::clear() {
lib/LcdWrapper/LcdWrapper.h
+4
View File
@@ -19,6 +19,8 @@
#define DISPLAY_WRAPPER_ROWS 16
#define DISPLAY_WRAPPER_LINES 2
typedef void (*LcdWrapperCallback) (const char data[][DISPLAY_WRAPPER_ROWS], uint8_t lines, uint8_t rows);
/**
* @brief A class for the Menu class to print information
*
@@ -54,6 +56,7 @@ class LcdWrapper : public DisplayWrapper {
* @param line
*/
void setCursor(uint8_t row, uint8_t line) override;
void setCallback(LcdWrapperCallback callback) { this->callback = callback; }
/**
* @brief Save the data to be printed
@@ -65,6 +68,7 @@ class LcdWrapper : public DisplayWrapper {
private:
LiquidCrystal_I2C* lcd;
LcdWrapperCallback callback = nullptr;
char data[DISPLAY_WRAPPER_LINES][DISPLAY_WRAPPER_ROWS];
uint8_t cursorRow = 0;
src/main.cpp
+18 -21
View File
@@ -59,8 +59,9 @@ bool wifiIsActive;
void i2cScanner(void);
void makeMenu(void);
void restart(void);
void recieveCallback (const uint8_t * mac, const uint8_t *incomingData, int len);
void receiveCallback (const uint8_t * mac, const uint8_t *incomingData, int len);
void sendCallback (const uint8_t *mac_addr, esp_now_send_status_t status);
void lcdWrapperCallback (const char data[][DISPLAY_WRAPPER_ROWS], uint8_t lines, uint8_t rows);
void setup() {
@@ -78,7 +79,6 @@ void setup() {
mainBattery = new Battery(35, 692000, 218500);
controlPad = new ControlPad();
controlPad->setMenuControl(main_m);
Wire.begin(21, 19);
Wire.setClock(400000);
@@ -104,7 +104,7 @@ void setup() {
outputBuf = new OutputBuf();
std::cout.rdbuf(outputBuf);
Network::connectEspNow(recieveCallback, sendCallback);
Network::connectEspNow(receiveCallback, sendCallback);
std::cout << "Welcome to Kleiax-Rover" << std::endl;
std::cout << "All actions from the main program run on Core -> " << xPortGetCoreID() << std::endl;
@@ -118,6 +118,7 @@ void setup() {
lcd->setCursor(0, 1);
lcd->print("Press PS-Button");
lcdWrapper = new LcdWrapper(lcd);
lcdWrapper->setCallback(lcdWrapperCallback);
makeMenu();
@@ -125,23 +126,6 @@ void setup() {
}
void loop() {
static uint32_t lastMillis = 0;
if (millis() - lastMillis > 5000) {
lastMillis = millis();
char blub[] = {"Du dumme Bla"};
esp_err_t result = esp_now_send(Network::getBroadcastAddress(), (uint8_t *) blub, sizeof(blub));
if (result == ESP_OK) {
Serial.println("Sent with success");
}
else {
Serial.println("Error sending the data");
}
// debugMqtt->sendMsg(Loglevel::info, "Alive");
}
if (wifiIsActive) {
DebugTimes wifiTime;
Network::checkWiFi();
@@ -150,6 +134,7 @@ void loop() {
}
driveManager->loop();
controlPad->loop();
main_m->update();
lcdWrapper->loop();
mainBattery->loop();
@@ -276,6 +261,8 @@ void makeMenu() {
pidr_m->setEntry(0, "P-Part", (uint8_t) moveController.getPID(1)->GetKp());
pidr_m->setEntry(1, "I-Part", (uint8_t) moveController.getPID(1)->GetKi());
pidr_m->setEntry(2, "D-Part", (uint8_t) moveController.getPID(1)->GetKd());
controlPad->setMenuControl(main_m);
}
void restart(void) {
@@ -285,7 +272,7 @@ void restart(void) {
ESP.restart();
}
void recieveCallback (const uint8_t * mac, const uint8_t *incomingData, int len) {
void receiveCallback (const uint8_t * mac, const uint8_t *incomingData, int len) {
if (len != sizeof(ControlPadInput))
return;
controlPad->insertData(incomingData);
@@ -295,3 +282,13 @@ void sendCallback (const uint8_t *mac_addr, esp_now_send_status_t status) {
if (status != ESP_NOW_SEND_SUCCESS)
std::cout << "sendCallback - Delivery Fail" << std::endl;
}
void lcdWrapperCallback (const char data[][DISPLAY_WRAPPER_ROWS], uint8_t lines, uint8_t rows) {
if (!controlPad->isControlPadConnected())
return;
esp_err_t result = esp_now_send(Network::getBroadcastAddress(), (uint8_t *) data, lines * rows);
if (result != ESP_OK)
Serial.println("Error sending the data");
}