working remoteControl via espNow

.vscode/settings.json

@@ -85,9 +85,12 @@
         "ardui",
         "blox",
         "bluedroid",
+        "CIPO",
+        "COPI",
         "gast",
         "GNSS",
         "GPGGA",
+        "HSPI",
         "Huus",
         "Keine",
         "kleiax",

include/networkConfig.h

@@ -62,7 +62,7 @@
 #endif // NTRIP_RTK2GO
 
 
-#define RHEDE
+#define DORO
 
 //Network config ESP32
 #ifdef ESP32BROKER

lib/ControllPad/controlPad.cpp

@@ -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)
+    if(!this->connected)
-    //     return false;
+        return false;
 
-    // if (millis() - this->lastMessageReceive > this->disconnectTime) {
+    if (millis() - this->lastMessageReceive > this->disconnectTime) {
-    //     this->connected = false;
+        this->connected = false;
-    //     return 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->lastButtons != controlInput.buttons)
-    //     if (!this->firstButtonPress)
+        this->updated = true;
-    //         this->menuControl->printMenu();
 
-    //     if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Left))
+    if (this->menuControl && this->controlInput.buttons > 0 && this->updated) {
-    //         this->menuControl->left();
+        if (this->firstButtonPress) {
-    //     else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Right))
+            this->menuControl->printMenu();
-    //         this->menuControl->right();
+            this->firstButtonPress = false;
-    //     else if (ControlPadButton::isControlPadButtonPressed(&this->controlInput, ControlPadButton::PadButton::Up))
+            std::cout << "ControlPad::loop - First menu print" << std::endl;
-    //         this->menuControl->up();
+            return true;
-    //     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->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();
+    if (this->controlInput.x > 127 - this->deadZoneX 
-    std::cout << "data: " << (int) this->controlInput.counter << std::endl;
+        && this->controlInput.x < 127 + this->deadZoneX)
-}
+        this->controlInput.x = 127;
-
-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.y > 127 - this->deadZoneY 
+        && this->controlInput.y < 127 + this->deadZoneY)
+        this->controlInput.y = 127;
 }

lib/ControllPad/controlPad.h

@@ -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

@@ -25,17 +25,49 @@ struct ControlPadInput {
 class ControlPadButton {
     public:
         enum PadButton {
-            Left,
+            Left = 4,
-            Right,
+            Right = 8,
-            Up,
+            Up = 2,
-            Down,
+            Down = 1,
-            Yes,
+            Yes = 32,
-            No,
+            No = 16,
-            Action
+            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

@@ -18,14 +18,19 @@ LcdWrapper::LcdWrapper(LiquidCrystal_I2C* lcd) {
 }
 
 void LcdWrapper::loop() {
-    if (this->changed) {
+    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

@@ -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

@@ -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");
+}