begin with gps, can drive now

doc/PinBelegungen.txt

@@ -10,8 +10,8 @@ INTL1	32				GND
 INTL2	33				19		SCL
 INTB1	25				18
 INTB2	26				5
-DirL1	27				TX		GPS
+DirL1	27				17		GPS TX
-DirR2	14				RX		GPS
+DirR2	14				16		GPS RX
 DirL2	12				4		SD-Card
 		GND				x
 PWML	13				2		SD-Card

include/config.h

@@ -1,6 +1,6 @@
     //GPS Serial Pins
-    #define GPS_RX 16
+    #define GPS_RX 17
-    #define GPS_TX 17
+    #define GPS_TX 16
     #define GPS_BAUD 9600
 
 

include/networkConfig.h

@@ -1,4 +1,4 @@
-#define HW1
+#define RHEDE
 
 //Network config RHEDE
 #ifdef RHEDE

lib/Menu/menu.cpp

@@ -16,23 +16,37 @@ Menu::Menu() {
 
 void Menu::addEntry(MenuAction* entry) {
     this->entrys.push_back(entry);
-        
+
-    // TODO: Same shit here. Why I get the first element after an increment.
+    if (this->entrys.size() == 2)
-    static uint8_t inc = 0;
-    inc++;
-    if (inc == 1) {
         this->it = this->entrys.begin();
-    }
 }
 
 void Menu::printMenu() {
-    std::cout << std::endl;
+    if (this->lcd) {
-    for (std::list<MenuAction*>::iterator iter = this->entrys.begin(); iter != this->entrys.end(); iter++) {
+        MenuAction* selectedEntry = *(this->it);
-        MenuAction* selectedEntry = *(iter);
+        lcd->clear();
-        if (this->it == iter)
+        lcd->setCursor(0, 0);
-            std::cout << "  " << selectedEntry->getName() << std::endl;
+        lcd->print("-> ");
-        else
+        lcd->print(selectedEntry->getName());
-            std::cout << selectedEntry->getName() << std::endl;
+        lcd->setCursor(0, 1);
+        std::list<MenuAction*>::iterator iter = this->it;
+        iter++;
+        if (iter != this->entrys.end()) {
+            selectedEntry = *iter;
+            lcd->print(selectedEntry->getName());
+        } else {
+            selectedEntry = *this->entrys.begin();
+            lcd->print(selectedEntry->getName());
+        }
+    } else {
+        std::cout << std::endl;
+        for (std::list<MenuAction*>::iterator iter = this->entrys.begin(); iter != this->entrys.end(); iter++) {
+            MenuAction* selectedEntry = *(iter);
+            if (this->it == iter)
+                std::cout << "  " << selectedEntry->getName() << std::endl;
+            else
+                std::cout << selectedEntry->getName() << std::endl;
+        }
     }
     this->inSubmenu = false;
 }
@@ -85,8 +99,6 @@ void Menu::right() {
         selectedEntry->getMenu()->setParentMenu(this);
     } 
     selectedEntry->runAction();
-    if (selectedEntry->getIsMenu())
-        selectedEntry->getMenu()->down();
 }
 
 void Menu::left() {

lib/Menu/menuControl.h

@@ -13,6 +13,7 @@
 #define MENU_CONTROLL_H
 
 #include <iostream>
+#include <LiquidCrystal_I2C.h>
 
 class MenuControl {
     public:
@@ -27,9 +28,10 @@ class MenuControl {
 
         virtual void printMenu();
         void setParentMenu(MenuControl* menu) {this->parentMenu = menu;}
+        void setLcd(LiquidCrystal_I2C* lcd) {this->lcd = lcd;}
 
     protected:
         MenuControl* parentMenu = nullptr;
+        LiquidCrystal_I2C* lcd = nullptr;
 };
-
 #endif // MENU_CONTROLL_H

platformio.ini

@@ -21,4 +21,5 @@ lib_deps =
 	mikalhart/TinyGPSPlus@^1.0.2
 	knolleary/PubSubClient@^2.8
 	br3ttb/PID@^1.2.1
+	marcoschwartz/LiquidCrystal_I2C@^1.1.4
 upload_port = COM3

src/SpecialMenus/menuGPS.cpp

@@ -0,0 +1,55 @@
+/**
+ * @file menuGPS.cpp
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-29
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#include "menuGPS.h"
+
+MenuGPS::MenuGPS(TinyGPSPlus* gps) {
+    this->gps = gps;
+}
+
+void MenuGPS::right() {
+    this->printMenu();
+}
+
+void MenuGPS::left() {
+    if (this->parentMenu)
+        this->parentMenu->printMenu();
+}
+
+void MenuGPS::no() {
+    this->left();
+}
+
+void MenuGPS::yes() {
+    this->printMenu();
+}
+
+void MenuGPS::printMenu() {
+    if (this->lcd) {
+        lcd->clear();
+        lcd->setCursor(0, 0);
+        if (gps->satellites.isValid()) {
+            lcd->printf("Sats: %3.d", gps->satellites.value());
+            lcd->setCursor(0, 1);
+            lcd->printf("HDOP: %f", gps->hdop.hdop());
+        } else {
+            lcd->clear();
+            lcd->setCursor(0, 0);
+            lcd->printf("Data isn't valid");
+        }
+    } else {
+        if (gps->satellites.isValid())
+            std::cout   << "Sats: " << gps->satellites.value()
+                        << "HDOP: " << gps->hdop.hdop() << std::endl;
+        else 
+            std::cout << "Date isn't valid" << std::endl;
+    }
+}

src/SpecialMenus/menuGPS.h

@@ -0,0 +1,36 @@
+/**
+ * @file menuGPS.h
+ * @author Alexander Klein (alex@kleiax.de)
+ * @brief 
+ * @version 0.1
+ * @date 2022-01-29
+ * 
+ * @copyright Copyright (c) 2022
+ * 
+ */
+
+#ifndef MENU_GPS_H
+#define MENU_GPS_H
+
+#include <TinyGPS++.h>
+
+#include "menuControl.h"
+
+class MenuGPS : public MenuControl {
+    public:
+        MenuGPS(TinyGPSPlus* gps);
+
+        void down(){}
+        void up(){}
+        void right();
+        void left();
+        void no();
+        void yes();
+
+        void printMenu();
+
+    private:
+        TinyGPSPlus* gps;
+};
+
+#endif // MENU_GPS_H

src/SpecialMenus/menuManualDrive.cpp

@@ -16,5 +16,13 @@ void MenuManualControl::no() {
 
 void MenuManualControl::printMenu() {
     this->driveManager->changeModus(Modi::ManualControl);
-    std::cout << "Jetzt kannst du\n fahren. :-)" << std::endl;
+    if (this->lcd) {
+        this->lcd->clear();
+        this->lcd->setCursor(0, 0);
+        this->lcd->print("Jetzt kannst");
+        this->lcd->setCursor(0, 1);
+        this->lcd->print("du fahren. :-)");
+
+    } else
+        std::cout << "Jetzt kannst du\n fahren. :-)" << std::endl;
 }

src/SpecialMenus/menuManualDrive.h

@@ -18,8 +18,6 @@
 // TODO: delete after installtion of display
 #include <Arduino.h>
 
-
-
 class MenuManualControl : public MenuControl {
     public:
         MenuManualControl(DriveManager* driveManager);
@@ -35,8 +33,6 @@ class MenuManualControl : public MenuControl {
 
     private:
         DriveManager* driveManager;
-        
-
 };
 
 #endif // MENU_MANUAL_DRIVE_H

src/SpecialMenus/menuPidSettings.cpp

@@ -62,23 +62,33 @@ void MenuPidSettings::yes() {
 }
 
 void MenuPidSettings::printMenu() {
-    std::cout << "  P    I    D  " << std::endl;
+    char buf[17];
     switch (this->curPos) {
         case 0:
-            printf("_%3.d_ %3.d  %3.d \n", this->values[0], this->values[1], this->values[2]);
+            sprintf(buf, "_%3.d_ %3.d  %3.d ", this->values[0], this->values[1], this->values[2]);
             break;
 
         case 1:
-            printf(" %3.d _%3.d_ %3.d \n", this->values[0], this->values[1], this->values[2]);
+            sprintf(buf, " %3.d _%3.d_ %3.d ", this->values[0], this->values[1], this->values[2]);
             break;
 
         case 2:
-            printf(" %3.d  %3.d _%3.d_\n", this->values[0], this->values[1], this->values[2]);
+            sprintf(buf, " %3.d  %3.d _%3.d_", this->values[0], this->values[1], this->values[2]);
             break;
         
         default:
             break;
     }
+    if (this->lcd) {
+        lcd->clear();
+        lcd->setCursor(0, 0);
+        lcd->print("  P    I    D  ");
+        lcd->setCursor(0, 1);
+        lcd->print(buf);
+    } else {
+        std::cout << "  P    I    D  " << std::endl;
+        std::cout << buf << std::endl;
+    }
 }
 
 

src/main.cpp

@@ -1,6 +1,9 @@
 #include <Arduino.h>
 #include <Ps3Controller.h>
 #include <iostream>
+#include <Wire.h>
+#include <LiquidCrystal_I2C.h>
+#include <TinyGPS++.h>
 
 #include "config.h"
 
@@ -14,10 +17,13 @@
 #include "menuAction.h"
 #include "SpecialMenus/menuPidSettings.h"
 #include "SpecialMenus/menuManualDrive.h"
+#include "SpecialMenus/menuGPS.h"
 
 MoveControl moveController;
 DriveManager driveManager(&moveController);
 Menu* main_m;
+LiquidCrystal_I2C* lcd;
+TinyGPSPlus gps;
 
 // TODO: Platzhalter, muss irgendwann weg
 void dummy(){std::cout << "Dummy in Action" <<std::endl;}
@@ -26,13 +32,24 @@ void dummy(){std::cout << "Dummy in Action" <<std::endl;}
 void callbackControllerAction();
 void callbackControllerConnect();
 void controllerPrintBattery();
+void i2cScanner();
 
 void exitDriveMode() {driveManager.changeModus(Modi::Off);}
 
 void setup() {
     Serial.begin(115200);
+    Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX);
     std::cout << "Welcome to Kleiax-Rover" << std::endl;
 
+    Wire.begin(21, 19);
+    // i2cScanner();
+    lcd = new LiquidCrystal_I2C(0x3F,16,2);
+    lcd->init();
+    lcd->backlight();
+    lcd->print("- Kleiax-Rover -");
+    lcd->setCursor(0, 1);
+    lcd->print("Press PS-Button");
+
     Network::setIps();
     Network::connectWifi();
     Network::setupMQTT();
@@ -42,8 +59,6 @@ void setup() {
     std::cout << "\nReady to connect a PS3 Controller... \n";
     Ps3.begin();
 
-    Serial1.begin(GPS_BAUD, SERIAL_8N1, GPS_RX, GPS_TX);
-
     // Create Menu
     main_m = new Menu();
     Menu* mode_m = new Menu();
@@ -51,10 +66,21 @@ void setup() {
     MenuPidSettings* pidl_m = new MenuPidSettings(moveController.getPID(0));
     MenuPidSettings* pidr_m = new MenuPidSettings(moveController.getPID(1));
     MenuManualControl* man_m = new MenuManualControl(&driveManager);
+    MenuGPS* gps_m = new MenuGPS(&gps);
+
+    // Set Menus on LCD
+    main_m->setLcd(lcd);
+    mode_m->setLcd(lcd);
+    pid_m->setLcd(lcd);
+    pidl_m->setLcd(lcd);
+    pidr_m->setLcd(lcd);
+    man_m->setLcd(lcd);
+    gps_m->setLcd(lcd);
+
 
     // Entry for the main menu
     MenuAction* mode_e = new MenuAction("Mode", mode_m);
-    MenuAction* gps_e = new MenuAction("GPS", dummy);
+    MenuAction* gps_e = new MenuAction("GPS", gps_m);
     MenuAction* pid_e = new MenuAction("PID", pid_m);
     main_m->addEntry(mode_e);
     main_m->addEntry(gps_e);
@@ -83,21 +109,18 @@ void setup() {
 void loop() {
     Network::checkMQTT();
     driveManager.loop();
-    while (Serial1.available() > 0)
+    gps.encode(Serial1.read());
-        std::cout << "In while von gps in loop in main.cpp" << std::endl;
-        // Serial.print(Serial1.read());
 }
 
-bool isDelayReached() {
+bool isDelayReached(bool reset = false) {
     static uint32_t lastMillis = 0;
-    const uint16_t delay = 200;
+    if (reset)
+        lastMillis = millis();
+    static const uint16_t delay = 300;
     bool res = false;
 
-    if (millis() - lastMillis > delay) {
+    if (millis() - lastMillis > delay)
-        res = true;
+        res = true;    
-        lastMillis = millis();
-    }
-    
     return res;
 }
 
@@ -118,11 +141,16 @@ void callbackControllerAction() {
             main_m->no();   
         else if (Ps3.data.button.ps)
             controllerPrintBattery();
+
+        isDelayReached(true);        
     }
 }
 
 void callbackControllerConnect() {
     std::cout << "Controller connected to ESP32" << std::endl;
+
+    // TODO: Display is not functional without this seconde init, first init is in setup()
+    lcd->init();
     main_m->printMenu();
 }
 
@@ -141,3 +169,34 @@ void controllerPrintBattery() {
     else if( controller_battery == ps3_status_battery_shutdown ) printf("SHUTDOWN\n");
     else printf("UNDEFINED\n");
 }
+
+void i2cScanner() {
+    std::cout << "\nI2C Scanner" << std::endl;
+
+
+    byte error, address;
+    int nDevices;
+    Serial.println("Scanning...");
+    nDevices = 0;
+    for(address = 1; address < 127; address++ ) {
+        Wire.beginTransmission(address);
+        error = Wire.endTransmission();
+        if (error == 0) {
+            Serial.print("I2C device found at address 0x");
+            if (address<16)
+                Serial.print("0");
+            Serial.println(address,HEX);
+            nDevices++;
+        }
+        else if (error==4) {
+            Serial.print("Unknow error at address 0x");
+            if (address<16)
+                Serial.print("0");
+            Serial.println(address,HEX);
+        }    
+    }
+    if (nDevices == 0)
+        Serial.println("No I2C devices found\n");
+    else
+        Serial.println("done\n");
+}