kleiax/Bachelorarbeit-Rover
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network is now a component

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This commit is contained in:
kleiax
2023-09-20 08:51:31 +02:00
parent 936d2b9647
commit baf1936824
9 changed files with 340 additions and 414 deletions
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src/SpecialMenus/SensorData/menuSensorData.cpp
+1 -1
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@@ -44,7 +44,7 @@ void MenuSensorData::printPage() const {
lineOne = "Calc Azimuth:";
lineTwo.concat(this->sensorData->getCalcAzimuth());
lineTwo.concat(" ");
lineTwo.concat(CalcAzimuth::stateToString(this->sensorData->getCalcAzimuthState));
lineTwo.concat(CalcAzimuth::stateToString(this->sensorData->getCalcAzimuthState()));
break;
case 3: {
src/main.cpp
+31 -32
View File
@@ -29,6 +29,7 @@
#include "LcdWrapper.h"
#include "moveControl.h"
#include "network.h"
#include "networkConfig.h"
#include "debugMqtt.h"
#include "battery.h"
#include "sensorData.h"
@@ -45,10 +46,10 @@
#include "SpecialMenus/Systeminformation/menuSysteminformation.h"
#include "SpecialMenus/PID/menuPidSettings.h"
#include "SpecialMenus/Route/menuRoute.h"
#include "SpecialMenus/GPS/menuGPS.h"
#include "SpecialMenus/SensorData/menuSensorData.h"
MoveControl moveController;
Network* network;
DriveManager* driveManager;
Menu* main_m;
LiquidCrystal_I2C* lcd;
@@ -68,17 +69,13 @@ void restart(void);
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[][LcdWrapper::totalRows], uint8_t lines, uint8_t rows);
NetworkAdresses setIPs(void);
void setup() {
Serial.begin(115200);
// DebugTimes::setConsolOutput(true);
DebugTimes setupTime;
char wifiIndicator = 'X';
WiFi.mode(WIFI_MODE_STA);
Serial.print("MAC Address: ");
Serial.println(WiFi.macAddress());
spiPort = new SPIClass(HSPI);
spiPort->begin(PinNumbers::spiSck, PinNumbers::spiCipo, PinNumbers::spiCopi, PinNumbers::gnssSpiCs);
@@ -94,25 +91,21 @@ void setup() {
lcd->clear();
lcd->noBacklight();
Network::setIps();
Network::setupMQTT();
wifiIsActive = Network::connectWifi();
if (wifiIsActive) {
Network::initMQTT();
if (Network::checkMQTT()) {
DebugMqtt::init(Network::getMqttClient(), Loglevel::debug);
std::cout << "Activate additional output via MQTT..." << std::endl;
network = new Network(NetworkConfig::ssid, NetworkConfig::password, setIPs());
network->activateEspNow(receiveCallback, sendCallback);
if (NetworkConfig::mqtt) {
if (network->activateMqtt(MqttConfig::user, MqttConfig::password)) {
DebugMqtt::init(network->getMqttClient(), Loglevel::debug);
debugMqtt = new DebugMqtt("Console");
outputBuf = new OutputBuf(debugMqtt);
} else
outputBuf->activateMqtt(true);
} else {
outputBuf = new OutputBuf();
wifiIndicator = '-';
}
} else
outputBuf = new OutputBuf();
std::cout.rdbuf(outputBuf);
Network::connectEspNow(receiveCallback, sendCallback);
std::cout << "Welcome to Kleiax-Rover" << std::endl;
std::cout << "Project verion: " << VERSION << std::endl;
std::cout << "Build timestamp: " << BUILD_TIMESTAMP << std::endl;
@@ -121,11 +114,12 @@ void setup() {
sensorData = new SensorData();
sensorData->enableGnss(spiPort, PinNumbers::gnssSpiCs);
sensorData->enableRealCompass();
sensorData->enableGyroskop();
// sensorData->enableGyroskop();
driveManager = new DriveManager(&moveController, sensorData, controlPad->getControlPadDataPtr());
outputBuf->activateMqtt(true);
char wifiIndicator = 'X';
if (network->isWifiConnected())
wifiIndicator = '-';
lcd->backlight();
lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator);
lcd->setCursor(0, 1);
@@ -139,16 +133,7 @@ void setup() {
}
void loop() {
if (wifiIsActive) {
DebugTimes wifiTime;
Network::checkWiFi();
#ifdef MQTT
bool err = Network::checkMQTT();
if (!err)
std::cout << "loop(): checkMQTT returns false" << std::endl;
#endif //MQTT
wifiTime.stopConsol("WiFi-Time", 10);
}
network->loop();
sensorData->loop();
driveManager->loop();
controlPad->loop();
@@ -297,8 +282,22 @@ void lcdWrapperCallback (const char data[][LcdWrapper::totalRows], uint8_t lines
if (!controlPad->isControlPadConnected())
return;
esp_err_t result = esp_now_send(Network::getBroadcastAddress(), (uint8_t *) data, lines * rows);
esp_err_t result = esp_now_send(network->getBroadcastAddress(), (uint8_t *) data, lines * rows);
if (result != ESP_OK)
Serial.println("Error sending the data");
}
NetworkAdresses setIPs() {
NetworkAdresses adresses;
adresses.localIP.fromString(NetworkConfig::ip);
adresses.subnet.fromString(NetworkConfig::subnet);
adresses.gateway.fromString(NetworkConfig::gateway);
adresses.dnsServer.fromString(NetworkConfig::dns);
if (NetworkConfig::mqtt) {
adresses.mqttServer.fromString(MqttConfig::server);
adresses.mqttPort = MqttConfig::port;
}
return adresses;
}
src/network.cpp
-174
View File
@@ -1,174 +0,0 @@
/**
* @file network.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains the implementation of the ststic class Network
* @version 0.1
* @date 2021-12-14
*
* @copyright Copyright (c) 2021
*
*/
#include "network.h"
IPAddress Network::local_IP;
IPAddress Network::gateway;
IPAddress Network::subnet;
IPAddress Network::mqtt_server;
IPAddress Network::dnsServer;
WiFiClient Network::wifi_client;
PubSubClient* Network::mqtt_client;
esp_now_peer_info_t Network::peerInfo;
uint8_t Network::broadcastAddress[6] = ESP_NOW_CONTROLER_MAC;
void Network::setIps() {
local_IP.fromString(WLAN_IP);
gateway.fromString(WLAN_GATEWAY);
subnet.fromString(WLAN_SUBNETMASK);
mqtt_server.fromString(MQTT_SERVER);
dnsServer.fromString(WLAN_DNS_SERVER);
}
void Network::setupMQTT() {
Network::mqtt_client = new PubSubClient(wifi_client);
Network::mqtt_client->setServer(MQTT_SERVER, MQTT_PORT);
Network::mqtt_client->setSocketTimeout(1);
}
bool Network::connectMQTT() {
#ifndef MQTT
return false;
#endif
// Create a random client ID
String clientId = "ESP32Rover-";
clientId += String(random(0xffff), HEX);
#ifdef MQTT_AUTH
if (mqtt_client->connect(clientId.c_str(), MQTT_USER, MQTT_PASSWORD)) {
#endif //MQTT_AUTH
#ifndef MQTT_AUTH
if (mqtt_client->connect(clientId.c_str())) {
#endif //MQTT_AUTH
// Once connected, publish an announcement...
mqtt_client->publish("Rover/Info", "Connected to Mqtt-Broker");
}
return mqtt_client->connected();
}
bool Network::connectWifi() {
// Configures static IP address
if (!WiFi.mode(WIFI_AP_STA))
std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl;
if (!WiFi.config(local_IP, gateway, subnet, dnsServer))
std::cout << "STA Failed to configure" << std::endl;
// Connect to Wi-Fi network with SSID and password
std::cout << "Connecting to " << WLAN_SSID << std::endl;
WiFi.begin(WLAN_SSID, WLAN_PASSWORD);
uint8_t timeout = WLAN_CONNECT_TIMEOUT;
while (WiFi.status() != WL_CONNECTED) {
delay(WLAN_CONNECT_LOOP_TIME);
std::cout << "." << std::flush;
timeout--;
if (timeout == 0) {
std::cout << std::endl;
std::cout << "WiFi NOT connected." << std::endl;
return false;
}
}
// Print local IP address and start web server
std::cout << std::endl;
std::cout << "WiFi connected." << std::endl;
std::cout << "IP address: " << std::endl;
std::cout << WLAN_IP << std::endl;
// std::cout << "WiFi MAC Address: " << WiFi.macAddress() << std::endl << std::endl;
return true;
}
bool Network::connectEspNow(recieveCallbackPtr reci, sendCallbackPtr send) {
if (esp_now_init() != ESP_OK) {
std::cout << "Network::connectEspNow - Error initializing ESP-NOW" << std::endl;
return false;
}
esp_now_register_send_cb(send);
memcpy(peerInfo.peer_addr, broadcastAddress, 6);
peerInfo.channel = 0;
peerInfo.encrypt = false;
if (esp_now_add_peer(&peerInfo) != ESP_OK) {
std::cout << "Network::connectEspNow - Failed to add peer" << std::endl;
return false;
}
esp_now_register_recv_cb(reci);
return true;
}
uint8_t Network::getCurrentChannel() {
uint8_t channel;
wifi_second_chan_t secondChannel;
if (esp_wifi_get_channel(&channel, &secondChannel) != ESP_OK) {
std::cout << "Network::getCurrentChannel - Error!" << std::endl;
return -1;
}
// std::cout << "Network::getCurrentChannel - Current WiFi channel: "
// << (int) channel << " second channel: " << (int) secondChannel
// << std::endl;
return channel;
}
bool Network::checkMQTT() {
static uint64_t lastReconnectAttempt = 0;
if (!mqtt_client->connected()) {
long now = millis();
if (now - lastReconnectAttempt > MQTT_TIME_RECONNECT) {
lastReconnectAttempt = now;
// Attempt to reconnect
if (connectMQTT())
return true;
}
return false;
}
mqtt_client->loop();
return true;
}
bool Network::initMQTT() {
if (connectMQTT())
return true;
return false;
}
int32_t Network::getWiFiChannel(const char *ssid) {
if (int32_t n = WiFi.scanNetworks())
for (uint8_t i=0; i<n; i++)
if (!strcmp(ssid, WiFi.SSID(i).c_str()))
return WiFi.channel(i);
return 0;
}
void Network::checkWiFi() {
static uint64_t previousMillis = 0;
static uint16_t delay = 5000;
uint64_t currentMillis = millis();
if ((WiFi.status() != WL_CONNECTED) && (currentMillis - previousMillis >= delay)) {
std::cout << "Reconnecting to WiFi..." << std::endl;
WiFi.disconnect();
WiFi.reconnect();
previousMillis = currentMillis;
}
}
PubSubClient* Network::getMqttClient() {
return mqtt_client;
}