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for all files in lib folder
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kleiax
2023-10-12 18:45:12 +02:00
parent 61a95e4601
commit db74898b72
41 changed files with 1030 additions and 569 deletions
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lib/Battery/battery.cpp
+5 -5
View File
@@ -37,12 +37,12 @@ void Battery::run()
this->readAdcToBuf();
this->loopCounter++;
if (this->loopCounter >= this->calulationDelayMultiplier)
if (this->loopCounter >= this->calculateDelayMultiplier)
{
this->calculateBatteryVoltage();
this->calculateBatteryPercent();
this->loopCounter = 0;
this->calculatetNewValues = true;
this->calculatedNewValues = true;
}
}
@@ -89,12 +89,12 @@ bool Battery::isBatteryLow(double voltage) const
bool Battery::isNewValue()
{
if (!this->calculatetNewValues)
if (!this->calculatedNewValues)
{
return false;
}
this->calculatetNewValues = false;
this->calculatedNewValues = false;
return true;
}
@@ -136,7 +136,7 @@ double Battery::calculateInputVoltage()
return 0;
}
return -this->adcCurveCoeficient[0] * pow(reading, 4) + this->adcCurveCoeficient[1] * pow(reading, 3) - this->adcCurveCoeficient[2] * pow(reading, 2) + this->adcCurveCoeficient[3] * reading + this->adcCurveCoeficient[4];
return -this->adcCurveCoefficient[0] * pow(reading, 4) + this->adcCurveCoefficient[1] * pow(reading, 3) - this->adcCurveCoefficient[2] * pow(reading, 2) + this->adcCurveCoefficient[3] * reading + this->adcCurveCoefficient[4];
}
void Battery::calculateBatteryVoltage()
lib/Battery/battery.h
+66 -11
View File
@@ -24,12 +24,20 @@
*
* This class reads the voltage from an analog pin to calculate the
* charge level of a 3 Cell Li-Poly battery pack. The battery pack have
* to be after a voltage diveder, so that maximum voltage for the
* to be after a voltage divider, so that maximum voltage for the
* microcontroller is 3.3 Volt.
*/
class Battery : public Component
{
public:
/**
* @brief States when the calibration modes is active
*
* - None means that no calibration is running
* - Reading means that the adc takes multiple values to calculate an average
* - Waiting means that the user has to set the new wanted voltage
* - Finished means that all measurements was taken
*/
enum CalibrationState
{
None,
@@ -41,15 +49,25 @@ public:
/**
* @brief Construct a new Battery object
*
* The voltage devider have to be calculated, so that the input
* The voltage divider have to be calculated, so that the input
* voltage from 3.3 Volt is never exceeded. It is assumed that
* the microcontroller is connected to the second resistor.
*
* @param pin The analog to read from.
* @param firstResistor First resistor of the voltage devider.
* @param secondResistor Second resistor of the voltage devider.
* @param firstResistor First resistor of the voltage divider.
* @param secondResistor Second resistor of the voltage divider.
*/
Battery(uint8_t pin, uint32_t firstResistor, uint32_t secondResistor);
/**
* @brief Construct a new Battery object
*
* With this constructor the real voltage is not calculated with the
* voltage divider but with a table which contains the raw reading from
* the adc mapped to a specific voltage
*
* @param pin
*/
Battery(uint8_t pin);
/**
@@ -79,13 +97,50 @@ public:
*/
bool isBatteryLow(double voltage) const;
/**
* @brief Check if a new voltage was been calculated
*
* @return true
* @return false
*/
bool isNewValue();
// Calibration
CalibrationState getCalibrationState() const { return this->calibrationState; }
/**
* @brief Get the current calibration voltage target
*
* The returned value stand for the index of the table for this reason
* the real value have to be calculated. After the returned voltage has been set
* you have to call nextVoltageIsReady().
*
* @return uint8_t voltage multiply with 0,1 and add 7
*/
uint8_t getCurrentCalibrationVoltage() const { return this->currentCalibrationVoltage; }
/**
* @brief Read next wanted voltage
*
* If this function is called, the calibration mode reads the new voltage
* and save the value in the table.
*/
void nextVoltageIsReady();
/**
* @brief Calibrate the battery readings
*
* This calibration has only an effect if the Component
* uses the table with the raw adc values. The calibration gives
* the user different voltages that have to be set with a
* laboratory power supply. The power supply have to be connected
* instead of the battery.
*/
void startCalibration();
/**
* @brief abort the calibration
*/
void finishCalibration();
private:
@@ -109,14 +164,14 @@ private:
uint8_t batteryPercent = 0;
uint8_t batteryLowPercent = 10;
uint8_t bufferPos = 0;
uint8_t calulationDelayMultiplier = 5;
uint8_t calculateDelayMultiplier = 5;
uint8_t loopCounter = 0;
uint8_t currentCalibrationVoltage = 0; // *0.1 + 7
uint16_t adcBuffer[bufferSize];
uint16_t *newRawAdcVoltages = nullptr;
uint32_t firstResistor = 0;
uint32_t secondResistor = 0;
bool calculatetNewValues = false;
bool calculatedNewValues = false;
double batteryVoltage = 0;
double batteryVoltageFactor;
@@ -137,11 +192,11 @@ private:
2920, 2956, 2983, 3019, 3054, 3088, 3121, 3158, 3189, 3226,
3264, 3300, 3339, 3379, 3414, 3453, 3500, 3544, 3598, 3636,
3682, 3730, 3781, 3837, 3887, 3943, 3997, 4054, 4093, 4095};
const double adcCurveCoeficient[5] = {0.000000000000016,
0.000000000118171,
0.000000301211691,
0.001109019271794,
0.034143524634089};
const double adcCurveCoefficient[5] = {0.000000000000016,
0.000000000118171,
0.000000301211691,
0.001109019271794,
0.034143524634089};
};
#endif // BATTERY_H
lib/CalcAzimuth/calcAzimuth.h
+37 -1
View File
@@ -1,7 +1,7 @@
/**
* @file calcAzimuth.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a class that calculates the azimuth from a last and a current position
* @version 0.1
* @date 2023-09-03
*
@@ -15,9 +15,18 @@
#include "component.h"
#include "point.h"
/**
* @brief A class to calculate an azimuth
*
* This class calculates the current Azimuth with the last position
* where the rover has been rotated and the current position
*/
class CalcAzimuth : public Component
{
public:
/**
* @brief States which represent the quality of the current calculated azimuth
*/
enum State
{
Invalid,
@@ -27,13 +36,40 @@ public:
Super
};
/**
* @brief Construct a new Calc Azimuth object
*
* @param point current position
*/
CalcAzimuth(Point point);
/**
* @brief Have to be called if the rover rotates
*
* @param point current position
*/
void drivingDirectionChange(Point point);
/**
* @brief update the current position
*
* This function should be called if the rover has moved in
* a straight direction, to calculated the current Azimuth.
* More distance to the point given to drivingDirectionChange()
* increase the accuracy of the calculation.
*
* @param point current position
*/
void updateCurrentPosition(Point point);
void disableCalcAzimuth() { this->directionChangeMode = false; }
int16_t getAzimuth() const { return this->calcAzimuth; }
/**
* @brief Get the State struct
*
* @return State current quality of the calculation
*/
State getState() const { return this->state; }
static String stateToString(State state);
lib/calibrateCompass/calibrateCompass.cpp → lib/CalibrateCompass/calibrateCompass.cpp
View File
lib/CalibrateCompass/calibrateCompass.h
+110
View File
@@ -0,0 +1,110 @@
/**
* @file calibrateCompass.h
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains a class to calibrate the compass module
* @version 0.1
* @date 2023-05-23
*
* @copyright Copyright (c) 2023
*
*/
#pragma once
#include <QMC5883LCompass.h>
#include <Preferences.h>
#include <iostream>
#include "component.h"
/**
* @brief A Class to calibrate the compass
*
* This class reads the raw values of the compass while
* the rove have to be moved. The lowest and highest values
* are used to calibrate the compass to the current location.
*/
class CalibrateCompass : public Component
{
public:
/**
* @brief State of the calibration process
*/
enum State
{
Ready,
Calibrating,
Finished
};
/**
* @brief Type for calibration data
*
* The data consist of 6 values. For each for the 3 axis
* are to integer needed.
*/
struct CalibrationData
{
int data[3][2];
};
CalibrateCompass(QMC5883LCompass *compass);
/**
* @brief Starts the calibration
*/
void start();
/**
* @brief Use the measured calibration data
*/
void useData();
/**
* @brief Remove the measured calibration data
*/
void removeCalibration();
/**
* @brief Reset the calibration process to start again
*/
void reset();
/**
* @brief Save the measured calibration data to the flash
*/
void saveData();
/**
* @brief Load the measured calibration data from the flash
*
*/
void loadData();
State getState() const { return this->state; }
CalibrationData getCalibrationData() const { return this->data; }
/**
* @brief Makes the calibration data printable with std::cout()
*
* @param stream
* @param caliComp
* @return std::ostream&
*/
friend std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp);
private:
void runAsChild() override;
void run() override;
void checkDataValidity();
QMC5883LCompass *compass;
State state = State::Ready;
CalibrationData data{};
void clearData();
bool dataValid = false;
const uint16_t maxTimeWithoutChange = 10000;
uint32_t lastChange = 0;
};
lib/Component/component.cpp
+1 -1
View File
@@ -19,7 +19,7 @@ void Component::loop()
(*it)->loop();
}
}
this->runAsChild();
this->runAsChild();F
if (this->onlyChilds)
{
lib/Component/component.h
+93 -1
View File
@@ -1,7 +1,7 @@
/**
* @file component.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains an interface to make non blocking components with delay.
* @version 0.1
* @date 2023-08-16
*
@@ -15,31 +15,123 @@
#include <list>
/**
* @brief An Interface to make components
*
* A component is a task that be called in a loop which not
* runs every loop, so every component has a non blocking delay.
*
* A component can manage other components which called children components.
*/
class Component
{
public:
/**
* @brief Construct a new Component object
*
* With the default constructor the created component is
* by default inactive. This does not affect the execution of
* the children components.
*/
Component() {}
/**
* @brief Construct a new Component object
*
* If the given parameter is zero, there are no differences to the
* default constructor.
*
* @param loopDelay the minimum time in milliseconds before the task runs
*/
Component(uint16_t loopDelay);
/**
* @brief Runs the children components and the task
*
* The loop() function of the children is called every time this
* loop is called.
*
* The run() function which presents the task of this component is
* only called if the delay is reached.
*/
void loop();
/**
* @brief Deactivate this component
*
* If the component is deactivated the call of loop() ha no effect
*/
void deactivate() { this->active = false; }
void activate() { this->active = false; }
protected:
/**
* @brief Override this function to avoid the delay
*/
virtual void runAsChild() {}
/**
* @brief Runs befor the run() function
*
* This function is only called, if the delay
* is reached.
* The function do nothing, except the function is overwritten
* by the class which inherits this class.
*/
virtual void beforeRun() {}
/**
* @brief The actual task
*
* This function have to be overwritten by the inheriting class.
*/
virtual void run() = 0;
/**
* @brief Runs after the run() function
*
* This function is only called, if the delay
* is reached.
* The function do nothing, except the function is overwritten
* by the class which inherits this class.
*/
virtual void afterRun() {}
/**
* @brief Adds a child component
*
* The child component will be called every time the loop() function
* is called.
*
* @param child
*/
void addChildComponent(Component *child);
void removeChildComponent(Component *child);
void activateOnlyChilds() { this->onlyChilds = true; }
/**
* @brief Skip the actual task
*
* Same as set the loopDelay to zero.
*/
void deactivateOnlyChilds() { this->onlyChilds = false; }
/**
* @brief Set the timer after task
*
* If this function is called once the measurement of the delay
* starts after task has finished. The default is, that the
* measurement begins at the start of the task.
*/
void setTimerAfterTask() { this->timeUpdateAfter = true; }
/**
* @brief the minimum time in milliseconds before the task runs
*
* If this value is zero, the functions beforeRun(), run() and
* afterRun() would not be called
*/
uint16_t loopDelay = 0;
private:
lib/ControllPad/controlPad.cpp
+1 -1
View File
@@ -11,7 +11,7 @@
#include "controlPad.h"
ControlPad::ControlPad() : Component(5), controlInput{0, 0, 0, 0} {}
ControlPad::ControlPad() : Component(10), controlInput{0, 0, 0, 0} {}
void ControlPad::run()
{
lib/ControllPad/controlPad.h
+32 -1
View File
@@ -1,7 +1,7 @@
/**
* @file controlPad.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains a class that gets the input data
* @version 0.1
* @date 2023-03-30
*
@@ -16,15 +16,46 @@
#include <controlPadInput.h>
#include <component.h>
/**
* @brief A class to manage inputs
*
* This class converts the incoming data to the buttons and
* the axis from the joystick. The converted data will be send
* to the menu.
*/
class ControlPad : public Component
{
public:
ControlPad();
/**
* @brief Insert the incoming data to convert
*
* The data is converted to the ControlPadInput struct.
*
* @param data have to be 4 byte long
*/
void insertData(const uint8_t *data);
/**
* @brief Set the MenuControl object
*
* The MenuControl object is used to control the Menu.
*
* @see Menu
* @see ControlPadInput
*
* @param menuControl
*/
void setMenuControl(MenuControl *menuControl) { this->menuControl = menuControl; }
/**
* @brief Get the Control Pad Data
*
* The pointer holds the lates data from the ControlPad
*
* @return const ControlPadInput*
*/
const ControlPadInput *getControlPadDataPtr() const { return &this->controlInput; }
bool isControlPadConnected() const { return this->connected; }
lib/Counter/counter.h
+45 -1
View File
@@ -1,21 +1,65 @@
/**
* @file counter.h
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains a class that abstract the hardware counter from the esp32
* @version 0.1
* @date 2023-10-12
*
* @copyright Copyright (c) 2023
*
*/
#pragma once
#include <Arduino.h>
#include <driver/pcnt.h>
#include <cinttypes>
/**
* @brief A class that abstract the hardware counter from the esp32
*/
class Counter
{
public:
/**
* @brief Construct a new Counter object
*
* @param pin with incoming pulses
*/
Counter(uint8_t pin);
/**
* @brief Pause the pulse counting
*/
void pause();
/**
* @brief Resume the pulse counting
*/
void resume();
/**
* @brief Start counting by zero again
*/
void clear();
/**
* @brief Get the counted pulses
*
* @return int16_t
*/
int16_t getValue() const;
/**
* @brief Set the filter value
*
* The filter skip all pulses after a pulse for the filter time.
* The filter time depends on the frequency of the processor. The time
* for a whole tact multiplied with the filter value results the filter time.
*
* @param value max 1023
*/
void setFilterValue(uint16_t value);
void filterEnable();
void filterDisable();
@@ -26,7 +70,7 @@ private:
static uint8_t amountOfCounter;
bool initalised = false;
bool initalized = false;
uint8_t pulsePin;
pcnt_unit_t unit;
lib/LcdWrapper/LcdWrapper.cpp
+1 -1
View File
@@ -1,5 +1,5 @@
/**
* @file displayWrapper.cpp
* @file LcdWrapper.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains the implementation of the class LcdWrapper
* @version 0.1
lib/LcdWrapper/LcdWrapper.h
+1 -2
View File
@@ -1,5 +1,5 @@
/**
* @file displayWrapper.h
* @file LcdWrapper.h
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains the LcdWrapper class
* @version 0.1
@@ -37,7 +37,6 @@ public:
/**
* @brief Empty the buffer
*
*/
void clear() override;
lib/MQTT/debugMqtt.cpp
+48 -35
View File
@@ -5,101 +5,115 @@
* @see debugMqtt.h
* @version 0.1
* @date 2021-12-13
*
*
* @copyright Copyright (c) 2021
*
*
*/
#include "debugMqtt.h"
PubSubClient* DebugMqtt::client;
PubSubClient *DebugMqtt::client;
Loglevel DebugMqtt::loglevel;
bool DebugMqtt::isInit = false;
char DebugMqtt::msg[MQTT_BUFFER_SIZE];
char DebugMqtt::topic[MQTT_BUFFER_SIZE];
DebugMqtt::DebugMqtt(const char* name, uint8_t bufSize)
: name {name}
DebugMqtt::DebugMqtt(const char *name, uint8_t bufSize)
: name{name}
{
if (bufSize != 0) {
if (bufSize != 0)
{
this->bufSize = bufSize;
}
this->buf = new char[this->bufSize];
}
DebugMqtt::~DebugMqtt() {
DebugMqtt::~DebugMqtt()
{
delete this->buf;
}
void DebugMqtt::sendMsg(Loglevel loglevel, String topic, String msg) {
snprintf (static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s: %s"),this->name ,msg.c_str());
this->sendData(loglevel, topic, static_cast<const char*>(DebugMqtt::msg));
void DebugMqtt::sendMsg(Loglevel loglevel, String topic, String msg)
{
snprintf(static_cast<char *>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char *>("%s: %s"), this->name, msg.c_str());
this->sendData(loglevel, topic, static_cast<const char *>(DebugMqtt::msg));
}
void DebugMqtt::sendMsg(Loglevel loglevel, String msg) {
void DebugMqtt::sendMsg(Loglevel loglevel, String msg)
{
this->sendMsg(loglevel, "", msg);
}
void DebugMqtt::sendData(Loglevel loglevel, String topic, String data) {
if (!DebugMqtt::isInit) {
void DebugMqtt::sendData(Loglevel loglevel, String topic, String data)
{
if (!DebugMqtt::isInit)
{
return;
}
if (loglevel <= DebugMqtt::loglevel && loglevel > Loglevel::none) {
snprintf (static_cast<char*>(DebugMqtt::topic), MQTT_BUFFER_SIZE, static_cast<const char*>("%s%s"), DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
snprintf (static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s"), data.c_str());
client->publish(DebugMqtt::topic, static_cast<const char*>(DebugMqtt::msg));
if (loglevel <= DebugMqtt::loglevel && loglevel > Loglevel::none)
{
snprintf(static_cast<char *>(DebugMqtt::topic), MQTT_BUFFER_SIZE, static_cast<const char *>("%s%s"), DebugMqtt::enum_to_string(loglevel).c_str(), topic.c_str());
snprintf(static_cast<char *>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char *>("%s"), data.c_str());
client->publish(DebugMqtt::topic, static_cast<const char *>(DebugMqtt::msg));
}
}
void DebugMqtt::sendData(Loglevel loglevel, String data){
void DebugMqtt::sendData(Loglevel loglevel, String data)
{
DebugMqtt::sendData(loglevel, "", data);
}
void DebugMqtt::writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos) {
void DebugMqtt::writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos)
{
// Example String: "weather temperature=82 1465839830100400200";
snprintf(static_cast<char*>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char*>("%s %s=%f %llu"), measurement_name.c_str(), field_set.c_str(), measurement, nanos);
this->sendData(Loglevel::influx, static_cast<const char*>(DebugMqtt::msg));
snprintf(static_cast<char *>(DebugMqtt::msg), MQTT_BUFFER_SIZE, static_cast<const char *>("%s %s=%f %llu"), measurement_name.c_str(), field_set.c_str(), measurement, nanos);
this->sendData(Loglevel::influx, static_cast<const char *>(DebugMqtt::msg));
}
void DebugMqtt::addCharacter(char character) {
void DebugMqtt::addCharacter(char character)
{
this->buf[this->bufPos] = character;
this->bufPos++;
if (character == '\n' || this->bufPos >= this->bufSize - 1) {
if (character == '\n' || this->bufPos >= this->bufSize - 1)
{
this->buf[this->bufPos - 1] = '\0';
this->sendMsg(Loglevel::info, buf);
this->bufPos = 0;
}
}
void DebugMqtt::init(PubSubClient *client, Loglevel max_loglevel) {
void DebugMqtt::init(PubSubClient *client, Loglevel max_loglevel)
{
DebugMqtt::client = client;
DebugMqtt::loglevel = max_loglevel;
DebugMqtt::isInit = true;
}
void DebugMqtt::changeLoglevel(Loglevel loglevel) {
void DebugMqtt::changeLoglevel(Loglevel loglevel)
{
DebugMqtt::loglevel = loglevel;
}
String DebugMqtt::enum_to_string(Loglevel loglevel) {
String DebugMqtt::enum_to_string(Loglevel loglevel)
{
String topic = "";
topic += MQTT_DEBUG_TOPIC;
switch(loglevel){
case Loglevel::error :
switch (loglevel)
{
case Loglevel::error:
topic += "/Error";
break;
case Loglevel::warn :
case Loglevel::warn:
topic += "/Warn";
break;
case Loglevel::info :
case Loglevel::info:
topic += "/Info";
break;
case Loglevel::debug :
case Loglevel::debug:
topic += "/Debug";
break;
case Loglevel::influx :
case Loglevel::influx:
topic += "/Influx";
break;
default:
@@ -107,5 +121,4 @@ String DebugMqtt::enum_to_string(Loglevel loglevel) {
break;
}
return topic;
}
}
lib/MQTT/debugMqtt.h
+120 -117
View File
@@ -4,9 +4,9 @@
* @brief Inherits a class to send debug messages over MQTT
* @version 0.1
* @date 2021-12-13
*
*
* @copyright Copyright (c) 2021
*
*
*/
#ifndef DEBUG_MQTT_H
#define DEBUG_MQTT_H
@@ -14,10 +14,9 @@
#include <iostream>
#include <PubSubClient.h>
/**
* @brief
*
* @brief
*
* If you want to change the default topic
* to an other value, than you have to define this define
* in your code befor you include this File.
@@ -28,151 +27,155 @@
/**
* @brief Defualt for max message size
*
*
* If you want to change the default size of 128 Byte
* to an other value, than you have to define this define
* in your code befor you include this File.
*/
#ifndef MQTT_BUFFER_SIZE
#define MQTT_BUFFER_SIZE 128
#endif //MQTT_BUFFER_SIZE
#endif // MQTT_BUFFER_SIZE
/**
* @brief An enum to set the log level
*
*
* The log level is the last part of the MQTT topic.
* Unless you give sendMsg() or sendData() a additional
* topic as String.
*
*
* @see sendMsg()
* @see sendData()
*
*
*/
enum Loglevel { none,
error,
warn,
info,
debug,
influx};
enum Loglevel
{
none,
error,
warn,
info,
debug,
influx
};
/**
* @brief A class to send debug messages over MQTT
*
*
* This class send debug messages over MQTT with different topics
* by the enum Loglevel. Besides that this class supports to send
* data via Telegraf into Grafana.
*
*
* @see Loglevel
*/
class DebugMqtt {
public:
/**
* @brief Construct a new Debug Mqtt object.
*
* @param name A String with send with every Message.
* @param bufSize for the addCharacter function.
*/
DebugMqtt(const char* name, uint8_t bufSize = 0);
class DebugMqtt
{
public:
/**
* @brief Construct a new Debug Mqtt object.
*
* @param name A String with send with every Message.
* @param bufSize for the addCharacter function.
*/
DebugMqtt(const char *name, uint8_t bufSize = 0);
~DebugMqtt();
~DebugMqtt();
/**
* @brief Send a Message via MQTT
*
* This function uses sendData to send the given string and
* add the name to the message given by the constructer.
*
* @see sendData()
* @see Loglevel
*
* @param loglevel Loglevel given by the enum Loglevel
* @param topic Additional topic behind loglevel
* @param msg The message to send as String
*/
void sendMsg(Loglevel loglevel, String topic, String msg);
void sendMsg(Loglevel loglevel, String msg);
/**
* @brief Send a Message via MQTT
*
* This function uses sendData to send the given string and
* add the name to the message given by the constructer.
*
* @see sendData()
* @see Loglevel
*
* @param loglevel Loglevel given by the enum Loglevel
* @param topic Additional topic behind loglevel
* @param msg The message to send as String
*/
void sendMsg(Loglevel loglevel, String topic, String msg);
void sendMsg(Loglevel loglevel, String msg);
/**
* @brief Send a Message via MQTT
*
* This function sends the Data via MQTT with the given topic
* from Loglevel or followed by given String topic.
* Normally this function is called by sendMsg() or by
* writeToInflux()
*
* @see sendData()
* @see writeToInflux()
* @see Loglevel
*
* @param loglevel Loglevel given by the enum Loglevel
* @param topic Additional topic behind loglevel
* @param data The message to send as String
*/
static void sendData(Loglevel loglevel, String topic, String data);
static void sendData(Loglevel loglevel, String data);
/**
* @brief Send a Message via MQTT
*
* This function sends the Data via MQTT with the given topic
* from Loglevel or followed by given String topic.
* Normally this function is called by sendMsg() or by
* writeToInflux()
*
* @see sendData()
* @see writeToInflux()
* @see Loglevel
*
* @param loglevel Loglevel given by the enum Loglevel
* @param topic Additional topic behind loglevel
* @param data The message to send as String
*/
static void sendData(Loglevel loglevel, String topic, String data);
static void sendData(Loglevel loglevel, String data);
/**
* @brief Send a Message via MQTT for InfluxDB
*
* This function sends a MQTT message which is intended for
* Telegraf. Telegraf can listen on MQTT messages and put
* them in an Influx Database.
*
* @param measurement_name like a category
* @param field_set the name of the value e.g temperature
* @param measurement the real value
* @param nanos Current time in nanoseconds
*/
void writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos);
/**
* @brief Send a Message via MQTT for InfluxDB
*
* This function sends a MQTT message which is intended for
* Telegraf. Telegraf can listen on MQTT messages and put
* them in an Influx Database.
*
* @param measurement_name like a category
* @param field_set the name of the value e.g temperature
* @param measurement the real value
* @param nanos Current time in nanoseconds
*/
void writeToInflux(String measurement_name, String field_set, float measurement, uint64_t nanos);
/**
* @brief Adds a single character to the buf
*
* The buf will be flushed out:
* 1. when the buffer is full
* 2. when the character is '\n'
*
* @param character
*/
void addCharacter(char character);
/**
* @brief Adds a single character to the buf
*
* The buf will be flushed out:
* 1. when the buffer is full
* 2. when the character is '\n'
*
* @param character
*/
void addCharacter(char character);
/**
* @brief Initialize debugMQTT for all instances
*
* You only have to call this function once for your project.
* If you call this function again you overwrite the client and
* the loglevel. If you only want du overwrite the max_loglevel
* use changeLoglevel()
*
* @see changeLoglevel()
*
* @param client PubSubClient
* @param max_loglevel Max loglevel to send.
*/
static void init(PubSubClient* client, Loglevel max_loglevel);
/**
* @brief Initialize debugMQTT for all instances
*
* You only have to call this function once for your project.
* If you call this function again you overwrite the client and
* the loglevel. If you only want du overwrite the max_loglevel
* use changeLoglevel()
*
* @see changeLoglevel()
*
* @param client PubSubClient
* @param max_loglevel Max loglevel to send.
*/
static void init(PubSubClient *client, Loglevel max_loglevel);
/**
* @brief Change loglevel
*
* This function changes the maximum loglevel which be send.
*
* @param loglevel
*/
static void changeLoglevel(Loglevel loglevel);
/**
* @brief Change loglevel
*
* This function changes the maximum loglevel which be send.
*
* @param loglevel
*/
static void changeLoglevel(Loglevel loglevel);
private:
const char* name;
char* buf;
uint8_t bufPos = 0;
uint8_t bufSize = 100;
private:
const char *name;
char *buf;
uint8_t bufPos = 0;
uint8_t bufSize = 100;
static String enum_to_string(Loglevel loglevel);
static String enum_to_string(Loglevel loglevel);
static PubSubClient* client;
static Loglevel loglevel;
static bool isInit;
static char msg[MQTT_BUFFER_SIZE];
static char topic[MQTT_BUFFER_SIZE];
static PubSubClient *client;
static Loglevel loglevel;
static bool isInit;
static char msg[MQTT_BUFFER_SIZE];
static char topic[MQTT_BUFFER_SIZE];
};
#endif // DEBUG_MQTT_H
lib/Navigation/navigation.h
+6 -7
View File
@@ -52,9 +52,10 @@ public:
};
/**
* @brief Construct a new Navigation object and using I2C
* @brief Construct a new Navigation object
*
* @param route with which to navigate
* @param sensorData
* @param route
*/
Navigation(const SensorData *sensorData, Route *route = nullptr);
@@ -89,11 +90,9 @@ public:
/**
* @brief Get the Course Correction object
*
* This should be called by the driver to get new instructions.
*
* @param correction passed as refernce to get the data
* @return true if new correction data provided
* @return false if route is finished
* @param correction
* @param forceUpdate
* @return Status
*/
Status getCourseCorrection(CourseCorrection &correction, bool forceUpdate = false);
lib/Network/network.cpp
+13 -13
View File
@@ -21,18 +21,18 @@ Network::Network(const char *ssid, const char *passphrase)
this->init(ssid, passphrase);
}
Network::Network(const char *ssid, const char *passphrase, NetworkAdresses adresses)
: adresses{adresses}
Network::Network(const char *ssid, const char *passphrase, NetworkAddresses adresses)
: addresses{adresses}
{
if (!WiFiGenericClass::mode(WIFI_AP_STA))
{
std::cout << "Network::connectWiFi failed WiFi.mode" << std::endl;
}
if (!WiFi.config(this->adresses.localIP,
this->adresses.gateway,
this->adresses.subnet,
this->adresses.dnsServer))
if (!WiFi.config(this->addresses.localIP,
this->addresses.gateway,
this->addresses.subnet,
this->addresses.dnsServer))
{
std::cout << "STA Failed to configure" << std::endl;
}
@@ -45,7 +45,7 @@ Network::~Network()
delete mqttClient;
}
bool Network::activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send)
bool Network::activateEspNow(receiveCallbackPtr reci, sendCallbackPtr send)
{
if (esp_now_init() != ESP_OK)
{
@@ -76,7 +76,7 @@ bool Network::activateMqtt(const char *user, const char *passphrase)
this->mqttPassphrase = passphrase;
this->mqttClient = new PubSubClient(this->wifiClient);
this->mqttClient->setServer(this->adresses.mqttServer, this->adresses.mqttPort);
this->mqttClient->setServer(this->addresses.mqttServer, this->addresses.mqttPort);
this->mqttClient->setSocketTimeout(1);
if (this->wifiConnected)
@@ -116,7 +116,7 @@ uint8_t Network::getCurrentChannel()
void Network::runAsChild()
{
if (!this->initSucessful)
if (!this->initSuccessful)
{
return;
}
@@ -154,21 +154,21 @@ void Network::init(const char *ssid, const char *passphrase)
void Network::checkWifi()
{
if ((WiFiSTAClass::status() != WL_CONNECTED) && (millis() - this->lastWifiRecoonectAttemp >= Network::wifiReconnectDelay))
if ((WiFiSTAClass::status() != WL_CONNECTED) && (millis() - this->lastWifiReconnectAttempt >= Network::wifiReconnectDelay))
{
std::cout << "Reconnecting to WiFi..." << std::endl;
WiFi.disconnect();
this->wifiConnected = WiFi.reconnect();
this->lastWifiRecoonectAttemp = millis();
this->lastWifiReconnectAttempt = millis();
}
}
void Network::checkMqtt()
{
if (!this->mqttClient->connected() && millis() - this->lastMqttReconnectAttemp > Network::mqttReconnectDelay)
if (!this->mqttClient->connected() && millis() - this->lastMqttReconnectAttempt > Network::mqttReconnectDelay)
{
this->mqttConnected = this->connectMqtt();
this->lastMqttReconnectAttemp = millis();
this->lastMqttReconnectAttempt = millis();
}
if (this->mqttConnected)
lib/Network/network.h
+59 -8
View File
@@ -20,10 +20,20 @@
#include <esp_now.h>
#include <esp_wifi.h>
typedef void (*recieveCallbackPtr)(const uint8_t *mac, const uint8_t *incomingData, int len);
/**
* @brief Typedef to easy handle the receive Callback
*/
typedef void (*receiveCallbackPtr)(const uint8_t *mac, const uint8_t *incomingData, int len);
/**
* @brief Typedef to easy handle the send Callback
*/
typedef void (*sendCallbackPtr)(const uint8_t *mac_addr, esp_now_send_status_t status);
struct NetworkAdresses
/**
* @brief A Struct to hold all network addresses
*/
struct NetworkAddresses
{
IPAddress localIP;
IPAddress gateway;
@@ -33,17 +43,58 @@ struct NetworkAdresses
uint16_t mqttPort = 1883;
};
/**
* @brief A class to manage the wireless connections
*/
class Network : public Component
{
public:
/**
* @brief Construct a new Network object
*
* With this constructor the esp gets its ip from a Dhcp server
*
* @param ssid
* @param passphrase
*/
Network(const char *ssid, const char *passphrase);
Network(const char *ssid, const char *passphrase, NetworkAdresses adresses);
/**
* @brief Construct a new Network object
*
* This constructor is used for a static ip setup
*
* @param ssid
* @param passphrase
* @param addresses
*/
Network(const char *ssid, const char *passphrase, NetworkAddresses addresses);
~Network();
bool activateEspNow(recieveCallbackPtr reci, sendCallbackPtr send);
/**
* @brief Activate ESP-NOW to communicate with the remote Control
*
* @param receive
* @param send
* @return true
* @return false
*/
bool activateEspNow(receiveCallbackPtr receive, sendCallbackPtr send);
/**
* @brief Activate MQTT to send debug messages
*
* @param user
* @param passphrase
* @return true
* @return false
*/
bool activateMqtt(const char *user = nullptr, const char *passphrase = nullptr);
/**
* @brief Print the current used IPs
*/
const void printIPs();
bool isWifiConnected() const { return this->wifiConnected; }
@@ -61,11 +112,11 @@ private:
void checkMqtt();
bool connectMqtt();
NetworkAdresses adresses;
NetworkAddresses addresses;
WiFiClient wifiClient;
PubSubClient *mqttClient = nullptr;
bool initSucessful = false;
bool initSuccessful = false;
bool wifiConnected = false;
bool mqttConnected = false;
@@ -73,8 +124,8 @@ private:
const char *mqttPassphrase = nullptr;
uint8_t broadcastAddress[6] = {0xC8, 0xC9, 0xA3, 0xC8, 0x57, 0x10};
uint32_t lastWifiRecoonectAttemp = 0;
uint32_t lastMqttReconnectAttemp = 0;
uint32_t lastWifiReconnectAttempt = 0;
uint32_t lastMqttReconnectAttempt = 0;
static constexpr uint8_t wifiConnectTimeout = 20;
static constexpr uint16_t wifiConnectLoopTime = 500;
lib/Point/point.h
+6 -7
View File
@@ -18,9 +18,9 @@
#define ROUTE_DISTANCE_BETWEEN_LATITUDE 111300
/**
* @brief A to handle points on the earth
* @brief A class to handle points on the earth
*
* The points inherits latidue and longitude as doubles
* The points inherits latitude and longitude as doubles
*
*/
class Point
@@ -58,11 +58,10 @@ public:
/**
* @brief Construct a new Point object
*
* @param lat latitude
* @param lon longitude
* @param horizontalAccuracy mm
* @param coords Coordinates
* @param imported if true than highest accuracy
* @param lat
* @param lon
* @param horizontalAccuracy
* @param creationTime
*/
Point(double lat, double lon, uint32_t horizontalAccuracy = 0, uint32_t creationTime = 0);
Point(int32_t lat, int32_t lon, uint32_t horizontalAccuracy = 0, uint32_t creationTime = 0);
lib/Route/route.h
+66 -66
View File
@@ -1,27 +1,28 @@
/**
* @file route.h
* @author Alexander Klein (alex@kleiax.de)
* @brief Contains the class Point and Route
* @brief Contains the class Route
* @version 0.1
* @date 2022-01-31
*
*
* @copyright Copyright (c) 2022
*
*
*/
#ifndef ROUTE_H
#define ROUTE_H
#include <cstdint>
#include <list>
#include <list>
#include "point.h"
/**
* @brief Holds some route information
*
*
*/
struct RouteInfo{
struct RouteInfo
{
/**
* @brief Selected number of Points
*/
@@ -35,77 +36,76 @@ struct RouteInfo{
/**
* @brief A class to manage multiple points
*
*
* The list of point presents a route which can be driven
*/
class Route {
public:
/**
* @brief Adds a point to the list.
*
* @param point
*/
void addPointToRoute(Point point);
class Route
{
public:
/**
* @brief Adds a point to the list.
*
* @param point
*/
void addPointToRoute(Point point);
/**
* @brief Delete all points.
*
*/
void clear();
/**
* @brief Delete all points
*/
void clear();
/**
* @brief Select the first point as target.
*
* @return Point
*/
Point startRoute();
/**
* @brief Select the first point as target.
*
* @return Point
*/
Point startRoute();
/**
* @brief Select the last point as target.
*
* @return Point
*/
Point endRoute();
/**
* @brief Select the last point as target.
*
* @return Point
*/
Point endRoute();
/**
* @brief Get the next point and set it as target.
*
* @return Point is zero if there are no more Points.
*/
Point getNextPoint();
/**
* @brief Get the next point and set it as target.
*
* @return Point is zero if there are no more Points.
*/
Point getNextPoint();
/**
* @brief Get the previous point and set it as target.
*
* @return Point
*/
Point getPreviousPoint();
/**
* @brief Get the previous point and set it as target.
*
* @return Point
*/
Point getPreviousPoint();
/**
* @brief Get the Route Info object
*
* @return RouteInfo
*/
RouteInfo getRouteInfo();
/**
* @brief Get the Route Info object
*
* @return RouteInfo
*/
RouteInfo getRouteInfo();
/**
* @brief Get the Started object
*
* The Route will be marked as started when startRoute or
* endRoute has been called.
*
* @return true
* @return false
*/
bool getStarted() const { return this->started; }
/**
* @brief Get the Started object
*
* The Route will be marked as started when startRoute or
* endRoute has been called.
*
* @return true
* @return false
*/
bool getStarted() const { return this->started; }
private:
uint16_t currentPoint = 0;
bool started = false;
std::list<Point> points;
std::list<Point>::iterator it;
private:
uint16_t currentPoint = 0;
bool started = false;
std::list<Point> points;
std::list<Point>::iterator it;
};
#endif // ROUTE_H
lib/Sensors/sensorData.cpp
+20 -20
View File
@@ -1,5 +1,5 @@
/**
* @file senors.cpp
* @file sensorData.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
@@ -83,32 +83,32 @@ void SensorData::enableCalcCompass()
// TODO: !!! implementieren
}
void SensorData::enableGyroskop()
void SensorData::enableGyroscope()
{
this->gyroskop = new MPU6050();
this->gyroskop->initialize();
if (!this->gyroskop->testConnection())
this->gyroscope = new MPU6050();
this->gyroscope->initialize();
if (!this->gyroscope->testConnection())
{
std::cout << "SensorData::enableGyroskop: Gyroskop is not conntected. Freeze!" << std::endl;
std::cout << "SensorData::enableGyroscope: Gyroskop is not conntected. Freeze!" << std::endl;
while (true)
{
}
}
const uint8_t deviceStatus = this->gyroskop->dmpInitialize();
const uint8_t deviceStatus = this->gyroscope->dmpInitialize();
// TODO: !!! MagicNumer 6x
this->gyroskop->setXGyroOffset(220);
this->gyroskop->setYGyroOffset(76);
this->gyroskop->setZGyroOffset(-85);
this->gyroskop->setZAccelOffset(1788);
this->gyroscope->setXGyroOffset(220);
this->gyroscope->setYGyroOffset(76);
this->gyroscope->setZGyroOffset(-85);
this->gyroscope->setZAccelOffset(1788);
if (deviceStatus == 0)
{
this->gyroskop->CalibrateAccel(6);
this->gyroskop->CalibrateGyro(6);
this->gyroskop->PrintActiveOffsets();
this->gyroskop->setDMPEnabled(true);
this->gyroscope->CalibrateAccel(6);
this->gyroscope->CalibrateGyro(6);
this->gyroscope->PrintActiveOffsets();
this->gyroscope->setDMPEnabled(true);
}
else
{
@@ -116,7 +116,7 @@ void SensorData::enableGyroskop()
// 1 = initial memory load failed
// 2 = DMP configuration updates failed
// (if it's going to break, usually the code will be 1)
std::cout << "SensorData::enableGyroskop: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
std::cout << "SensorData::enableGyroscope: DMP Initialization failed (code" << static_cast<int>(deviceStatus) << "). Freeze!" << std::endl;
while (true)
{
}
@@ -236,11 +236,11 @@ void SensorData::run()
this->realAzimuth = this->realCompass->getAzimuth();
}
if (static_cast<bool>(this->gyroskop) && this->gyroskop->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
if (static_cast<bool>(this->gyroscope) && this->gyroscope->dmpGetCurrentFIFOPacket(static_cast<uint8_t *>(this->gyroBuffer)))
{
this->gyroskop->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
this->gyroskop->dmpGetGravity(&this->gravity, &this->quaternion);
this->gyroskop->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
this->gyroscope->dmpGetQuaternion(&this->quaternion, static_cast<uint8_t *>(this->gyroBuffer));
this->gyroscope->dmpGetGravity(&this->gravity, &this->quaternion);
this->gyroscope->dmpGetYawPitchRoll(static_cast<float *>(this->yawPitchRoll), &this->quaternion, &this->gravity);
}
}
lib/Sensors/sensorData.h
+73 -6
View File
@@ -1,7 +1,7 @@
/**
* @file sensorData.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @brief Contains the SensorData class
* @version 0.1
* @date 2023-09-02
*
@@ -26,8 +26,12 @@
#include "ntripClient.h"
#include "point.h"
class Sensors;
/**
* @brief A class to manage all sensors
*
* Each sensor have separately to be enabled
*/
class SensorData : public Component
{
public:
@@ -35,26 +39,89 @@ public:
~SensorData();
void enableNtrip(String host, uint16_t port, String mountPoint, String user, String password);
/**
* @brief Enable the gnss module over spi
*
* @param spiPort
* @param csPin
*/
void enableGnss(SPIClass *spiPort, uint8_t csPin);
/**
* @brief Enable the gnss module over i2c
*/
void enableGnss();
void enableRealCompass();
void enableCalcCompass();
void enableGyroskop();
void enableGyroscope();
// Interface Const kram
// Interface Const
/**
* @brief Get the azimuth measured by the compass module
*
* @return int16_t
*/
int16_t getRealAzimuth() const { return this->realAzimuth; }
/**
* @brief Get the azimuth calculated by CalcAzimuth
*
* Consider to call getCalcAzimuthState() to check, if the data is valid.
*
* @return int16_t
*/
int16_t getCalcAzimuth() const { return this->calcAzimuth; }
/**
* @brief Get the CalcAzimuth::State object
*
* Needed to check the quality of calculated azimuth
*
* @return CalcAzimuth::State
*/
CalcAzimuth::State getCalcAzimuthState() const;
Point getCurrentPos() const { return this->currentPosition; }
const UBX_NAV_PVT_data_t *getGnssData() const { return this->gnssData; };
NTRIPClientStates getNtripState() const;
/**
* @brief Get the data from the gyroscope
*
* The returned float pointer is an array of 3 floats
* - Yaw
* - Pitch
* - Roll
*
* @return const float*
*/
const float *getGyroData() const { return this->yawPitchRoll; }
/**
* @brief Get the CalcCompass object
* @return CalcAzimuth*
*/
CalcAzimuth *getCalcCompass() const { return this->calcCompass; }
/**
* @brief Get the RealCompass object
* @return QMC5883LCompass*
*/
QMC5883LCompass *getRealCompass() const { return this->realCompass; }
/**
* @brief Get the NTRIPClient object
* @return NTRIPClient*
*/
NTRIPClient *getNtripClient() const { return this->ntripClient; }
MPU6050 *getGyroskop() const { return this->gyroskop; }
/**
* @brief Get the Gyroscope object
* @return MPU6050*
*/
MPU6050 *getGyroscope() const { return this->gyroscope; }
// static
/**
@@ -77,7 +144,7 @@ private:
CalcAzimuth *calcCompass = nullptr;
SFE_UBLOX_GNSS *gnss = nullptr;
NTRIPClient *ntripClient = nullptr;
MPU6050 *gyroskop = nullptr;
MPU6050 *gyroscope = nullptr;
UBX_NAV_PVT_data_t *gnssData = nullptr;
Point currentPosition;
lib/Speedometer/speedometer.h
+14 -2
View File
@@ -48,7 +48,7 @@ public:
*
* @param pin Pin on the Esp from the encoder.
* @param diameter Diameter of the wheel in meters.
* @param steps Encodersteps for a complete wheel rotation.
* @param steps EncoderSteps for a complete wheel rotation.
*/
Speedometer(uint8_t pin, double diameter, uint16_t steps);
@@ -78,12 +78,24 @@ public:
Direction getDirection() const { return this->currentDirection; }
/**
* @brief Get the calculated speed of the Wheel
* @brief Get the calculated speed of the wheel
*
* @return double speed in m/s
*/
double getSpeed() const { return this->speed; }
/**
* @brief Get the calculated speed of the wheel
*
* @return double speed in rad/s
*/
double getSpeedRad() const { return this->rad; };
/**
* @brief Get the calculated average speed of the wheel
*
* @return double speed in m/s
*/
double getAvgSpeed() const;
/**
lib/Times/debugTimes.cpp
+2 -2
View File
@@ -1,7 +1,7 @@
/**
* @file debugTimes.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief Implemention of the class debugTimes.h.
* @brief Implementation of the class debugTimes.h.
* @version 0.1
* @date 2021-12-13
*
@@ -19,7 +19,7 @@ DebugTimes::DebugTimes()
if (DebugTimes::printWarning)
{
std::cout << std::endl
<< "Warning: DebugTimes is muuted, no times are be shown." << std::endl
<< "Warning: DebugTimes is muted, no times are be shown." << std::endl
<< std::endl;
DebugTimes::printWarning = false;
}
lib/Times/debugTimes.h
+1 -1
View File
@@ -53,7 +53,7 @@ public:
/**
* @brief Print the elapsed time to consol
*
* @param name Functionname to print
* @param name FunctionName to print
* @param minTime A minimum time before printing
*
* @return uint16_t elapsed milliseconds
lib/calibrateCompass/calibrateCompass.h
-63
View File
@@ -1,63 +0,0 @@
/**
* @file calibrateCompass.h
* @author Alexander Klein (alex@kleiax.de)
* @brief
* @version 0.1
* @date 2023-05-23
*
* @copyright Copyright (c) 2023
*
*/
#pragma once
#include <QMC5883LCompass.h>
#include <Preferences.h>
#include <iostream>
#include "component.h"
class CalibrateCompass : public Component
{
public:
enum State
{
Ready,
Calibrating,
Finished
};
struct CallibrationData
{
int data[3][2];
};
CalibrateCompass(QMC5883LCompass *compass);
void start();
void useData();
void removeCalibration();
void reset();
void saveData();
void loadData();
State getState() const { return this->state; }
CallibrationData getCallibrationData() const { return this->data; }
friend std::ostream &operator<<(std::ostream &stream, const CalibrateCompass &caliComp);
private:
void runAsChild() override;
void run() override;
void checkDataValidity();
QMC5883LCompass *compass;
State state = State::Ready;
CallibrationData data{};
void clearData();
bool dataValid = false;
const uint16_t maxTimeWithoutChange = 10000;
uint32_t lastChange = 0;
};