299 lines
9.5 KiB
C++
299 lines
9.5 KiB
C++
/**
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* @file main.cpp
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* @author Alexander Klein (alex@kleiax.de)
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* @brief The main file.
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*
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* Sets up Network stuff, PS3-Controller, Menu and Lcd
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* Handles Controller Input
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*
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* @version 0.1
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* @date 2022-02-15
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*
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* @copyright Copyright (c) 2022
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*
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*/
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#include <Arduino.h>
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#include "config.h"
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#include <iostream>
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#include <Wire.h>
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#include <LiquidCrystal_I2C.h>
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#include <SPI.h>
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#include "Version.h"
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#include "driveModi/driveManager.h"
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#include "OutputBuf/outputBuf.h"
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#include "LcdWrapper.h"
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#include "moveControl.h"
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#include "network.h"
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#include "debugMqtt.h"
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#include "battery.h"
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#include "debugTimes.h"
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#include "controlPad.h"
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#include "menu.h"
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#include "menuAction.h"
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#include "SpecialMenus/driveModi/ManualDrive/menuManualDrive.h"
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#include "SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h"
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#include "SpecialMenus/driveModi/Autopilot/menuAutopilot.h"
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#include "SpecialMenus/driveModi/TestMode/menuTestMode.h"
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#include "SpecialMenus/driveModi/CalibrateCompass/menuCalibrateCompass.h"
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#include "SpecialMenus/Systeminformation/menuSysteminformation.h"
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#include "SpecialMenus/PID/menuPidSettings.h"
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#include "SpecialMenus/Route/menuRoute.h"
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#include "SpecialMenus/GPS/menuGPS.h"
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MoveControl moveController;
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DriveManager* driveManager;
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Menu* main_m;
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LiquidCrystal_I2C* lcd;
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LcdWrapper* lcdWrapper;
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OutputBuf* outputBuf;
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DebugMqtt* debugMqtt = nullptr;
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Battery* mainBattery;
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SPIClass* spiPort;
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ControlPad* controlPad;
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bool wifiIsActive;
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void i2cScanner(void);
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void makeMenu(void);
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void restart(void);
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void receiveCallback (const uint8_t * mac, const uint8_t *incomingData, int len);
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void sendCallback (const uint8_t *mac_addr, esp_now_send_status_t status);
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void lcdWrapperCallback (const char data[][DISPLAY_WRAPPER_ROWS], uint8_t lines, uint8_t rows);
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void setup() {
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Serial.begin(115200);
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// DebugTimes::setConsolOutput(true);
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DebugTimes setupTime;
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char wifiIndicator = 'X';
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WiFi.mode(WIFI_MODE_STA);
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Serial.print("MAC Address: ");
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Serial.println(WiFi.macAddress());
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spiPort = new SPIClass(HSPI);
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spiPort->begin(UBLOX_GNSS_SPI_SCK, UBLOX_GNSS_SPI_CIPO, UBLOX_GNSS_SPI_COPI, UBLOX_GNSS_SPI_CS);
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mainBattery = new Battery(35);
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controlPad = new ControlPad();
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Wire.begin(21, 19);
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Wire.setClock(400000);
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i2cScanner();
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lcd = new LiquidCrystal_I2C(0x3F,16,2);
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lcd->init();
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lcd->clear();
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lcd->noBacklight();
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Network::setIps();
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Network::setupMQTT();
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wifiIsActive = Network::connectWifi();
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if (wifiIsActive) {
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Network::initMQTT();
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if (Network::checkMQTT()) {
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DebugMqtt::init(Network::getMqttClient(), Loglevel::debug);
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std::cout << "Activate additional output via MQTT..." << std::endl;
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debugMqtt = new DebugMqtt("Console");
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outputBuf = new OutputBuf(debugMqtt);
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} else
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outputBuf = new OutputBuf();
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wifiIndicator = '-';
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} else
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outputBuf = new OutputBuf();
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std::cout.rdbuf(outputBuf);
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Network::connectEspNow(receiveCallback, sendCallback);
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std::cout << "Welcome to Kleiax-Rover" << std::endl;
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std::cout << "Project verion: " << VERSION << std::endl;
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std::cout << "Build timestamp: " << BUILD_TIMESTAMP << std::endl;
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std::cout << "All actions from the main program run on Core -> " << xPortGetCoreID() << std::endl;
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driveManager = new DriveManager(&moveController, spiPort, controlPad->getControlPadDataPtr(), wifiIsActive);
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outputBuf->activateMqtt(true);
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lcd->backlight();
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lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator);
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lcd->setCursor(0, 1);
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lcd->printf("WiFi channel %u", Network::getCurrentChannel());
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lcdWrapper = new LcdWrapper(lcd);
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lcdWrapper->setCallback(lcdWrapperCallback);
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makeMenu();
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setupTime.stopConsol("Setup");
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}
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void loop() {
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if (wifiIsActive) {
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DebugTimes wifiTime;
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Network::checkWiFi();
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bool err = Network::checkMQTT();
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if (!err)
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std::cout << "loop(): checkMQTT returns false" << std::endl;
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wifiTime.stopConsol("WiFi-Time", 10);
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}
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driveManager->loop();
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controlPad->loop();
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main_m->update();
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lcdWrapper->loop();
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bool newValues = mainBattery->loop();
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if (newValues) {
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static uint8_t batteryLowCounter = 0;
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if (mainBattery->isBatteryLow(10))
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batteryLowCounter++;
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else
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batteryLowCounter = 0;
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if (batteryLowCounter >= 10) {
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moveController.emergencyStop();
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uint16_t voltage = (uint16_t) (mainBattery->getBatteryVoltage() * 100);
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lcd->setCursor(0, 0);
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lcd->printf("Low Battery: %u", voltage);
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lcd->setCursor(0, 1);
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lcd->print("Please turn off.");
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while (true);
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}
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}
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}
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void i2cScanner() {
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std::cout << "\nI2C Scanner" << std::endl;
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byte error, address;
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int nDevices;
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std::cout << "Scanning..." << std::endl;
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nDevices = 0;
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for(address = 1; address < 127; address++ ) {
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Wire.beginTransmission(address);
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error = Wire.endTransmission();
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if (error == 0) {
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std::cout << "I2C device found at address 0x";
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if (address<16)
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std::cout << "0";
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std::cout << std::hex << (int) address << std::dec << std::endl;
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// std::cout << (int) address << std::endl;
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nDevices++;
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}
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else if (error==4) {
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std::cout << "Unknow error at address 0x";
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if (address<16)
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std::cout << "0";
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std::cout << std::hex << (int) address << std::dec << std::endl;
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}
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}
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if (nDevices == 0)
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std::cout << "No I2C devices found\n" << std::endl;
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else
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std::cout << "done\n" << std::endl;
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}
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void makeMenu() {
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auto dummy = []() {
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std::cout << "Dummy in Action" <<std::endl;
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};
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// Create Menu
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main_m = new Menu();
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Menu* mode_m = new Menu();
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Menu* pid_m = new Menu();
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MenuIntInput* pidl_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(0)));
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MenuIntInput* pidr_m = new MenuIntInput(3, new MenuPidSettings(moveController.getPID(1)));
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MenuManualControl* man_m = new MenuManualControl(driveManager);
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MenuCaptureRoute* cap_m = new MenuCaptureRoute(driveManager);
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MenuAutopilot* auto_m = new MenuAutopilot(driveManager);
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MenuTestMode* testM_m = new MenuTestMode(driveManager);
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MenuCalibrateCompass* comp_m = new MenuCalibrateCompass(driveManager);
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MenuGPS* gps_m = new MenuGPS(driveManager);
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MenuSysteminformation* sys_m = new MenuSysteminformation(mainBattery);
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MenuRoute* rout_m = new MenuRoute(driveManager->getNavigation()->getRoute());
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// Set Menus on LCD and set update time
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main_m->setLcd(lcdWrapper);
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mode_m->setLcd(lcdWrapper);
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pid_m->setLcd(lcdWrapper);
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pidl_m->setLcd(lcdWrapper);
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pidr_m->setLcd(lcdWrapper);
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man_m->setLcd(lcdWrapper);
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cap_m->setLcd(lcdWrapper);
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auto_m->setLcd(lcdWrapper);
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testM_m->setLcd(lcdWrapper);
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comp_m->setLcd(lcdWrapper);
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gps_m->setLcd(lcdWrapper);
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gps_m->setUpdateDelay(1000);
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sys_m->setLcd(lcdWrapper);
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sys_m->setUpdateDelay(1500);
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rout_m->setLcd(lcdWrapper);
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// Entry for the main menu
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main_m->addEntry(new MenuAction("Mode", mode_m));
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main_m->addEntry(new MenuAction("GPS", gps_m));
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main_m->addEntry(new MenuAction("Route", rout_m));
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main_m->addEntry(new MenuAction("PID", pid_m));
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main_m->addEntry(new MenuAction("Systeminfo", sys_m));
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main_m->addEntry(new MenuAction("Restart", restart));
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// Entry for the mode Menu
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mode_m->addEntry(new MenuAction("Manual Control", man_m));
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mode_m->addEntry(new MenuAction("Capture Route", cap_m));
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mode_m->addEntry(new MenuAction("Autopilot", auto_m));
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mode_m->addEntry(new MenuAction("Gauge Compass", comp_m));
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mode_m->addEntry(new MenuAction("Test Mode", testM_m));
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mode_m->addEntry(new MenuAction("Consol Control", dummy));
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// Entry for the PID Menu
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pid_m->addEntry(new MenuAction("Left", pidl_m));
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pid_m->addEntry(new MenuAction("Right", pidr_m));
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// Other config
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pidl_m->setMinMax(0, UINT8_MAX);
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pidl_m->setEntry(0, "P-Part", (uint8_t) moveController.getPID(0)->GetKp());
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pidl_m->setEntry(1, "I-Part", (uint8_t) moveController.getPID(0)->GetKi());
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pidl_m->setEntry(2, "D-Part", (uint8_t) moveController.getPID(0)->GetKd());
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pidr_m->setMinMax(0, UINT8_MAX);
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pidr_m->setEntry(0, "P-Part", (uint8_t) moveController.getPID(1)->GetKp());
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pidr_m->setEntry(1, "I-Part", (uint8_t) moveController.getPID(1)->GetKi());
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pidr_m->setEntry(2, "D-Part", (uint8_t) moveController.getPID(1)->GetKd());
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controlPad->setMenuControl(main_m);
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}
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void restart(void) {
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lcdWrapper->clear();
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lcdWrapper->setCursor(0, 0);
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lcdWrapper->print("Rebooting ...");
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ESP.restart();
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}
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void receiveCallback (const uint8_t * mac, const uint8_t *incomingData, int len) {
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if (len != sizeof(ControlPadInput))
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return;
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controlPad->insertData(incomingData);
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}
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void sendCallback (const uint8_t *mac_addr, esp_now_send_status_t status) {
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if (status != ESP_NOW_SEND_SUCCESS)
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std::cout << "sendCallback - Delivery Fail" << std::endl;
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}
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void lcdWrapperCallback (const char data[][DISPLAY_WRAPPER_ROWS], uint8_t lines, uint8_t rows) {
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if (!controlPad->isControlPadConnected())
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return;
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esp_err_t result = esp_now_send(Network::getBroadcastAddress(), (uint8_t *) data, lines * rows);
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if (result != ESP_OK)
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Serial.println("Error sending the data");
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}
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