kleiax/Bachelorarbeit-Rover
1
0
Fork 0
Code Issues Pull Requests Packages Projects Releases 1 Wiki Activity
Files
f2d57cc13f3fbaf8207a8a8b68e17131424ffb63
Bachelorarbeit-Rover/src/main.cpp
T
kleiax ece89eba60 update battery.h
2022-03-21 09:10:35 +01:00

282 lines
8.3 KiB
C++
Raw Blame History

/**
* @file main.cpp
* @author Alexander Klein (alex@kleiax.de)
* @brief The main file.
*
* Sets up Network stuff, PS3-Controller, Menu and Lcd
* Handles Controller Input
*
* @version 0.1
* @date 2022-02-15
*
* @copyright Copyright (c) 2022
*
*/
#include <Arduino.h>
#include <Ps3Controller.h>
#include <iostream>
#include <Wire.h>
#include <LiquidCrystal_I2C.h>
#include <BluetoothSerial.h>
#include "config.h"
#include "driveModi/driveManager.h"
#include "OutputBuf/outputBuf.h"
#include "moveControl.h"
#include "network.h"
#include "debugMqtt.h"
#include "battery.h"
#include "menu.h"
#include "menuAction.h"
#include "SpecialMenus/driveModi/ManualDrive/menuManualDrive.h"
#include "SpecialMenus/driveModi/CaptureRoute/menuCaptureRoute.h"
#include "SpecialMenus/driveModi/Autopilot/menuAutopilot.h"
#include "SpecialMenus/PID/menuPidSettings.h"
#include "SpecialMenus/GPS/menuGPS.h"
#include "SpecialMenus/Akku/menuAkku.h"
MoveControl moveController;
DriveManager driveManager(&moveController);
Menu* main_m;
LiquidCrystal_I2C* lcd;
OutputBuf* outputBuf;
DebugMqtt* debugMqtt = nullptr;
BluetoothSerial* serialBT = nullptr;
Battery* mainBattery;
bool wifiIsActive;
void callbackControllerAction(void);
void callbackControllerConnect(void);
void callbackControllerDisconnect(void);
void i2cScanner(void);
void makeMenu(void);
void setup() {
Serial.begin(115200);
char wifiIndicator = 'X';
mainBattery = new Battery(35, 692000, 218500);
Wire.begin(21, 19);
i2cScanner();
lcd = new LiquidCrystal_I2C(0x3F,16,2);
lcd->init();
lcd->clear();
lcd->noBacklight();
Network::setIps();
Network::setupMQTT();
wifiIsActive = Network::connectWifi();
if (wifiIsActive) {
Network::checkMQTT();
DebugMqtt::init(Network::getMqttClient(), Loglevel::debug);
std::cout << "Activate additional output via MQTT..." << std::endl;
debugMqtt = new DebugMqtt("Console");
outputBuf = new OutputBuf(debugMqtt);
wifiIndicator = '-';
} else
outputBuf = new OutputBuf();
std::cout.rdbuf(outputBuf);
std::cout << "Welcome to Kleiax-Rover" << std::endl;
std::cout << "All actions from the main program run on Core -> " << xPortGetCoreID() << std::endl;
Ps3.attach(callbackControllerAction);
Ps3.attachOnConnect(callbackControllerConnect);
Ps3.attachOnDisconnect(callbackControllerDisconnect);
std::cout << "\nReady to connect a PS3 Controller... \n";
// Need to be connected befor an other device connect
Ps3.begin(CONTROLLER_MAC);
std::cout << "Activate additional output via Bluetooth..." << std::endl;
serialBT = new BluetoothSerial;
serialBT->begin("Kleiax-Rover");
outputBuf->setSerialBT(serialBT);
outputBuf->activateMqtt(false);
lcd->backlight();
lcd->printf("%c Kleiax-Rover %c", wifiIndicator, wifiIndicator);
lcd->setCursor(0, 1);
lcd->print("Press PS-Button");
makeMenu();
}
void loop() {
if (wifiIsActive) {
Network::checkWiFi();
Network::checkMQTT();
}
driveManager.loop();
mainBattery->loop();
// static uint32_t lastMillis = 0;
// if (millis() - lastMillis > 2000) {
// std::cout << "Is BT-Consol connected: " << serialBT->connected() << std::endl;
// lastMillis = millis();
// }
}
void callbackControllerAction() {
auto isDelayReached = [](bool reset = false) -> bool {
static uint32_t lastMillis = 0;
if (reset)
lastMillis = millis();
static const uint16_t delay = 300;
bool res = false;
if (millis() - lastMillis > delay)
res = true;
return res;
};
// Menu controlling
if (isDelayReached()) {
if (Ps3.data.button.up)
main_m->up();
else if (Ps3.data.button.down)
main_m->down();
else if (Ps3.data.button.left)
main_m->left();
else if (Ps3.data.button.right)
main_m->right();
else if (Ps3.data.button.circle)
main_m->yes();
else if (Ps3.data.button.cross)
main_m->no();
else if (Ps3.data.button.select)
debugMqtt->sendMsg(Loglevel::info, "Here we are: callbackController..");
isDelayReached(true);
}
// This have to be stand here because it have to be run on the other Core
main_m->update();
}
void callbackControllerConnect() {
std::cout << "Controller connected to ESP32" << std::endl;
std::cout << "All actions from the Controller run on Core -> " << xPortGetCoreID() << std::endl;
// Display is not functional without this seconde init, first init is in setup(),
// because after the setup the other core control the display.
lcd->init();
main_m->printMenu();
}
void callbackControllerDisconnect() {
std::cout << "Controller disconnected..." << std::endl;
// Ps3.end();
}
void i2cScanner() {
std::cout << "\nI2C Scanner" << std::endl;
byte error, address;
int nDevices;
std::cout << "Scanning..." << std::endl;
nDevices = 0;
for(address = 1; address < 127; address++ ) {
Wire.beginTransmission(address);
error = Wire.endTransmission();
if (error == 0) {
std::cout << "I2C device found at address 0x";
if (address<16)
std::cout << "0";
std::cout << std::hex << (int) address << std::endl;
// std::cout << (int) address << std::endl;
nDevices++;
}
else if (error==4) {
std::cout << "Unknow error at address 0x";
if (address<16)
std::cout << "0";
std::cout << std::hex << (int) address << std::endl;
}
}
if (nDevices == 0)
std::cout << "No I2C devices found\n" << std::endl;
else
std::cout << "done\n" << std::endl;
}
void makeMenu() {
auto dummy = []() {
std::cout << "Dummy in Action" <<std::endl;
};
auto restart = [&]() {
lcd->clear();
lcd->setCursor(0, 0);
lcd->print("Rebooting ...");
ESP.restart();
};
auto disconnectController = [&]() {
Ps3.end();
};
// Create Menu
main_m = new Menu();
Menu* mode_m = new Menu();
Menu* pid_m = new Menu();
MenuPidSettings* pidl_m = new MenuPidSettings(moveController.getPID(0));
MenuPidSettings* pidr_m = new MenuPidSettings(moveController.getPID(1));
MenuManualControl* man_m = new MenuManualControl(&driveManager);
MenuCaptureRoute* cap_m = new MenuCaptureRoute(&driveManager);
MenuAutopilot* auto_m = new MenuAutopilot(&driveManager);
MenuGPS* gps_m = new MenuGPS(driveManager.getNavigation()->getGPS());
MenuAkku* akku_m = new MenuAkku(mainBattery);
// 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);
cap_m->setLcd(lcd);
auto_m->setLcd(lcd);
gps_m->setLcd(lcd);
akku_m->setLcd(lcd);
// Entry for the main menu
MenuAction* mode_e = new MenuAction("Mode", mode_m);
MenuAction* gps_e = new MenuAction("GPS", gps_m);
MenuAction* pid_e = new MenuAction("PID", pid_m);
MenuAction* restart_e = new MenuAction("Restart", restart);
MenuAction* akku_e = new MenuAction("Akku", akku_m);
MenuAction* contr_e = new MenuAction("Remove PS3", disconnectController);
main_m->addEntry(mode_e);
main_m->addEntry(gps_e);
main_m->addEntry(pid_e);
main_m->addEntry(akku_e);
main_m->addEntry(contr_e);
main_m->addEntry(restart_e);
// Entry for the mode Menu
MenuAction* autopilot_e = new MenuAction("Autopilot", auto_m);
MenuAction* captureRoute_e = new MenuAction("Capture Route", cap_m);
MenuAction* consolControl_e = new MenuAction("Consol Control", dummy);
MenuAction* manualControl_e = new MenuAction("Manual Control", man_m);
MenuAction* testMode_e = new MenuAction("Test Mode", dummy);
mode_m->addEntry(autopilot_e);
mode_m->addEntry(captureRoute_e);
mode_m->addEntry(manualControl_e);
mode_m->addEntry(consolControl_e);
mode_m->addEntry(testMode_e);
// Entry for the PID Menu
MenuAction* pidl_e = new MenuAction("Left", pidl_m);
MenuAction* pidr_e = new MenuAction("Right", pidr_m);
pid_m->addEntry(pidl_e);
pid_m->addEntry(pidr_e);
}
Reference in New Issue View Git Blame Copy Permalink