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BLE remote control preperations and faster livedata

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This commit is contained in:
0xFEEDC0DE64
2021-07-20 21:45:00 +02:00
parent 5318554786
commit 1bd3979241
7 changed files with 197 additions and 106 deletions
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2
components/ArduinoJson

Submodule components/ArduinoJson updated: d66159f51a...73a34f7d92

1
main/CMakeLists.txt
View File

@ -130,6 +130,7 @@ set(headers
modes/gametrakmode.h
modes/ignoreinputmode.h
modes/larsmmode.h
modes/remotecontrolmode.h
modes/tempomatmode.h
rotary.h
screens.h

208
main/ble.h
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@ -1,6 +1,7 @@
#pragma once
// 3rdparty lib includes
#include <ArduinoJson.h>
#ifdef FEATURE_BLE
#include <NimBLEDevice.h>
#endif
@ -13,20 +14,8 @@ namespace {
#ifdef FEATURE_BLE
BLEServer *pServer{};
BLEService *pService{};
int bleIndex{};
struct {
struct {
BLECharacteristic *voltage{};
BLECharacteristic *temperature{};
struct {
BLECharacteristic *error{};
BLECharacteristic *speed{};
BLECharacteristic *dcLink{};
} left, right;
} front, back;
} characteristics;
BLECharacteristic *livestatsCharacteristic{};
BLECharacteristic *remotecontrolCharacteristic{};
void initBle()
{
@ -38,26 +27,8 @@ void initBle()
pService = pServer->createService(serviceUuid);
characteristics.front.voltage = pService->createCharacteristic("a48321ea-329f-4eab-a401-30e247211524", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.back.voltage = pService->createCharacteristic("4201def0-a264-43e6-946b-6b2d9612dfed", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.front.temperature = pService->createCharacteristic("4799e23f-6448-4786-900b-b5c3f3c17a9c", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.back.temperature = pService->createCharacteristic("3c32b7bb-8d9b-4055-8ea0-5b6764111024", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.front.left.error = pService->createCharacteristic("f84b3a9b-1b2c-4075-acbe-016a2166976c", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.front.right.error = pService->createCharacteristic("eed4b709-5a65-4a5b-8e07-512f9661533d", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.back.left.error = pService->createCharacteristic("89d143f5-9ae2-4f7e-9235-643a3a7e21df", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.back.right.error = pService->createCharacteristic("0fb377f1-7527-4966-aaf0-8bd56f2ddd3f", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.front.left.speed = pService->createCharacteristic("c6f959e8-0ec3-4bdd-88ad-6ad993fc81e9", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.front.right.speed = pService->createCharacteristic("ce53f135-8f20-4b80-abb9-31da81d62716", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.back.left.speed = pService->createCharacteristic("9a1dd1fe-3f14-4af1-bc5e-3f70edcae54b", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.back.right.speed = pService->createCharacteristic("7de1a823-682e-438f-9201-3a80c3911f1a", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.front.left.dcLink = pService->createCharacteristic("f404416f-2a77-41c6-a35f-7d10ec38376d", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.front.right.dcLink = pService->createCharacteristic("452dd012-3f12-428c-8746-40c6b6c73c40", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.back.left.dcLink = pService->createCharacteristic("9dc455a3-718e-4d62-b0e7-1c0cb2a8bbd3", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
characteristics.back.right.dcLink = pService->createCharacteristic("90a66506-1d78-4ba2-b074-e1153fbf5216", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
livestatsCharacteristic = pService->createCharacteristic("a48321ea-329f-4eab-a401-30e247211524", NIMBLE_PROPERTY::READ | NIMBLE_PROPERTY::NOTIFY);
remotecontrolCharacteristic = pService->createCharacteristic("4201def0-a264-43e6-946b-6b2d9612dfed", NIMBLE_PROPERTY::WRITE);
pService->start();
@ -69,77 +40,110 @@ void initBle()
void handleBle()
{
switch (bleIndex++) {
default:
bleIndex = 1;
[[fallthrough]];
case 0:
characteristics.front.voltage->setValue(controllers.front.feedbackValid ? fmt::format("{:.2f}", fixBatVoltage(controllers.front.feedback.batVoltage)) : "");
characteristics.front.voltage->notify();
break;
case 1:
characteristics.back.voltage->setValue(controllers.back.feedbackValid ? fmt::format("{:.2f}", fixBatVoltage(controllers.back.feedback.batVoltage)) : "");
characteristics.back.voltage->notify();
break;
case 2:
characteristics.front.temperature->setValue(controllers.front.feedbackValid ? fmt::format("{:.2f}", fixBoardTemp(controllers.front.feedback.boardTemp)) : "");
characteristics.front.temperature->notify();
break;
case 3:
characteristics.back.temperature->setValue(controllers.back.feedbackValid ? fmt::format("{:.2f}", fixBoardTemp(controllers.back.feedback.boardTemp)) : "");
characteristics.back.temperature->notify();
break;
if (livestatsCharacteristic->getSubscribedCount())
{
StaticJsonDocument<1024> doc;
{
auto arr = doc.createNestedArray("v");
if (controllers.front.feedbackValid)
arr.add(fixBatVoltage(controllers.front.feedback.batVoltage));
else
arr.add(nullptr);
if (controllers.back.feedbackValid)
arr.add(fixBatVoltage(controllers.back.feedback.batVoltage));
else
arr.add(nullptr);
}
case 4:
characteristics.front.left.error->setValue(controllers.front.feedbackValid ? fmt::format("{}", controllers.front.feedback.left.error) : "");
characteristics.front.left.error->notify();
break;
case 5:
characteristics.front.right.error->setValue(controllers.front.feedbackValid ? fmt::format("{}", controllers.front.feedback.right.error) : "");
characteristics.front.right.error->notify();
break;
case 6:
characteristics.back.left.error->setValue(controllers.back.feedbackValid ? fmt::format("{}", controllers.back.feedback.left.error) : "");
characteristics.back.left.error->notify();
break;
case 7:
characteristics.back.right.error->setValue(controllers.back.feedbackValid ? fmt::format("{}", controllers.back.feedback.right.error) : "");
characteristics.back.right.error->notify();
break;
{
auto arr = doc.createNestedArray("t");
if (controllers.front.feedbackValid)
arr.add(fixBoardTemp(controllers.front.feedback.boardTemp));
else
arr.add(nullptr);
if (controllers.back.feedbackValid)
arr.add(fixBoardTemp(controllers.back.feedback.boardTemp));
else
arr.add(nullptr);
}
case 8:
characteristics.front.left.speed->setValue(controllers.front.feedbackValid ? fmt::format("{:.2f}", convertToKmh(controllers.front.feedback.left.speed * (settings.controllerHardware.invertFrontLeft ? -1 : 1))) : "");
characteristics.front.left.speed->notify();
break;
case 9:
characteristics.front.right.speed->setValue(controllers.front.feedbackValid ? fmt::format("{:.2f}", convertToKmh(controllers.front.feedback.right.speed * (settings.controllerHardware.invertFrontRight ? -1 : 1))) : "");
characteristics.front.right.speed->notify();
break;
case 10:
characteristics.back.left.speed->setValue(controllers.back.feedbackValid ? fmt::format("{:.2f}", convertToKmh(controllers.back.feedback.left.speed * (settings.controllerHardware.invertBackLeft ? -1 : 1))) : "");
characteristics.back.left.speed->notify();
break;
case 11:
characteristics.back.right.speed->setValue(controllers.back.feedbackValid ? fmt::format("{:.2f}", convertToKmh(controllers.back.feedback.right.speed * (settings.controllerHardware.invertBackRight ? -1 : 1))) : "");
characteristics.back.right.speed->notify();
break;
{
auto arr = doc.createNestedArray("e");
if (controllers.front.feedbackValid)
{
arr.add(controllers.front.feedback.left.error);
arr.add(controllers.front.feedback.right.error);
}
else
{
arr.add(nullptr);
arr.add(nullptr);
}
if (controllers.back.feedbackValid)
{
arr.add(controllers.back.feedback.left.error);
arr.add(controllers.back.feedback.right.error);
}
else
{
arr.add(nullptr);
arr.add(nullptr);
}
}
case 12:
characteristics.front.left.dcLink->setValue(controllers.front.feedbackValid ? fmt::format("{:.2f}", fixCurrent(controllers.front.feedback.left.dcLink)) : "");
characteristics.front.left.dcLink->notify();
break;
case 13:
characteristics.front.right.dcLink->setValue(controllers.front.feedbackValid ? fmt::format("{:.2f}", fixCurrent(controllers.front.feedback.right.dcLink)) : "");
characteristics.front.right.dcLink->notify();
break;
case 14:
characteristics.back.left.dcLink->setValue(controllers.back.feedbackValid ? fmt::format("{:.2f}", fixCurrent(controllers.back.feedback.left.dcLink)) : "");
characteristics.back.left.dcLink->notify();
break;
case 15:
characteristics.back.right.dcLink->setValue(controllers.back.feedbackValid ? fmt::format("{:.2f}", fixCurrent(controllers.back.feedback.right.dcLink)) : "");
characteristics.back.right.dcLink->notify();
break;
{
auto arr = doc.createNestedArray("s");
if (controllers.front.feedbackValid)
{
arr.add(convertToKmh(controllers.front.feedback.left.speed * (settings.controllerHardware.invertFrontLeft ? -1 : 1)));
arr.add(convertToKmh(controllers.front.feedback.right.speed * (settings.controllerHardware.invertFrontRight ? -1 : 1)));
}
else
{
arr.add(nullptr);
arr.add(nullptr);
}
if (controllers.back.feedbackValid)
{
arr.add(convertToKmh(controllers.back.feedback.left.speed * (settings.controllerHardware.invertBackLeft ? -1 : 1)));
arr.add(convertToKmh(controllers.back.feedback.right.speed * (settings.controllerHardware.invertBackRight ? -1 : 1)));
}
else
{
arr.add(nullptr);
arr.add(nullptr);
}
}
{
auto arr = doc.createNestedArray("a");
if (controllers.front.feedbackValid)
{
arr.add(fixCurrent(controllers.front.feedback.left.dcLink));
arr.add(fixCurrent(controllers.front.feedback.right.dcLink));
}
else
{
arr.add(nullptr);
arr.add(nullptr);
}
if (controllers.back.feedbackValid)
{
arr.add(fixCurrent(controllers.back.feedback.left.dcLink));
arr.add(fixCurrent(controllers.back.feedback.right.dcLink));
}
else
{
arr.add(nullptr);
arr.add(nullptr);
}
}
std::string json;
serializeJson(doc, json);
livestatsCharacteristic->setValue(json);
livestatsCharacteristic->notify();
}
}
#endif

7
main/displays/menus/selectmodemenu.h
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@ -12,6 +12,7 @@
#include "modes/defaultmode.h"
#include "modes/tempomatmode.h"
#include "modes/larsmmode.h"
#include "modes/remotecontrolmode.h"
#include "modes/gametrakmode.h"
// forward declares
@ -29,6 +30,7 @@ public:
using SetDefaultModeAction = SetterAction<ModeInterface*, currentMode, DefaultMode*, &modes::defaultMode>;
using SetTempomatModeAction = SetterAction<ModeInterface*, currentMode, TempomatMode*, &modes::tempomatMode>;
using SetLarsmModeAction = SetterAction<ModeInterface*, currentMode, LarsmMode*, &modes::larsmMode>;
using SetRemoteControlModeAction = SetterAction<ModeInterface*, currentMode, RemoteControlMode*, &modes::remoteControlMode>;
#ifdef FEATURE_GAMETRAK
using SetGametrakModeAction = SetterAction<ModeInterface*, currentMode, GametrakMode*, &modes::gametrakMode>;
#endif
@ -43,9 +45,10 @@ class SelectModeMenu :
public:
SelectModeMenu()
{
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_DEFAULT>, MultiAction<SetDefaultModeAction, SwitchScreenAction<MainMenu>>>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_DEFAULT>, MultiAction<SetDefaultModeAction, SwitchScreenAction<MainMenu>>>>();
constructMenuItem<makeComponent<MenuItem, TextWithValueHelper<TEXT_TEMPOMAT, AvgSpeedAccessor>, MultiAction<SetTempomatModeAction, SwitchScreenAction<MainMenu>>>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_LARSM>, MultiAction<SetLarsmModeAction, SwitchScreenAction<MainMenu>>>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_LARSM>, MultiAction<SetLarsmModeAction, SwitchScreenAction<MainMenu>>>>();
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_REMOTECONTROL>, MultiAction<SetRemoteControlModeAction, SwitchScreenAction<MainMenu>>>>();
#ifdef FEATURE_GAMETRAK
constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_GAMETRAK>, MultiAction<SetGametrakModeAction, SwitchScreenAction<MainMenu>>>>();
#endif

2
main/main.cpp
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@ -374,7 +374,7 @@ extern "C" void app_main()
#endif
#ifdef FEATURE_BLE
if (!lastBleUpdate || now - *lastBleUpdate >= 1000ms/16)
if (!lastBleUpdate || now - *lastBleUpdate >= 250ms)
{
handleBle();

82
main/modes/remotecontrolmode.h Normal file
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@ -0,0 +1,82 @@
#pragma once
// system includes
#include <cstdint>
#include <optional>
// 3rdparty lib includes
#include <espchrono.h>
// local includes
#include "bobbycar-common.h"
#include "modeinterface.h"
#include "globals.h"
#include "utils.h"
#include "defaultmode.h"
using namespace std::chrono_literals;
namespace {
struct RemoteCommand {
int16_t frontLeft{};
int16_t frontRight{};
int16_t backLeft{};
int16_t backRight{};
};
class RemoteControlMode : public ModeInterface
{
using Base = ModeInterface;
public:
void update() override;
const char *displayName() const override { return "RemoteControl"; }
void setCommand(const RemoteCommand &command);
std::optional<RemoteCommand> m_remoteCommand;
espchrono::millis_clock::time_point m_timestamp;
};
namespace modes {
RemoteControlMode remoteControlMode;
}
void RemoteControlMode::update()
{
if (!m_remoteCommand || espchrono::ago(m_timestamp) > 1s)
{
start();
for (bobbycar::protocol::serial::MotorState &motor : motors())
{
motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
motor.ctrlMod = bobbycar::protocol::ControlMode::OpenMode;
motor.pwm = 0;
motor.cruiseCtrlEna = false;
motor.nCruiseMotTgt = 0;
}
}
else
{
for (bobbycar::protocol::serial::MotorState &motor : motors())
{
motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
motor.ctrlMod = bobbycar::protocol::ControlMode::Torque;
motor.cruiseCtrlEna = false;
motor.nCruiseMotTgt = 0;
}
controllers.front.command.left.pwm = m_remoteCommand->frontLeft;
controllers.front.command.right.pwm = m_remoteCommand->frontRight;
controllers.back.command.left.pwm = m_remoteCommand->backLeft;
controllers.back.command.right.pwm = m_remoteCommand->backRight;
}
fixCommonParams();
sendCommands();
}
}

1
main/texts.h
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@ -294,6 +294,7 @@ constexpr char TEXT_RACE[] = "Race";
constexpr char TEXT_DEFAULT[] = "Default";
constexpr char TEXT_TEMPOMAT[] = "Tempomat";
constexpr char TEXT_LARSM[] = "Larsm";
constexpr char TEXT_REMOTECONTROL[] = "Remote control";
constexpr char TEXT_GAMETRAK[] = "Gametrak";
//constexpr char TEXT_BACK[] = "Back";