Added emulate feedback option

main/CMakeLists.txt

@@ -175,6 +175,7 @@ set(headers
     drivingstatistics.h
     espnowfunctions.h
     esptexthelpers.h
+    feedbackemulator.h
     feedbackparser.h
     globals.h
     handbremse.h
@@ -425,6 +426,7 @@ set(sources
     drivingstatistics.cpp
     espnowfunctions.cpp
     esptexthelpers.cpp
+    feedbackemulator.cpp
     feedbackparser.cpp
     globals.cpp
     handbremse.cpp

main/can.cpp

@@ -82,6 +82,11 @@ void initCan()
 
 void updateCan()
 {
+    if (configs.emulateFeedback.value())
+    {
+        return;
+    }
+
     for (int i = 0; i < 4; i++)
         if (!tryParseCanInput())
             break;

main/feedbackemulator.cpp

@@ -0,0 +1,55 @@
+#include "feedbackemulator.h"
+
+// 3rdparty lib includes
+#include <esprandom.h>
+#include <randomutils.h>
+
+// local includes
+#include "globals.h"
+
+namespace feedbackemulator {
+void init()
+{}
+
+void update()
+{
+    if (!configs.emulateFeedback.value())
+    {
+        return;
+    }
+
+    for (auto &controller: controllers)
+    {
+        controller.feedback.left.dcLink = cpputils::randomNumber<int16_t>(-500, 500, espcpputils::esp_random_device{});
+        controller.feedback.right.dcLink = cpputils::randomNumber<int16_t>(-500, 500, espcpputils::esp_random_device{});
+        controller.feedback.left.speed = cpputils::randomNumber<int16_t>(-1000, 1000, espcpputils::esp_random_device{});
+        controller.feedback.right.speed = cpputils::randomNumber<int16_t>(-1000, 1000, espcpputils::esp_random_device{});
+        controller.feedback.left.error = cpputils::randomNumber(0, 4, espcpputils::esp_random_device{});
+        controller.feedback.right.error = cpputils::randomNumber(0, 4, espcpputils::esp_random_device{});
+        controller.feedback.left.angle = 0;
+        controller.feedback.right.angle = 0;
+        controller.feedback.left.dcPhaA = cpputils::randomNumber<int16_t>(-5, 5, espcpputils::esp_random_device{});
+        controller.feedback.right.dcPhaA = cpputils::randomNumber<int16_t>(-5, 5, espcpputils::esp_random_device{});
+        controller.feedback.left.dcPhaB = cpputils::randomNumber<int16_t>(-5, 5, espcpputils::esp_random_device{});
+        controller.feedback.right.dcPhaB = cpputils::randomNumber<int16_t>(-5, 5, espcpputils::esp_random_device{});
+        controller.feedback.left.dcPhaC = cpputils::randomNumber<int16_t>(-5, 5, espcpputils::esp_random_device{});
+        controller.feedback.right.dcPhaC = cpputils::randomNumber<int16_t>(-5, 5, espcpputils::esp_random_device{});
+        controller.feedback.left.chops = 0;
+        controller.feedback.right.chops = 0;
+        controller.feedback.left.hallA = true;
+        controller.feedback.left.hallB = false;
+        controller.feedback.left.hallC = true;
+        controller.feedback.right.hallA = false;
+        controller.feedback.right.hallB = true;
+        controller.feedback.right.hallC = false;
+        controller.feedback.batVoltage = cpputils::randomNumber<int16_t>(3000, 5000, espcpputils::esp_random_device{});
+        controller.feedback.boardTemp = cpputils::randomNumber<int16_t>(200, 600, espcpputils::esp_random_device{});
+        controller.feedback.left.id = 0;
+        controller.feedback.right.id = 0;
+        controller.feedback.left.iq = 0;
+        controller.feedback.right.iq = 0;
+
+        controller.feedbackValid = true;
+    }
+}
+} // feedbackemulator

main/feedbackemulator.h

@@ -0,0 +1,6 @@
+#pragma once
+
+namespace feedbackemulator {
+    void init();
+    void update();
+} // namespace feedbackemulator

main/newsettings.h

@@ -399,7 +399,7 @@ public:
         ConfigWrapperLegacy<uint8_t> brightness         {255,                                    DoReset,   {},                         "ledbrightness"       };
         ConfigWrapperLegacy<bool> enableAnimBlink       {false,                                  DoReset,   {},                         "enAnimBlink"         };
         ConfigWrapperLegacy<OtaAnimationModes> otaMode  {OtaAnimationModes::GreenProgressBar,    DoReset,   {},                         "ledOtaAnim"          };
-        ConfigWrapperLegacy<uint32_t>     maxMilliamps  {3000,                                   DoReset,   {},                         "ledMaxMilliamps"     };
+        ConfigWrapperLegacy<uint32_t> maxMilliamps      {3000,                                   DoReset,   {},                         "ledMaxMilliamps"     };
         ConfigWrapperLegacy<bool> enableVisualizeBlink  {false,                                  DoReset,   {},                         "enVisualBlink"       };
         std::array<ConfigWrapperLegacy<uint32_t>, 8> custom_color {
             ConfigWrapperLegacy<uint32_t>                   {0,                                  DoReset,   {},                         "ledCustomCol1"       },
@@ -479,6 +479,7 @@ public:
     } feature;
 
     ConfigWrapperLegacy<uint16_t> anhaenger_id          {0,                                      DoReset,   {},                         "anhaenger_id"        };
+    ConfigWrapperLegacy<bool> emulateFeedback           {false,                                  DoReset,   {},                         "emuFeedback"         };
 
     struct {
         ConfigWrapperLegacy<bool> bleEnabled            {true,                                   DoReset,   {},                         "bleEnabled"          };
@@ -800,7 +801,8 @@ public:
     x(feature.udpcloud.isEnabled) \
     x(feature.webserver.isEnabled) \
     x(feature.webserver_disable_lock.isEnabled) \
-    x(bleSettings.bleEnabled)
+    x(bleSettings.bleEnabled) \
+    x(emulateFeedback)
 
 #define FEATURES(x) \
     x(feature.ble) \

main/taskmanager.cpp

@@ -43,6 +43,7 @@
 #include "dnsannounce.h"
 #include "screens.h"
 #include "utils.h"
+#include "feedbackemulator.h"
 
 using namespace std::chrono_literals;
 
@@ -83,12 +84,13 @@ BobbySchedulerTask schedulerTasksArr[] {
     BobbySchedulerTask { "ledstrip",       initLedStrip,          updateLedStrip,          30ms, false },
     BobbySchedulerTask { "espnow",         espnow::initESPNow,    espnow::handle,          100ms, false },
     BobbySchedulerTask { "cloud",          initCloud,             updateCloud,             50ms, false },
-    BobbySchedulerTask { "udpcloud",       udpCloudInit,          udpCloudUpdate,          50ms, false },
+    BobbySchedulerTask { "udpcloud",       udpCloudInit,          udpCloudUpdate,          25ms, false },
     BobbySchedulerTask { "drivingmode",    initDrivingMode,       updateDrivingMode,       20ms, false },
     BobbySchedulerTask { "drivingstatistics", initStatistics,     calculateStatistics,     100ms, false },
     BobbySchedulerTask { "dnsannounce",    init_dns_announce,     handle_dns_announce,     100ms, false },
     BobbySchedulerTask { "updateDisp",     not_needed,            updateDisplay,           20ms, true },
     BobbySchedulerTask { "redrawDisp",     not_needed,            redrawDisplay,           20ms, true },
+    BobbySchedulerTask { "feedbackEmulator", feedbackemulator::init, feedbackemulator::update, 500ms, false},
 };
 } // namespace