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removed uneeded debug parameters and preparations for tempomat

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This commit is contained in:
0xFEEDC0DE64
2021-07-16 19:28:14 +02:00
parent 7bbe705331
commit 5d75f266bb
9 changed files with 61 additions and 45 deletions
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44
main/debugtexthelpers.h
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@@ -15,10 +15,10 @@ struct ControllerTexts
ControllerTexts() = delete;
~ControllerTexts() = delete;
struct BuzzerFreqText : public virtual TextInterface { public: std::string text() const override { return "buzzerFreq: " + std::to_string(controller::get().command.buzzer.freq); } };
struct BuzzerPatternText : public virtual TextInterface { public: std::string text() const override { return "buzzerPattern: " + std::to_string(controller::get().command.buzzer.pattern); } };
struct PoweroffText : public virtual TextInterface { public: std::string text() const override { return "poweroff: " + std::to_string(controller::get().command.poweroff); } };
struct LedText : public virtual TextInterface { public: std::string text() const override { return "led: " + std::to_string(controller::get().command.led); } };
struct BuzzerFreqText : public virtual TextInterface { public: std::string text() const override { return fmt::format("buzzerFreq: {}", controller::get().command.buzzer.freq); } };
struct BuzzerPatternText : public virtual TextInterface { public: std::string text() const override { return fmt::format("buzzerPattern: {}", controller::get().command.buzzer.pattern); } };
struct PoweroffText : public virtual TextInterface { public: std::string text() const override { return fmt::format("poweroff: {}", controller::get().command.poweroff); } };
struct LedText : public virtual TextInterface { public: std::string text() const override { return fmt::format("led: {}", controller::get().command.led); } };
private:
struct LeftCommandGetter { static const bobbycar::protocol::serial::MotorState &get() { return controller::get().command.left; } };
@@ -30,24 +30,26 @@ private:
CommandTexts() = delete;
~CommandTexts() = delete;
struct EnableText : public virtual TextInterface { public: std::string text() const override { return "enable: " + std::to_string(MotorStateGetter::get().enable); } };
struct PwmText : public virtual TextInterface { public: std::string text() const override { return "pwm: " + std::to_string(MotorStateGetter::get().pwm); } };
struct CtrlTypText : public virtual TextInterface { public: std::string text() const override { return "ctrlTyp: " + to_string(MotorStateGetter::get().ctrlTyp); } };
struct CtrlModText : public virtual TextInterface { public: std::string text() const override { return "ctrlMod: " + to_string(MotorStateGetter::get().ctrlMod); } };
struct IMotMaxText : public virtual TextInterface { public: std::string text() const override { return "iMotMax: " + std::to_string(MotorStateGetter::get().iMotMax); } };
struct IDcMaxText : public virtual TextInterface { public: std::string text() const override { return "iDcMax: " + std::to_string(MotorStateGetter::get().iDcMax); } };
struct NMotMaxText : public virtual TextInterface { public: std::string text() const override { return "nMotMax: " + std::to_string(MotorStateGetter::get().nMotMax); } };
struct FieldWeakMaxText : public virtual TextInterface { public: std::string text() const override { return "fieldWeakMax: " + std::to_string(MotorStateGetter::get().fieldWeakMax); } };
struct PhaseAdvMaxText : public virtual TextInterface { public: std::string text() const override { return "phaseAdvMax: " + std::to_string(MotorStateGetter::get().phaseAdvMax); } };
struct EnableText : public virtual TextInterface { public: std::string text() const override { return fmt::format("enable: {}", MotorStateGetter::get().enable); } };
struct PwmText : public virtual TextInterface { public: std::string text() const override { return fmt::format("pwm: {}", MotorStateGetter::get().pwm); } };
struct CtrlTypText : public virtual TextInterface { public: std::string text() const override { return fmt::format("ctrlTyp: {}", to_string(MotorStateGetter::get().ctrlTyp)); } };
struct CtrlModText : public virtual TextInterface { public: std::string text() const override { return fmt::format("ctrlMod: {}", to_string(MotorStateGetter::get().ctrlMod)); } };
struct IMotMaxText : public virtual TextInterface { public: std::string text() const override { return fmt::format("iMotMax: {}", MotorStateGetter::get().iMotMax); } };
struct IDcMaxText : public virtual TextInterface { public: std::string text() const override { return fmt::format("iDcMax: {}", MotorStateGetter::get().iDcMax); } };
struct NMotMaxText : public virtual TextInterface { public: std::string text() const override { return fmt::format("nMotMax: {}", MotorStateGetter::get().nMotMax); } };
struct FieldWeakMaxText : public virtual TextInterface { public: std::string text() const override { return fmt::format("fieldWeakMax: {}", MotorStateGetter::get().fieldWeakMax); } };
struct PhaseAdvMaxText : public virtual TextInterface { public: std::string text() const override { return fmt::format("phaseAdvMax: {}", MotorStateGetter::get().phaseAdvMax); } };
struct CruiseCtrlEnaText : public virtual TextInterface { public: std::string text() const override { return fmt::format("cruiseCtrlEna: {}", MotorStateGetter::get().cruiseCtrlEna); } };
struct NCruiseMotTgtText : public virtual TextInterface { public: std::string text() const override { return fmt::format("nCruiseMotTgt: {}", MotorStateGetter::get().nCruiseMotTgt); } };
};
public:
using LeftCommand = CommandTexts<LeftCommandGetter>;
using RightCommand = CommandTexts<LeftCommandGetter>;
struct BatVoltageText : public virtual TextInterface { public: std::string text() const override { std::string line{"batVoltage: "}; if (controller::get().feedbackValid) line += std::to_string(controller::get().feedback.batVoltage); return line; } };
//struct BatVoltageText : public virtual TextInterface { public: std::string text() const override { std::string line{"batVoltage: "}; if (controller::get().feedbackValid) line += std::to_string(controller::get().feedback.batVoltage); return line; } };
struct BatVoltageFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"batVoltage: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}V", fixBatVoltage(controller::get().feedback.batVoltage)); return line; } };
struct BoardTempText : public virtual TextInterface { public: std::string text() const override { std::string line{"boardTemp: "}; if (controller::get().feedbackValid) line += std::to_string(controller::get().feedback.boardTemp); return line; } };
//struct BoardTempText : public virtual TextInterface { public: std::string text() const override { std::string line{"boardTemp: "}; if (controller::get().feedbackValid) line += std::to_string(controller::get().feedback.boardTemp); return line; } };
struct BoardTempFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"boardTemp: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}C", fixBoardTemp(controller::get().feedback.boardTemp)); return line; } };
struct TimeoutCntSerialText : public virtual TextInterface { public: std::string text() const override { std::string line{"timeoutCntSerial: "}; if (controller::get().feedbackValid) line += std::to_string(controller::get().feedback.timeoutCntSerial); return line; } };
@@ -62,16 +64,16 @@ private:
~FeedbackTexts() = delete;
struct AngleText : public virtual TextInterface { public: std::string text() const override { std::string line{"angle: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().angle); return line; } };
struct SpeedText : public virtual TextInterface { public: std::string text() const override { std::string line{"speed: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().speed); return line; } };
struct SpeedKmhText : public virtual TextInterface { public: std::string text() const override { std::string line{"speed kmh: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}", convertToKmh(MotorFeedbackGetter::get().speed)); return line; } };
//struct SpeedText : public virtual TextInterface { public: std::string text() const override { std::string line{"speed: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().speed); return line; } };
struct SpeedKmhText : public virtual TextInterface { public: std::string text() const override { std::string line{"speed: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}kmh", convertToKmh(MotorFeedbackGetter::get().speed)); return line; } };
struct ErrorText : public virtual TextInterface { public: std::string text() const override { std::string line{"error: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().error); return line; } };
struct DcLinkText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcLink: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcLink); return line; } };
//struct DcLinkText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcLink: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcLink); return line; } };
struct DcLinkFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcLink: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}A", fixCurrent(MotorFeedbackGetter::get().dcLink)); return line; } };
struct DcPhaAText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaA: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaA); return line; } };
//struct DcPhaAText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaA: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaA); return line; } };
struct DcPhaAFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaA: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}A", fixCurrent(MotorFeedbackGetter::get().dcPhaA)); return line; } };
struct DcPhaBText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaB: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaB); return line; } };
//struct DcPhaBText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaB: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaB); return line; } };
struct DcPhaBFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaB: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}A", fixCurrent(MotorFeedbackGetter::get().dcPhaB)); return line; } };
struct DcPhaCText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaC: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaC); return line; } };
//struct DcPhaCText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaC: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().dcPhaC); return line; } };
struct DcPhaCFixedText : public virtual TextInterface { public: std::string text() const override { std::string line{"dcPhaC: "}; if (controller::get().feedbackValid) line += fmt::format("{:.2f}A", fixCurrent(MotorFeedbackGetter::get().dcPhaC)); return line; } };
struct ChopsText : public virtual TextInterface { public: std::string text() const override { std::string line{"chops: "}; if (controller::get().feedbackValid) line += std::to_string(MotorFeedbackGetter::get().chops); return line; } };
struct HallText : public virtual TextInterface { public: std::string text() const override { std::string line{"hall: "}; if (controller::get().feedbackValid) line += hallString(MotorFeedbackGetter::get()); return line; } };