Switched build system to esp-idf

2021-06-28 21:43:20 +02:00
parent 8d152083aa
commit 9bdd512057
200 changed files with 2927 additions and 1894 deletions
--- a/main/debugtexthelpers.h
+++ b/main/debugtexthelpers.h
@@ -0,0 +1,87 @@
+#pragma once
+
+// 3rdparty lib includes
+#include <fmt/core.h>
+
+// local includes
+#include "textinterface.h"
+#include "globals.h"
+#include "utils.h"
+
+namespace {
+template<typename controller>
+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); } };
+
+private:
+    struct LeftCommandGetter { static const bobbycar::protocol::serial::MotorState &get() { return controller::get().command.left; } };
+    struct RightCommandGetter { static const bobbycar::protocol::serial::MotorState &get() { return controller::get().command.right; } };
+
+    template<typename MotorStateGetter>
+    struct CommandTexts
+    {
+        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); } };
+    };
+
+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 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 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; } };
+
+private:
+    struct LeftFeedbackGetter { static const bobbycar::protocol::serial::MotorFeedback &get() { return controller::get().feedback.left; } };
+    struct RightFeedbackGetter { static const bobbycar::protocol::serial::MotorFeedback &get() { return controller::get().feedback.right; } };
+
+    template<typename MotorFeedbackGetter>
+    struct FeedbackTexts
+    {
+        FeedbackTexts() = delete;
+        ~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 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 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 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 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 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; } };
+    };
+
+public:
+    using LeftFeedback = FeedbackTexts<LeftFeedbackGetter>;
+    using RightFeedback = FeedbackTexts<RightFeedbackGetter>;
+};
+
+using FrontTexts = ControllerTexts<FrontControllerGetter>;
+using BackTexts = ControllerTexts<BackControllerGetter>;
+}