Merge pull request #328 from bobbycar-graz/remote-fixes

main/CMakeLists.txt

@@ -127,6 +127,7 @@ set(headers
     displays/menus/networksettingsmenu.h
     displays/menus/otamenu.h
     displays/menus/profilesmenu.h
+    displays/menus/remotecontrolmodesettingsmenu.h
     displays/menus/selectbuildserverbranch.h
     displays/menus/selectbuildservermenu.h
     displays/menus/selectmodemenu.h
@@ -368,6 +369,7 @@ set(sources
     displays/menus/networksettingsmenu.cpp
     displays/menus/otamenu.cpp
     displays/menus/profilesmenu.cpp
+    displays/menus/remotecontrolmodesettingsmenu.cpp
     displays/menus/selectbuildserverbranch.cpp
     displays/menus/selectbuildservermenu.cpp
     displays/menus/selectmodemenu.cpp

main/accessors/settingsaccessors.h

@@ -160,9 +160,13 @@ struct LarsmModeIterationsAccessor : public RefAccessorSaveSettings<uint8_t> { u
 struct MotortestModeMultiplikatorAccessor : public RefAccessorSaveSettings<uint8_t> { uint8_t &getRef() const override { return profileSettings.motortestMode.multiplikator; } };
 struct MotortestMaxPwmAccessor : public RefAccessorSaveSettings<uint16_t> { uint16_t &getRef() const override { return profileSettings.motortestMode.maxPwm; } };
 
+// MickMode
 struct MickModeModelModeAccessor : public RefAccessorSaveSettings<UnifiedModelMode> { UnifiedModelMode &getRef() const override { return profileSettings.mickMode.modelMode; } };
 struct MickModeSmoothingAccessor : public RefAccessorSaveSettings<uint16_t> { uint16_t &getRef() const override { return profileSettings.mickMode.smoothing; } };
 
+// Remote Control Mode
+struct RemoteControlModeModelModeAccessor : public RefAccessorSaveSettings<UnifiedModelMode> { UnifiedModelMode &getRef() const override { return profileSettings.remoteControlMode.modelMode; } };
+
 // Ledstrip
 struct EnableLedAnimationAccessor : public NewSettingsAccessor<bool> { ConfigWrapper<bool> &getConfig() const override { return configs.ledstrip.enableLedAnimation; } };
 struct EnableBrakeLightsAccessor : public NewSettingsAccessor<bool> { ConfigWrapper<bool> &getConfig() const override { return configs.ledstrip.enableBrakeLights; } };

main/actions/modesettingsaction.cpp

@@ -0,0 +1,56 @@
+#include "modesettingsaction.h"
+
+// 3rdparty lib includes
+#include <screenmanager.h>
+
+// local includes
+#include "globals.h"
+#include "modes/defaultmode.h"
+#include "modes/mickmode.h"
+#include "modes/tempomatmode.h"
+#include "modes/larsmmode.h"
+#ifdef FEATURE_GAMETRAK
+#include "modes/gametrakmode.h"
+#endif
+#include "modes/motortestmode.h"
+#ifdef FEATURE_JOYSTICK
+#include "modes/wheelchairmode.h"
+#endif
+#include "modes/remotecontrolmode.h"
+#include "displays/menus/defaultmodesettingsmenu.h"
+#include "displays/menus/tempomatmodesettingsmenu.h"
+#include "displays/menus/larsmmodesettingsmenu.h"
+#ifdef FEATURE_GAMETRAK
+#include "displays/menus/gametrakmodesettingsmenu.h"
+#endif
+#include "displays/menus/mickmodesettingsmenu.h"
+#include "displays/menus/motortestmodesettingsmenu.h"
+#include "displays/menus/remotecontrolmodesettingsmenu.h"
+
+void ModeSettingsAction::triggered()
+{
+    if (currentMode == &modes::defaultMode
+#ifdef FEATURE_JOYSTICK
+        || currentMode == &modes::wheelchairMode
+#endif
+            )
+        pushScreen<DefaultModeSettingsMenu>();
+    else if (currentMode == &modes::tempomatMode)
+        pushScreen<TempomatModeSettingsMenu>();
+    else if (currentMode == &modes::larsmMode)
+        pushScreen<LarsmModeSettingsMenu>();
+    else if (currentMode == &modes::mickMode)
+        pushScreen<MickModeSettingsMenu>();
+    else if (currentMode == &modes::motortestMode)
+        pushScreen<MotortestModeSettingsMenu>();
+    else if (currentMode == &modes::remoteControlMode)
+        pushScreen<RemoteControlModeSettingsMenu>();
+#ifdef FEATURE_GAMETRAK
+        else if (currentMode == &modes::gametrakMode)
+        pushScreen<GametrakModeSettingsMenu>();
+#endif
+    else
+    {
+        //Serial.println("Unknown mode, cannot open settings for it");
+    }
+}

main/actions/modesettingsaction.h

@@ -1,56 +1,11 @@
 #pragma once
 
 #include "actioninterface.h"
-#include "globals.h"
-#include "modes/defaultmode.h"
-#include "modes/mickmode.h"
-#include "modes/tempomatmode.h"
-#include "modes/larsmmode.h"
-#include "modes/gametrakmode.h"
-#include "modes/motortestmode.h"
-#ifdef FEATURE_JOYSTICK
-#include "modes/wheelchairmode.h"
-#endif
-#include "displays/menus/defaultmodesettingsmenu.h"
-#include "displays/menus/tempomatmodesettingsmenu.h"
-#include "displays/menus/larsmmodesettingsmenu.h"
-#include "displays/menus/gametrakmodesettingsmenu.h"
-#include "displays/menus/mickmodesettingsmenu.h"
-#include "displays/menus/motortestmodesettingsmenu.h"
-#include "screenmanager.h"
 
 using namespace espgui;
 
-namespace {
 class ModeSettingsAction : public virtual ActionInterface
 {
 public:
     void triggered() override;
 };
-
-void ModeSettingsAction::triggered()
-{
-    if (currentMode == &modes::defaultMode
-#ifdef FEATURE_JOYSTICK
-         || currentMode == &modes::wheelchairMode
-#endif
-       )
-        pushScreen<DefaultModeSettingsMenu>();
-    else if (currentMode == &modes::tempomatMode)
-        pushScreen<TempomatModeSettingsMenu>();
-    else if (currentMode == &modes::larsmMode)
-        pushScreen<LarsmModeSettingsMenu>();
-    else if (currentMode == &modes::mickMode)
-        pushScreen<MickModeSettingsMenu>();
-    else if (currentMode == &modes::motortestMode)
-        pushScreen<MotortestModeSettingsMenu>();
-#ifdef FEATURE_GAMETRAK
-    else if (currentMode == &modes::gametrakMode)
-        pushScreen<GametrakModeSettingsMenu>();
-#endif
-    else
-    {
-        //Serial.println("Unknown mode, cannot open settings for it");
-    }
-}
-}

main/displays/menus/defaultmodesettingsmenu.cpp

@@ -19,9 +19,7 @@
 
 namespace {
 constexpr char TEXT_DEFAULTMODESETTIGNS[] = "Default mode settings";
-constexpr char TEXT_DEFAULTMODESETTINGS[] = "Default mode settings";
 constexpr char TEXT_MODELMODE[] = "Model mode";
-constexpr char TEXT_HYBRIDMODE[] = "Hybrid mode";
 constexpr char TEXT_SQUAREGAS[] = "Square gas";
 constexpr char TEXT_SQUAREBREMS[] = "Square brems";
 constexpr char TEXT_ENABLESMOOTHINGUP[] = "Enable up smoothing";

main/displays/menus/modessettingsmenu.cpp

@@ -9,6 +9,7 @@
 #include "displays/menus/defaultmodesettingsmenu.h"
 #include "displays/menus/gametrakmodesettingsmenu.h"
 #include "displays/menus/larsmmodesettingsmenu.h"
+#include "displays/menus/remotecontrolmodesettingsmenu.h"
 #include "displays/menus/tempomatmodesettingsmenu.h"
 
 namespace {
@@ -16,6 +17,7 @@ constexpr char TEXT_MODESSETTINGS[] = "Modes settings";
 constexpr char TEXT_DEFAULTMODESETTIGNS[] = "Default mode settings";
 constexpr char TEXT_TEMPOMATMODESETTINGS[] = "Tempomat mode settings";
 constexpr char TEXT_LARSMMODESETTINGS[] = "Larsm mode settings";
+constexpr char TEXT_REMOTECONTROLMODESETTINGS[] = "Remote mode settings";
 constexpr char TEXT_GAMETRAKMODESETTINGS[] = "Gametrak mode settings";
 constexpr char TEXT_BACK[] = "Back";
 } // namespace
@@ -26,6 +28,7 @@ ModesSettingsMenu::ModesSettingsMenu()
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_DEFAULTMODESETTIGNS>,   PushScreenAction<DefaultModeSettingsMenu>>>();
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_TEMPOMATMODESETTINGS>,  PushScreenAction<TempomatModeSettingsMenu>>>();
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_LARSMMODESETTINGS>,     PushScreenAction<LarsmModeSettingsMenu>>>();
+    constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_REMOTECONTROLMODESETTINGS>, PushScreenAction<RemoteControlModeSettingsMenu>>>();
 #ifdef FEATURE_GAMETRAK
     constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_GAMETRAKMODESETTINGS>,  SwitchScreenAction<GametrakModeSettingsMenu>>>();
 #endif

main/displays/menus/remotecontrolmodesettingsmenu.cpp

@@ -0,0 +1,45 @@
+#include "remotecontrolmodesettingsmenu.h"
+
+// 3rdparty lib includes
+#include <actions/popscreenaction.h>
+#include <actions/pushscreenaction.h>
+#include <changevaluedisplay.h>
+#include <icons/back.h>
+#include <menuitem.h>
+
+// local includes
+#include "accessors/settingsaccessors.h"
+#include "changevaluedisplay_unifiedmodelmode.h"
+#include "displays/bobbychangevaluedisplay.h"
+
+namespace {
+    constexpr char TEXT_REMOTEMODESETTINGS[] = "Remote mode settings";
+    constexpr char TEXT_MODELMODE[] = "Model mode";
+    constexpr char TEXT_BACK[] = "Back";
+
+    using RemoteControlModeModelModeChangeDisplay = espgui::makeComponent<
+            BobbyChangeValueDisplay<UnifiedModelMode>,
+            espgui::StaticText<TEXT_MODELMODE>,
+            RemoteControlModeModelModeAccessor,
+            espgui::ConfirmActionInterface<espgui::PopScreenAction>,
+            espgui::BackActionInterface<espgui::PopScreenAction>
+    >;
+} // namespace
+
+RemoteControlModeSettingsMenu::RemoteControlModeSettingsMenu()
+{
+    using namespace espgui;
+
+    constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_MODELMODE>,          PushScreenAction<RemoteControlModeModelModeChangeDisplay>>>();
+    constructMenuItem<makeComponent<MenuItem, StaticText<TEXT_BACK>,               PopScreenAction, StaticMenuItemIcon<&espgui::icons::back>>>();
+}
+
+std::string RemoteControlModeSettingsMenu::text() const
+{
+    return TEXT_REMOTEMODESETTINGS;
+}
+
+void RemoteControlModeSettingsMenu::back()
+{
+    espgui::popScreen();
+}

main/displays/menus/remotecontrolmodesettingsmenu.h

@@ -0,0 +1,14 @@
+#pragma once
+
+// local includes
+#include "displays/bobbymenudisplay.h"
+
+class RemoteControlModeSettingsMenu : public BobbyMenuDisplay
+{
+public:
+    RemoteControlModeSettingsMenu();
+
+    std::string text() const override;
+
+    void back() override;
+};

main/modes/remotecontrolmode.cpp

@@ -13,6 +13,7 @@ RemoteControlMode remoteControlMode;
 
 void RemoteControlMode::update()
 {
+    auto pair = split(profileSettings.defaultMode.modelMode);
     if (!m_remoteCommand || espchrono::ago(m_timestamp) > 500ms)
     {
         start();
@@ -30,8 +31,8 @@ void RemoteControlMode::update()
     {
         for (bobbycar::protocol::serial::MotorState &motor : motors())
         {
-            motor.ctrlTyp = bobbycar::protocol::ControlType::FieldOrientedControl;
+            motor.ctrlTyp = pair.first;
-            motor.ctrlMod = bobbycar::protocol::ControlMode::Torque;
+            motor.ctrlMod = pair.second;
             motor.cruiseCtrlEna = false;
             motor.nCruiseMotTgt = 0;
         }

main/presets.h

@@ -121,6 +121,10 @@ constexpr ProfileSettings::WheelchairMode defaultWheelChairMode {
 };
 #endif
 
+constexpr ProfileSettings::RemoteControlMode defaultRemoteControlMode {
+    .modelMode = UnifiedModelMode::FocTorque,
+};
+
 constexpr ProfileSettings defaultProfileSettings {
     .limits = defaultLimits,
     .controllerHardware = defaultControllerHardware,
@@ -129,6 +133,7 @@ constexpr ProfileSettings defaultProfileSettings {
     .larsmMode = defaultLarsmMode,
     .mickMode = defaultMickMode,
     .motortestMode = defaultMotortestMode,
+    .remoteControlMode = defaultRemoteControlMode,
 #ifdef FEATURE_JOYSTICK
     .wheelchairMode = defaultWheelChairMode
 #endif

main/profilesettings.h

@@ -61,6 +61,10 @@ struct ProfileSettings
         uint16_t maxPwm;
     } motortestMode;
 
+    struct RemoteControlMode {
+        UnifiedModelMode modelMode;
+    } remoteControlMode;
+
 #ifdef FEATURE_JOYSTICK
     struct WheelchairMode {
         uint16_t sensitivity0Kmh;
@@ -117,6 +121,8 @@ void ProfileSettings::executeForEveryProfileSetting(T &&callable)
     callable("mick.modelMode", mickMode.modelMode);
     callable("mick.smoothing", mickMode.smoothing);
 
+    callable("rc.modelMode", remoteControlMode.modelMode);
+
 #ifdef FEATURE_JOYSTICK
     callable("wc.ses0", wheelchairMode.sensitivity0Kmh);
     callable("wc.ses50", wheelchairMode.sensitivity50Kmh);