152 lines
5.3 KiB
C++
152 lines
5.3 KiB
C++
#pragma once
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// system includes
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#include <algorithm>
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#include <utility>
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#include <string>
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// Arduino includes
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#ifdef FEATURE_SERIAL
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#include <HardwareSerial.h>
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#endif
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// 3rdparty lib includes
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#include <espchrono.h>
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#include <cpputils.h>
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// local includes
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#ifdef FEATURE_CAN
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#include "bobbycar-can.h"
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#endif
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#ifdef FEATURE_SERIAL
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#include "bobbycar-serial.h"
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#endif
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#include "display.h"
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#include "globals.h"
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#ifdef FEATURE_CAN
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#include "can.h"
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#endif
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#ifdef FEATURE_DPAD
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#include "dpad.h"
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#endif
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#ifdef FEATURE_DPAD_3WIRESW
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#include "dpad3wire.h"
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#endif
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#ifdef FEATURE_DPAD_5WIRESW
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#include "dpad5wire.h"
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#endif
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#ifdef FEATURE_DPAD_5WIRESW_2OUT
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#include "dpad5wire_2out.h"
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#endif
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#ifdef FEATURE_DPAD_6WIRESW
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#include "dpad6wire.h"
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#endif
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#ifdef DPAD_BOARDCOMPUTER_V2
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#include "dpad_boardcomputer_v2.h"
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#endif
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#include "setup.h"
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extern bool currentlyReverseBeeping;
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extern bool reverseBeepToggle;
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extern espchrono::millis_clock::time_point lastReverseBeepToggle;
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float convertToKmh(float val);
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float convertFromKmh(float val);
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float convertToInch(float val);
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float convertFromInch(float val);
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float fixCurrent(int16_t value);
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float fixBoardTemp(int16_t value);
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std::string hallString(const bobbycar::protocol::serial::MotorFeedback &motor);
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std::string to_string(bobbycar::protocol::ControlType value);
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std::string to_string(bobbycar::protocol::ControlMode value);
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std::array<std::reference_wrapper<bobbycar::protocol::serial::MotorState>, 2> motorsInController(Controller &controller);
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std::array<std::reference_wrapper<const bobbycar::protocol::serial::MotorState>, 2> motorsInController(const Controller &controller);
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std::array<std::reference_wrapper<bobbycar::protocol::serial::MotorFeedback>, 2> motorFeedbacksInController(Controller &controller);
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std::array<std::reference_wrapper<const bobbycar::protocol::serial::MotorFeedback>, 2> motorFeedbacksInController(const Controller &controller);
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std::array<std::reference_wrapper<bobbycar::protocol::serial::MotorState>, 4> motors();
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void fixCommonParams();
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void sendCommands();
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#ifdef FEATURE_SERIAL
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void updateSwapFrontBack();
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#endif
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bool loadProfileSettings();
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bool saveProfileSettings();
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void updateAccumulators();
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void readPotis();
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float wattToAmpere(float watt);
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float wattToMotorCurrent(float watt);
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uint8_t time_to_percent(espchrono::milliseconds32 repeat, espchrono::milliseconds32 riseTime, espchrono::milliseconds32 fullTime, size_t numLeds, bool invert);
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std::string local_clock_string();
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int16_t map_analog_stick(uint16_t middle, uint16_t start, uint16_t end, uint16_t deadband, uint16_t raw);
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inline uint32_t CRGB_TO_UINT32(CRGB crgb)
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{
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return crgb.raw[0]<<16 | crgb.raw[1]<<8 | crgb.raw[2];
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}
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inline CRGB UINT32_TO_CRGB(uint32_t color)
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{
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CRGB crgb;
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crgb.raw[0]=color>>16 & 0xFF;
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crgb.raw[1]=color>>8 & 0xFF;
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crgb.raw[2]=color & 0xFF;
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return crgb;
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}
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std::string get_wifi_security_string(wifi_auth_mode_t authMode);
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float float_map(float x, float in_min, float in_max, float out_min, float out_max);
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bool is_valid_timestamp(espchrono::utc_clock::time_point timestamp);
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std::string toString(esp_chip_model_t esp_chip_model);
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std::optional<SetupStep> checkIfInCalibration();
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void drawLargeText(const std::string&& text);
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namespace bobbydpad {
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#ifdef FEATURE_DPAD
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static constexpr const auto ButtonCount = dpad::BUTTON_COUNT;
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static constexpr const auto &dpad_init = dpad::init;
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static constexpr const auto &dpad_update = dpad::update;
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static constexpr const char * const dpad_name = "dpad";
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#endif
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#ifdef FEATURE_DPAD_3WIRESW
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static constexpr const auto ButtonCount = dpad3wire::BUTTON_COUNT;
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static constexpr const auto &dpad_init = dpad3wire::init;
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static constexpr const auto &dpad_update = dpad3wire::update;
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static constexpr const char * const dpad_name = "dpad3wire";
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#endif
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#ifdef FEATURE_DPAD_5WIRESW
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static constexpr const auto ButtonCount = dpad5wire::BUTTON_COUNT;
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static constexpr const auto &dpad_init = dpad5wire::init;
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static constexpr const auto &dpad_update = dpad5wire::update;
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static constexpr const char * const dpad_name = "dpad5wire";
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#endif
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#ifdef FEATURE_DPAD_5WIRESW_2OUT
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static constexpr const auto ButtonCount = dpad5wire_2out::BUTTON_COUNT;
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static constexpr const auto &dpad_init = dpad5wire_2out::init;
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static constexpr const auto &dpad_update = dpad5wire_2out::update;
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static constexpr const char * const dpad_name = "dpad5wire_2out";
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#endif
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#ifdef FEATURE_DPAD_6WIRESW
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static constexpr const auto ButtonCount = dpad6wire::BUTTON_COUNT;
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static constexpr const auto &dpad_init = dpad6wire::init;
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static constexpr const auto &dpad_update = dpad6wire::update;
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static constexpr const char * const dpad_name = "dpad6wire";
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#endif
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#ifdef DPAD_BOARDCOMPUTER_V2
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static constexpr const auto ButtonCount = dpad_boardcomputer_v2::BUTTON_COUNT;
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static constexpr const auto &dpad_init = dpad_boardcomputer_v2::init;
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static constexpr const auto &dpad_update = dpad_boardcomputer_v2::update;
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static constexpr const char * const dpad_name = "dpad_boardcomputer_v2";
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#endif
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#if !defined(FEATURE_DPAD) && !defined(FEATURE_DPAD_3WIRESW) && !defined(FEATURE_DPAD_5WIRESW) && !defined(FEATURE_DPAD_5WIRESW_2OUT) && !defined(FEATURE_DPAD_6WIRESW) && !defined(DPAD_BOARDCOMPUTER_V2)
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static constexpr const auto ButtonCount = 0;
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static constexpr const auto &dpad_init = nullptr;
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static constexpr const auto &dpad_update = nullptr;
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static constexpr const char * const dpad_name = "";
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#endif
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} // namespace bobbydpad
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