126 lines
3.2 KiB
C++
126 lines
3.2 KiB
C++
#pragma once
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// system includes
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#include <array>
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#include <memory>
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#include <optional>
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// Arduino includes
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#ifdef FEATURE_BLUETOOTH
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#include <BluetoothSerial.h>
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#endif
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#ifdef FEATURE_SERIAL
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#include <HardwareSerial.h>
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#endif
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#include <SPI.h>
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// 3rdparty lib includes
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#include <espchrono.h>
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#include <TFT_eSPI.h>
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// local includes
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#include "controller.h"
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#include "display.h"
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#include "modeinterface.h"
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#include "profilesettings.h"
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#include "newsettings.h"
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#include "settingspersister.h"
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#include "macros_bobbycar.h"
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extern std::optional<int16_t> raw_gas, raw_brems;
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extern std::optional<float> gas, brems;
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#ifdef FEATURE_GAMETRAK
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extern int16_t raw_gametrakX;
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extern int16_t raw_gametrakY;
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extern int16_t raw_gametrakDist;
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extern float gametrakX;
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extern float gametrakY;
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extern float gametrakDist;
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#endif
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extern float avgSpeed;
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extern float avgSpeedKmh;
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extern float sumCurrent;
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extern bool isLocked;
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#ifdef GLOBALS_PLUGIN
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#include GLOBALS_PLUGIN
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GLOBALS_HEADER
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#endif
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extern bool simplified;
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extern ProfileSettings profileSettings;
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extern SettingsPersister settingsPersister;
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extern std::array<CRGB, 8> ledstrip_custom_colors;
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class Controllers : public std::array<Controller, 2>
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{
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public:
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explicit Controllers() :
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std::array<Controller, 2>{{
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Controller {
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#ifdef FEATURE_SERIAL
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Serial1,
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#endif
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profileSettings.controllerHardware.enableFrontLeft, profileSettings.controllerHardware.enableFrontRight, profileSettings.controllerHardware.invertFrontLeft, profileSettings.controllerHardware.invertFrontRight,
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configs.battery.front30VoltCalibration, configs.battery.front50VoltCalibration
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},
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Controller {
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#ifdef FEATURE_SERIAL
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Serial2,
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#endif
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profileSettings.controllerHardware.enableBackLeft, profileSettings.controllerHardware.enableBackRight, profileSettings.controllerHardware.invertBackLeft, profileSettings.controllerHardware.invertBackRight,
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configs.battery.back30VoltCalibration, configs.battery.back50VoltCalibration
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}
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}}
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{}
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Controllers(const Controllers &) = delete;
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Controllers &operator=(const Controllers &) = delete;
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Controller &front{operator[](0)};
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Controller &back{operator[](1)};
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std::optional<float> getAvgVoltage() const
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{
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uint8_t voltages{0};
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float avgVoltage{0.};
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for (auto &controller : *this)
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{
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if (const auto result = controller.getCalibratedVoltage(); !std::isnan(result) && controller.feedbackValid)
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{
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avgVoltage += result;
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voltages++;
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}
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}
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if (!voltages)
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return std::nullopt;
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return avgVoltage / voltages;
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}
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};
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extern Controllers controllers;
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struct FrontControllerGetter { static Controller &get() { return controllers.front; }};
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struct BackControllerGetter { static Controller &get() { return controllers.back; }};
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#ifdef FEATURE_BLUETOOTH
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extern BluetoothSerial bluetoothSerial;
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#endif
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extern ModeInterface *lastMode;
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extern ModeInterface *currentMode;
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#ifdef FEATURE_LEDBACKLIGHT
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constexpr const bool ledBacklightInverted =
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#ifdef LEDBACKLIGHT_INVERTED
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true
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#else
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false
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#endif
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;
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#endif
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