457 lines
11 KiB
C++
457 lines
11 KiB
C++
constexpr const char * const TAG = "BOBBY";
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// system includes
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#include <cstdio>
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// esp-idf includes
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#include <esp_wifi_types.h>
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#include <esp_log.h>
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// Arduino includes
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#include <Arduino.h>
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// 3rdparty lib includes
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#include <espchrono.h>
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using namespace std::chrono_literals;
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#include <espwifistack.h>
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// local includes
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#include "bobbycar-common.h"
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#include "bobbycar-serial.h"
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#include "macros_bobbycar.h"
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#include "globals.h"
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#include "screens.h"
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#include "dpad.h"
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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 FEATURE_ROTARY
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#include "rotary.h"
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#endif
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#include "serialhandler.h"
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#ifdef FEATURE_OTA
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#include "ota.h"
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#include "displays/menus/selectbuildservermenu.h"
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#endif
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#include "presets.h"
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#include "statistics.h"
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#ifdef FEATURE_BLUETOOTH
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#include "actions/bluetoothbeginaction.h"
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#include "actions/bluetoothbeginmasteraction.h"
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#ifdef FEATURE_BMS
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#include "actions/bluetoothconnectbmsaction.h"
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#endif
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#endif
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#ifdef FEATURE_BLE
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#include "ble_bobby.h"
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#endif
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#ifdef FEATURE_WEBSERVER
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#include "webserver.h"
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#endif
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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_CLOUD
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#include "cloud.h"
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#include "udpcloud.h"
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#endif
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#include "wifi_bobbycar.h"
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#include "time_bobbycar.h"
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#ifdef FEATURE_LEDSTRIP
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#include "ledstrip.h"
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#endif
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#include "modes/defaultmode.h"
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#include "displays/statusdisplay.h"
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#include "displays/calibratedisplay.h"
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#ifdef FEATURE_DNS_NS
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#include "dnsannounce.h"
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#endif
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#include "drivingstatistics.h"
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#include "newsettings.h"
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namespace {
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std::optional<espchrono::millis_clock::time_point> lastWifiUpdate;
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std::optional<espchrono::millis_clock::time_point> lastPotiRead;
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std::optional<espchrono::millis_clock::time_point> lastModeUpdate;
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std::optional<espchrono::millis_clock::time_point> lastStatsUpdate;
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std::optional<espchrono::millis_clock::time_point> lastDisplayUpdate;
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std::optional<espchrono::millis_clock::time_point> lastDisplayRedraw;
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#ifdef FEATURE_CAN
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std::optional<espchrono::millis_clock::time_point> lastCanParse;
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#endif
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#ifdef FEATURE_BLE
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std::optional<espchrono::millis_clock::time_point> lastBleUpdate;
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#endif
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#ifdef FEATURE_CLOUD
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std::optional<espchrono::millis_clock::time_point> lastCloudCollect;
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std::optional<espchrono::millis_clock::time_point> lastCloudSend;
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#endif
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#ifdef FEATURE_NTP
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std::optional<espchrono::millis_clock::time_point> lastNtpUpdate;
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#endif
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#ifdef FEATURE_LEDSTRIP
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std::optional<espchrono::millis_clock::time_point> lastLedstripUpdate;
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#endif
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}
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extern "C" void app_main()
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{
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Serial.begin(115200);
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//Serial.setDebugOutput(true);
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//Serial.println("setup()");
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#ifdef FEATURE_LEDBACKLIGHT
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pinMode(PINS_LEDBACKLIGHT, OUTPUT);
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digitalWrite(PINS_LEDBACKLIGHT, ledBacklightInverted ? LOW : HIGH);
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#endif
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pinMode(3, INPUT_PULLUP);
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currentlyReverseBeeping = false;
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initScreen();
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bootLabel.redraw("settings");
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if (const auto result = configs.init("bobbycar"); result != ESP_OK)
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ESP_LOGE(TAG, "config_init_settings() failed with %s", esp_err_to_name(result));
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settings = presets::defaultSettings;
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stringSettings = presets::makeDefaultStringSettings();
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if (settingsPersister.init())
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{
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if (!settingsPersister.openCommon())
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ESP_LOGE("BOBBY", "openCommon() failed");
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if (!settingsPersister.openProfile(0))
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ESP_LOGE("BOBBY", "openProfile(0) failed");
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loadSettings();
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}
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else
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ESP_LOGE("BOBBY", "init() failed");
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bootLabel.redraw("deviceName");
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if (const auto result = wifi_stack::get_default_mac_addr())
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std::sprintf(deviceName, STRING(DEVICE_PREFIX) "_%02hhx%02hhx%02hhx", result->at(3), result->at(4), result->at(5));
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else
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ESP_LOGE("MAIN", "get_default_mac_addr() failed: %.*s", result.error().size(), result.error().data());
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bootLabel.redraw("wifi");
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wifi_begin();
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#ifdef FEATURE_DPAD
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bootLabel.redraw("dpad");
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dpad::init();
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#endif
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#ifdef FEATURE_DPAD_3WIRESW
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bootLabel.redraw("dpad3wire");
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dpad3wire::init();
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#endif
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#ifdef FEATURE_DPAD_5WIRESW
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bootLabel.redraw("dpad5wire");
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dpad5wire::init();
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#endif
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#ifdef FEATURE_DPAD_5WIRESW_2OUT
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bootLabel.redraw("dpad5wire_2out");
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dpad5wire_2out::init();
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#endif
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#ifdef FEATURE_DPAD_6WIRESW
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bootLabel.redraw("dpad6wire");
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dpad6wire::init();
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#endif
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#ifdef FEATURE_ROTARY
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bootLabel.redraw("rotary");
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initRotary();
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#endif
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#ifdef FEATURE_MOSFETS
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bootLabel.redraw("mosfets");
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pinMode(PINS_MOSFET0, OUTPUT);
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pinMode(PINS_MOSFET1, OUTPUT);
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pinMode(PINS_MOSFET2, OUTPUT);
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digitalWrite(PINS_MOSFET0, LOW);
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digitalWrite(PINS_MOSFET1, LOW);
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digitalWrite(PINS_MOSFET2, LOW);
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#endif
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#ifdef FEATURE_SERIAL
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bootLabel.redraw("swap front back");
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updateSwapFrontBack();
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#endif
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#ifdef FEATURE_BLUETOOTH
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if (settings.bluetoothSettings.autoBluetoothMode == BluetoothMode::Master)
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{
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bootLabel.redraw("bluetooth begin master");
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BluetoothBeginMasterAction{}.triggered();
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#ifdef FEATURE_BMS
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if (settings.autoConnectBms)
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{
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bootLabel.redraw("connect BMS");
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BluetoothConnectBmsAction{}.triggered();
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}
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#endif
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}
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else if (settings.bluetoothSettings.autoBluetoothMode == BluetoothMode::Slave)
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{
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bootLabel.redraw("bluetooth begin");
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BluetoothBeginAction{}.triggered();
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}
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#endif
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#ifdef FEATURE_CAN
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bootLabel.redraw("can");
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can::initCan();
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#endif
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#ifdef FEATURE_SERIAL
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bootLabel.redraw("front Serial begin");
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controllers.front.serial.get().begin(38400, SERIAL_8N1, PINS_RX1, PINS_TX1);
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bootLabel.redraw("back Serial begin");
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controllers.back.serial.get().begin(38400, SERIAL_8N1, PINS_RX2, PINS_TX2);
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#endif
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#ifdef FEATURE_LEDSTRIP
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bootLabel.redraw("LED strip");
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initLedStrip();
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#endif
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raw_gas = std::nullopt;
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raw_brems = std::nullopt;
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gas = std::nullopt;
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brems = std::nullopt;
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for (Controller &controller : controllers)
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controller.command.buzzer = {};
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currentMode = &modes::defaultMode;
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#ifdef FEATURE_OTA
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bootLabel.redraw("ota");
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initOta();
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#endif
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#ifdef FEATURE_BLE
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bootLabel.redraw("ble");
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initBle();
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#endif
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#ifdef FEATURE_WEBSERVER
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bootLabel.redraw("webserver");
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initWebserver();
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#endif
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bootLabel.redraw("potis");
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readPotis();
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#ifdef FEATURE_CLOUD
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bootLabel.redraw("cloud");
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initCloud();
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#endif
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#ifdef FEATURE_NTP
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bootLabel.redraw("time");
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initTime();
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#endif
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bootLabel.redraw("switchScreen");
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#if defined(FEATURE_DPAD_5WIRESW) && defined(DPAD_5WIRESW_DEBUG)
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switchScreen<DPad5WireDebugDisplay>();
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#elif defined(FEATURE_DPAD_5WIRESW_2OUT) && defined(DPAD_5WIRESW_DEBUG)
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switchScreen<DPad5Wire2OutDebugDisplay>();
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#elif defined(FEATURE_DPAD_6WIRESW) && defined(DPAD_6WIRESW_DEBUG)
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switchScreen<DPad6WireDebugDisplay>();
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#else
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if (!gas || !brems || *gas > 200.f || *brems > 200.f)
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espgui::switchScreen<CalibrateDisplay>(true);
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else
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espgui::switchScreen<StatusDisplay>();
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#endif
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while (true)
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{
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const auto now = espchrono::millis_clock::now();
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if (!lastWifiUpdate || now - *lastWifiUpdate >= 100ms)
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{
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wifi_update();
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lastWifiUpdate = now;
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}
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InputDispatcher::update();
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#ifdef FEATURE_DPAD
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dpad::update();
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#endif
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#ifdef FEATURE_DPAD_3WIRESW
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dpad3wire::update();
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#endif
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#ifdef FEATURE_DPAD_5WIRESW
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dpad5wire::update();
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#endif
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#ifdef FEATURE_DPAD_5WIRESW_2OUT
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dpad5wire_2out::update();
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#endif
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#ifdef FEATURE_DPAD_6WIRESW
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dpad6wire::update();
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#endif
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if (!lastPotiRead || now - *lastPotiRead >= 1000ms/settings.boardcomputerHardware.timersSettings.potiReadRate)
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{
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readPotis();
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lastPotiRead = now;
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}
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if (!lastModeUpdate || now - *lastModeUpdate >= 1000ms/settings.boardcomputerHardware.timersSettings.modeUpdateRate)
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{
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if (lastMode != currentMode)
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{
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if (lastMode)
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lastMode->stop();
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lastMode = currentMode;
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if (currentMode)
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currentMode->start();
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}
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if (currentMode)
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currentMode->update();
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lastModeUpdate = now;
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performance.current++;
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}
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if (!lastStatsUpdate || now - *lastStatsUpdate >= 1000ms/settings.boardcomputerHardware.timersSettings.statsUpdateRate)
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{
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updateAccumulators();
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pushStats();
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lastStatsUpdate = now;
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}
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if (!lastDisplayUpdate || now - *lastDisplayUpdate >= 1000ms/settings.boardcomputerHardware.timersSettings.displayUpdateRate)
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{
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updateDisplay();
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lastDisplayUpdate = now;
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}
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if (!lastDisplayRedraw || now - *lastDisplayRedraw >= 1000ms/settings.boardcomputerHardware.timersSettings.displayRedrawRate)
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{
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redrawDisplay();
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lastDisplayRedraw = now;
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}
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if (now - performance.lastTime >= 1000ms)
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{
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performance.last = performance.current;
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performance.current = 0;
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performance.lastTime = now;
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}
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#ifdef FEATURE_CAN
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if (!lastCanParse || now - *lastCanParse >= 1000ms/settings.boardcomputerHardware.timersSettings.canReceiveRate)
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{
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//can::tryParseCanInput();
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can::parseCanInput();
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lastCanParse = now;
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}
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#endif
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#ifdef FEATURE_SERIAL
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for (Controller &controller : controllers)
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controller.parser.update();
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#endif
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handleSerial();
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#ifdef FEATURE_OTA
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handleOta();
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#endif
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#ifdef FEATURE_BLE
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if (!lastBleUpdate || now - *lastBleUpdate >= 250ms)
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{
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handleBle();
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lastBleUpdate = now;
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}
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#endif
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#ifdef FEATURE_CLOUD
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if (!lastCloudCollect || now - *lastCloudCollect >= std::chrono::milliseconds{settings.boardcomputerHardware.timersSettings.cloudCollectRate})
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{
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cloudCollect();
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lastCloudCollect = now;
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}
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if (!lastCloudSend || now - *lastCloudSend >= 1000ms/settings.boardcomputerHardware.timersSettings.cloudSendRate)
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{
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cloudSend();
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lastCloudSend = now;
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}
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#endif
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#ifdef FEATURE_NTP
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if (!lastNtpUpdate || now - *lastNtpUpdate >= 100ms)
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{
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updateTime();
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lastNtpUpdate = now;
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}
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#endif
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#ifdef FEATURE_WEBSERVER
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handleWebserver();
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#endif
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#ifdef FEATURE_BMS
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bms::update();
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#endif
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#ifdef FEATURE_LEDSTRIP
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if (!lastLedstripUpdate || now - *lastLedstripUpdate >= 1000ms / 60)
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{
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updateLedStrip();
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lastLedstripUpdate = now;
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}
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#endif
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#ifdef FEATURE_DNS_NS
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handle_dns_announce();
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#endif
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calculateStatistics();
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#ifdef FEATURE_CLOUD
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if (settings.cloudSettings.udpCloudEnabled)
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sendUdpCloudPacket();
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#endif
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}
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}
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