88 lines
8.6 KiB
C++
88 lines
8.6 KiB
C++
#pragma once
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// 3rdparty lib includes
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#include <fmt/core.h>
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// local includes
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#include "textinterface.h"
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#include "globals.h"
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#include "utils.h"
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namespace {
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template<typename controller>
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struct ControllerTexts
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{
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ControllerTexts() = delete;
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~ControllerTexts() = delete;
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struct BuzzerFreqText : public virtual TextInterface { public: std::string text() const override { return "buzzerFreq: " + std::to_string(controller::get().command.buzzer.freq); } };
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struct BuzzerPatternText : public virtual TextInterface { public: std::string text() const override { return "buzzerPattern: " + std::to_string(controller::get().command.buzzer.pattern); } };
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struct PoweroffText : public virtual TextInterface { public: std::string text() const override { return "poweroff: " + std::to_string(controller::get().command.poweroff); } };
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struct LedText : public virtual TextInterface { public: std::string text() const override { return "led: " + std::to_string(controller::get().command.led); } };
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private:
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struct LeftCommandGetter { static const bobbycar::protocol::serial::MotorState &get() { return controller::get().command.left; } };
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struct RightCommandGetter { static const bobbycar::protocol::serial::MotorState &get() { return controller::get().command.right; } };
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template<typename MotorStateGetter>
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struct CommandTexts
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{
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CommandTexts() = delete;
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~CommandTexts() = delete;
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struct EnableText : public virtual TextInterface { public: std::string text() const override { return "enable: " + std::to_string(MotorStateGetter::get().enable); } };
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struct PwmText : public virtual TextInterface { public: std::string text() const override { return "pwm: " + std::to_string(MotorStateGetter::get().pwm); } };
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struct CtrlTypText : public virtual TextInterface { public: std::string text() const override { return "ctrlTyp: " + to_string(MotorStateGetter::get().ctrlTyp); } };
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struct CtrlModText : public virtual TextInterface { public: std::string text() const override { return "ctrlMod: " + to_string(MotorStateGetter::get().ctrlMod); } };
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struct IMotMaxText : public virtual TextInterface { public: std::string text() const override { return "iMotMax: " + std::to_string(MotorStateGetter::get().iMotMax); } };
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struct IDcMaxText : public virtual TextInterface { public: std::string text() const override { return "iDcMax: " + std::to_string(MotorStateGetter::get().iDcMax); } };
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struct NMotMaxText : public virtual TextInterface { public: std::string text() const override { return "nMotMax: " + std::to_string(MotorStateGetter::get().nMotMax); } };
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struct FieldWeakMaxText : public virtual TextInterface { public: std::string text() const override { return "fieldWeakMax: " + std::to_string(MotorStateGetter::get().fieldWeakMax); } };
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struct PhaseAdvMaxText : public virtual TextInterface { public: std::string text() const override { return "phaseAdvMax: " + std::to_string(MotorStateGetter::get().phaseAdvMax); } };
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};
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public:
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using LeftCommand = CommandTexts<LeftCommandGetter>;
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using RightCommand = CommandTexts<LeftCommandGetter>;
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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private:
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struct LeftFeedbackGetter { static const bobbycar::protocol::serial::MotorFeedback &get() { return controller::get().feedback.left; } };
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struct RightFeedbackGetter { static const bobbycar::protocol::serial::MotorFeedback &get() { return controller::get().feedback.right; } };
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template<typename MotorFeedbackGetter>
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struct FeedbackTexts
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{
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FeedbackTexts() = delete;
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~FeedbackTexts() = delete;
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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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; } };
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};
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public:
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using LeftFeedback = FeedbackTexts<LeftFeedbackGetter>;
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using RightFeedback = FeedbackTexts<RightFeedbackGetter>;
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};
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using FrontTexts = ControllerTexts<FrontControllerGetter>;
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using BackTexts = ControllerTexts<BackControllerGetter>;
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}
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