147 lines
3.9 KiB
C++
147 lines
3.9 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_log.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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#include <schedulertask.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 "presets.h"
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#include "statistics.h"
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#ifdef FEATURE_JOYSTICK
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#include "modes/wheelchairmode.h"
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#else
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#include "modes/defaultmode.h"
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#endif
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#include "displays/statusdisplay.h"
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#include "displays/lockscreen.h"
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#include "displays/potiscalibratedisplay.h"
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#include "displays/buttoncalibratedisplay.h"
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#include "newsettings.h"
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#include "taskmanager.h"
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namespace {
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espchrono::millis_clock::time_point lastStatsPush;
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std::optional<espchrono::millis_clock::time_point> lastStatsUpdate;
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}
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extern "C" void app_main()
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{
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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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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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profileSettings = presets::defaultProfileSettings;
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if (settingsPersister.init())
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{
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if (!settingsPersister.openProfile(0))
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ESP_LOGE("BOBBY", "openProfile(0) failed");
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loadProfileSettings();
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}
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else
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ESP_LOGE("BOBBY", "init() failed");
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for (const auto &task : schedulerTasks)
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{
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if (checkEnabledByName(task.name()))
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{
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bootLabel.redraw(task.name());
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task.setup();
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}
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}
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#ifdef FEATURE_JOYSTICK
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currentMode = &modes::wheelchairMode;
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#else
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currentMode = &modes::defaultMode;
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#endif
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bootLabel.redraw("switchScreen");
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if (configs.dpadMappingLeft.value == INPUT_MAPPING_NONE ||
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configs.dpadMappingRight.value == INPUT_MAPPING_NONE ||
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configs.dpadMappingUp.value == INPUT_MAPPING_NONE ||
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configs.dpadMappingDown.value == INPUT_MAPPING_NONE)
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{
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espgui::switchScreen<ButtonCalibrateDisplay>(true);
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}
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else if (configs.lockscreen.keepLockedAfterReboot.value && configs.lockscreen.locked.value)
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{
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espgui::switchScreen<Lockscreen>();
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}
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else
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{
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if (!gas || !brems || *gas > 200.f || *brems > 200.f)
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espgui::switchScreen<PotisCalibrateDisplay>(true);
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else
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{
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espgui::switchScreen<StatusDisplay>();
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}
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}
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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 (!heap_caps_check_integrity_all(true))
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// ESP_LOGW(TAG, "OIS IM OARSCH!!!!!");
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for (auto &schedulerTask : schedulerTasks)
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{
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if (schedulerTask.isInitialized())
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schedulerTask.loop();
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}
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if (!lastStatsUpdate || now - *lastStatsUpdate >= 1000ms/configs.boardcomputerHardware.timersSettings.statsUpdateRate.value)
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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 (now - lastStatsPush >= 1s)
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{
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sched_pushStats(false);
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lastStatsPush = now;
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}
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if (!battery::bootBatPercentage)
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{
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if(controllers.front.feedbackValid && controllers.back.feedbackValid)
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{
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if (const auto avgVoltage = controllers.getAvgVoltage(); avgVoltage)
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{
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if (avgVoltage > 30)
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{
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battery::bootBatPercentage = getBatteryPercentage(*avgVoltage, BatteryCellType(configs.battery.cellType.value));
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battery::bootBatWh = getRemainingWattHours();
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}
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}
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}
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}
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}
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}
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