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uas-ugv
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move display to it's own class and thread

try-fix-comms-errors
Alex Mikhalev 6 years ago
parent
697f46cd21
commit
14e1864896
5 changed files with 144 additions and 84 deletions
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  1. 1
      main/CMakeLists.txt
  2. 1
      main/Print.h
  3. 102
      main/ugv_display.cc
  4. 34
      main/ugv_display.hh
  5. 90
      main/ugv_main.cc

1
main/CMakeLists.txt
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@ -5,6 +5,7 @@ set(PB_OUT ${CMAKE_CURRENT_SOURCE_DIR}/pb_out) @@ -5,6 +5,7 @@ set(PB_OUT ${CMAKE_CURRENT_SOURCE_DIR}/pb_out)
set(COMPONENT_SRCS
"ugv_main.cc"
"ugv_comms.cc"
"ugv_display.cc"
"ugv_io.cc"
"ugv_io_gps.cc"
"ugv_io_mpu.cc"

1
main/Print.h
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@ -19,6 +19,7 @@ @@ -19,6 +19,7 @@
#include <stddef.h>
#include <stdint.h>
#include <string.h>
#include <string>
// #include "Printable.h"

102
main/ugv_display.cc
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@ -0,0 +1,102 @@ @@ -0,0 +1,102 @@
#include "ugv_display.hh"
#include <esp_log.h>
#include "U8g2lib.hh"
#include "ugv_comms.hh"
#include "ugv_config.h"
#include "ugv_io.hh"
namespace ugv {
static const char* TAG = "ugv_display";
using comms::CommsClass;
using io::IOClass;
DisplayClass::DisplayClass(CommsClass* comms, IOClass* io)
: comms_(comms), io_(io) {}
void DisplayClass::Init() {
// For Heltec ESP32 LoRa
// oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, 16, 15, 4);
// For wemos Lolin ESP32
oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, U8X8_PIN_NONE, 4, 5);
oled->initDisplay();
oled->clearDisplay();
oled->setPowerSave(false);
BaseType_t xRet = xTaskCreate(DisplayClass::RunThread, "ugv_display",
2 * 1024, this, 1, &this->task_handle_);
if (xRet != pdTRUE) {
ESP_LOGE(TAG, "error starting display thread");
}
}
void DisplayClass::Run() {
int32_t lora_rssi;
uint8_t lora_lna_gain;
TickType_t last_packet_tick;
int32_t last_packet_rssi;
int8_t last_packet_snr;
io::Inputs inputs;
io::Outputs outputs;
while (true) {
io_->ReadInputs(inputs);
outputs.left_motor = outputs.left_motor > 0 ? -0.5 : 1.0;
outputs.right_motor = outputs.right_motor > 0 ? -0.5 : 1.0;
io_->WriteOutputs(outputs);
// ESP_LOGI(TAG, "inputs %s", inputs.ToString());
oled->firstPage();
lora_rssi = comms_->ReadRssi();
lora_lna_gain = comms_->ReadLnaGain();
comms_->Lock();
last_packet_tick = comms_->last_packet_tick;
last_packet_rssi = comms_->last_packet_rssi;
last_packet_snr = comms_->last_packet_snr;
comms_->Unlock();
do {
oled->drawRFrame(0, 0, OLED_W, OLED_H, 4);
multi_heap_info_t heap_info;
heap_caps_get_info(&heap_info, MALLOC_CAP_DEFAULT);
oled->setFont(u8g2_font_4x6_mr);
oled->setCursor(4, 8);
oled->print("=====UAS UGV=====");
oled->setCursor(4, 2 * 8);
oled->printf("heap allc/free %d/%d", heap_info.total_allocated_bytes,
heap_info.total_free_bytes);
oled->setCursor(4, 3 * 8);
oled->printf("rssi: %d lna gain: %d", lora_rssi, lora_lna_gain);
if (last_packet_tick > 0) {
double time_since_last_packet =
1000.0f /
((xTaskGetTickCount() - last_packet_tick) * portTICK_RATE_MS);
oled->setCursor(4, 4 * 8);
oled->printf("last pkt rx %f s ago", time_since_last_packet);
oled->setCursor(4, 5 * 8);
oled->printf("pkt rssi: %d, snr: %f", last_packet_rssi,
last_packet_snr * 0.25f);
} else {
oled->setCursor(4, 4 * 8);
oled->print("no pkt rx");
}
oled->setCursor(4, 6 * 8);
oled->printf("motors: (%f, %f)", outputs.left_motor, outputs.right_motor);
} while (oled->nextPage());
vTaskDelay(pdMS_TO_TICKS(1000));
}
}
void DisplayClass::RunThread(void* arg) {
auto display = (DisplayClass*)arg;
display->Run();
vTaskDelete(NULL);
}
} // namespace ugv

34
main/ugv_display.hh
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@ -0,0 +1,34 @@ @@ -0,0 +1,34 @@
#pragma once
#include <freertos/FreeRTOS.h>
#include <freertos/task.h>
class U8G2;
namespace ugv {
namespace comms {
class CommsClass;
}
namespace io {
class IOClass;
}
class DisplayClass {
public:
DisplayClass() = delete;
DisplayClass(comms::CommsClass *comms, io::IOClass *io);
void Init();
private:
comms::CommsClass *comms_;
io::IOClass *io_;
U8G2 *oled;
TaskHandle_t task_handle_;
void Run();
static void RunThread(void *arg);
};
} // namespace ugv

90
main/ugv_main.cc
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@ -2,9 +2,8 @@ @@ -2,9 +2,8 @@
#include <string.h>
#include <u8g2.h>
#include "U8g2lib.hh"
#include "ugv_comms.hh"
#include "ugv_config.h"
#include "ugv_display.hh"
#include "ugv_io.hh"
namespace ugv {
@ -12,98 +11,21 @@ namespace ugv { @@ -12,98 +11,21 @@ namespace ugv {
using ugv::comms::Comms;
using ugv::io::IO;
static const char *TAG = "ugv_main";
U8G2 *oled;
DisplayClass *display;
void setup_oled(void) {
// For Heltec ESP32 LoRa
// oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, 16, 15, 4);
// For wemos Lolin ESP32
oled = new U8G2_SSD1306_128X64_NONAME_F_HW_I2C(U8G2_R0, U8X8_PIN_NONE, 4, 5);
oled->initDisplay();
oled->clearDisplay();
oled->setPowerSave(false);
}
static const char *TAG = "ugv_main";
void setup(void) {
ESP_LOGI(TAG, "setup");
setup_oled();
Comms.Init();
IO.Init();
}
#define BUF_SZ 32
void loop(void) {
static int32_t lora_rssi;
static uint8_t lora_lna_gain;
static TickType_t last_packet_tick;
static int32_t last_packet_rssi;
static int8_t last_packet_snr;
static char buf[BUF_SZ];
static io::Inputs inputs;
static io::Outputs outputs;
IO.ReadInputs(inputs);
outputs.left_motor = outputs.left_motor > 0 ? -0.5 : 1.0;
outputs.right_motor = outputs.right_motor > 0 ? -0.5 : 1.0;
IO.WriteOutputs(outputs);
// ESP_LOGI(TAG, "inputs %s", inputs.ToString());
oled->firstPage();
lora_rssi = Comms.ReadRssi();
lora_lna_gain = Comms.ReadLnaGain();
Comms.Lock();
last_packet_tick = Comms.last_packet_tick;
last_packet_rssi = Comms.last_packet_rssi;
last_packet_snr = Comms.last_packet_snr;
Comms.Unlock();
do {
oled->drawRFrame(0, 0, OLED_W, OLED_H, 4);
multi_heap_info_t heap_info;
heap_caps_get_info(&heap_info, MALLOC_CAP_DEFAULT);
oled->setFont(u8g2_font_4x6_mr);
oled->drawStr(4, 8, "=====UAS UGV=====");
snprintf(buf, BUF_SZ, "heap allc/free %d/%d",
heap_info.total_allocated_bytes, heap_info.total_free_bytes);
oled->drawStr(4, 2 * 8, buf);
snprintf(buf, BUF_SZ, "rssi: %d lna gain: %d", lora_rssi, lora_lna_gain);
oled->drawStr(4, 3 * 8, buf);
if (last_packet_tick > 0) {
double time_since_last_packet =
1000.0f /
((xTaskGetTickCount() - last_packet_tick) * portTICK_RATE_MS);
snprintf(buf, BUF_SZ, "last pkt rx %f s ago", time_since_last_packet);
oled->drawStr(4, 4 * 8, buf);
snprintf(buf, BUF_SZ, "pkt rssi: %d, snr: %f", last_packet_rssi,
last_packet_snr * 0.25f);
oled->drawStr(4, 5 * 8, buf);
} else {
oled->drawStr(4, 4 * 8, "no pkt rx");
}
snprintf(buf, BUF_SZ, "motors: (%f, %f)", outputs.left_motor,
outputs.right_motor);
oled->drawStr(4, 6 * 8, buf);
} while (oled->nextPage());
vTaskDelay(pdMS_TO_TICKS(1000));
}
void loopTask(void *pvUser) {
setup();
while (1) {
loop();
}
display = new DisplayClass(&Comms, &IO);
display->Init();
}
} // namespace ugv
extern "C" void app_main() {
xTaskCreatePinnedToCore(ugv::loopTask, "loopTask", 8192, NULL, 1, NULL, 1);
ugv::setup();
}

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