main/main.cpp - master - darvik/robot-espidf

main/main.cpp
99 строк3 KB
darvik
joatick fiz, servo, task fix
31 мар 2024, 15:01
31 мар 2024, 15:013196cba
#include <core/Core.h>
#include <core/system/storage/NvsStorage.h>
#include <core/system/telemetry/TelemetryService.h>
#include <esp_heap_caps_init.h>

#ifndef CONFIG_IDF_TARGET_LINUX

#include <core/system/wifi/WifiService.h>
#include <core/system/mqtt/MqttService.h>
#include <core/system/console/Console.h>
#include <bluetooth/BTManager.h>
#include <bluetooth/BleDiscovery.h>
#include <bluetooth/BTHidDevice.h>
#include "Gamepad.h"
#include "DCMotor.h"
#include "Beacon.h"
#include "ServoMotor.h"
#include <core/StateMachine.h>

#endif

class Robot : public Application<Robot>, public TMessageSubscriber<Robot, GamepadInput> {
public:
    Robot() = default;

protected:
    void userSetup() override {
        getRegistry().getEventBus().subscribe(shared_from_this());
        getRegistry().create<NvsStorage>();
        getRegistry().create<TelemetryService>();
#ifndef CONFIG_IDF_TARGET_LINUX
        getRegistry().create<WifiService>();
        auto &mqtt = getRegistry().create<MqttService>();
        mqtt.addJsonProcessor<Telemetry>("/user/telemetry");

        getRegistry().create<UartConsoleService>();
        getRegistry().create<BTManager>();
        getRegistry().create<BleDiscovery>(Beacon::getFilter());
        getRegistry().create<BTHidDevice>();

        getRegistry().create<Gamepad>();

        getRegistry().create<DCMotor<Service_User_DCMotorLeft>>(DCMotorOptions{
                .en = GPIO_NUM_1,
                .in1 = GPIO_NUM_2,
                .in2 = GPIO_NUM_3,
                .timer = LEDC_TIMER_0,
                .ch = LEDC_CHANNEL_0
        });
        getRegistry().create<DCMotor<Service_User_DCMotorRight>>(DCMotorOptions{
                .en = GPIO_NUM_6,
                .in1 = GPIO_NUM_4,
                .in2 = GPIO_NUM_5,
                .timer = LEDC_TIMER_1,
                .ch = LEDC_CHANNEL_1
        });

        getRegistry().create<ServoMotor>(ServoMotorOptions{.gpio=GPIO_NUM_41});

//        getRegistry().create<Beacon>();
//        mqtt.addJsonProcessor<LocationTagReport>("/user/report");
#else
        //getRegistry().create<HidGamepad>();
#endif

        gpio_set_level(GPIO_NUM_48, 1);
    }

public:
#ifndef CONFIG_IDF_TARGET_LINUX

    void handle(const GamepadInput &msg) {
        auto left = getRegistry().getService<DCMotor<Service_User_DCMotorLeft>>();
        left->move(msg.leftAxis.y<0 ? FORWARD : BACKWARD, std::abs(msg.leftAxis.y));
        auto right = getRegistry().getService<DCMotor<Service_User_DCMotorRight>>();
        right->move(msg.rightAxis.y<0 ? FORWARD : BACKWARD, std::abs(msg.rightAxis.y));

        if (msg.lt && !msg.rt) {
            getRegistry().getService<ServoMotor>()->move(90);
        } else if (msg.rt && !msg.lt) {
            getRegistry().getService<ServoMotor>()->move(-90);
        } else {
            getRegistry().getService<ServoMotor>()->move(0);
        }
    }

#endif
};

static std::shared_ptr<Robot> app;

extern "C" void app_main() {
    size_t free = heap_caps_get_free_size(MALLOC_CAP_DEFAULT);
    size_t total = heap_caps_get_total_size(MALLOC_CAP_DEFAULT);
    esp_logi(app, "heap: %zu/%zu", free, total);

    app = std::make_shared<Robot>();
    app->setup();
}