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Add functional menu items (accel/decel), Add menu-timeout

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menu.cpp:
    - add item center-Joystick (functional)
    - add item accel-Limit (functional)
    - add item decel-Limit (functional)
    - fix display freeze on timeout
    - add menu timeout
    - switch to previous mode on exit instead of always idle

motorctl.cpp:
    - add getFade method, to get currently configured values
    - add log output on fade change
This commit is contained in:
jonny_jr9 2024-02-14 23:51:21 +01:00
parent 4f8c421168
commit fe0e0093d0
4 changed files with 165 additions and 41 deletions
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1
board_single/main/button.cpp
View File

@ -163,6 +163,7 @@ void buttonCommands::startHandleLoop()
//-- get events from encoder --
if (xQueueReceive(encoderQueue, &ev, INPUT_TIMEOUT / portTICK_PERIOD_MS))
{
control->resetTimeout(); //reset inactivity IDLE timeout
switch (ev.type)
{
break;

183
board_single/main/menu.cpp
View File

@ -11,6 +11,8 @@ extern "C"{
#include "menu.hpp"
#include "encoder.hpp"
#include "config.hpp"
#include "motorctl.hpp"
//--- variables ---
@ -25,40 +27,53 @@ static int value = 0;
//================================
// note: when line4 * and line5 * are empty the value is printed large
//#########################
//#### center Joystick ####
//#########################
void item_centerJoystick_action(int value){
if (!value) return;
ESP_LOGW(TAG, "defining joystick center");
joystick.defineCenter();
}
int item_centerJoystick_value(){
return 1;
}
menuItem_t item_centerJoystick = {
item_centerJoystick_action, // function action
item_centerJoystick_value,
0, // valueMin
1, // valueMAx
1, // valueIncrement
"Center Joystick", // title
"Center Joystick", // line1 (above value)
"click to confirm", // line2 (above value)
"defines current", // line4 * (below value)
"pos as center", // line5 *
"click to confirm", // line6
"set 0 to cancel", // line7
};
//########################
//##### set max duty #####
//########################
void maxDuty_action(int value)
{
//TODO actually store the value
ESP_LOGW(TAG, "set max duty to %d", value);
}
int maxDuty_currentValue()
{
//TODO get real current value
return 84;
}
menuItem_t item_first = {
maxDuty_action, // function action
maxDuty_currentValue,
-255, // valueMin
255, // valueMAx
2, // valueIncrement
"first item", // title
"line 1 - above", // line1 (above value)
"line 2 - above", // line2 (above value)
"line 4 - below", // line4 * (below value)
"line 5 - below", // line5 *
"line 6 - below", // line6
"line 7 - last", // line7
};
menuItem_t item_maxDuty = {
maxDuty_action, // function action
maxDuty_currentValue,
1, // valueMin
99, // valueMAx
1, // valueIncrement
"set max duty", // title
"max duty", // title
"", // line1 (above value)
" set max-duty: ", // line2 (above value)
"", // line4 * (below value)
@ -67,9 +82,86 @@ menuItem_t item_maxDuty = {
" percent ", // line7
};
menuItem_t item_next = {
maxDuty_action, // function action
maxDuty_currentValue,
//######################
//##### accelLimit #####
//######################
void item_accelLimit_action(int value){
motorLeft.setFade(fadeType_t::ACCEL, (uint32_t)value);
motorRight.setFade(fadeType_t::ACCEL, (uint32_t)value);
}
int item_accelLimit_value()
{
return motorLeft.getFade(fadeType_t::ACCEL);
}
menuItem_t item_accelLimit = {
item_accelLimit_action, // function action
item_accelLimit_value,
0, // valueMin
10000, // valueMAx
100, // valueIncrement
"Accel limit", // title
"Accel limit /", // line1 (above value)
"Fade up time", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
"milliseconds", // line6
"from 0 to 100%", // line7
};
// ######################
// ##### decelLimit #####
// ######################
void item_decelLimit_action(int value)
{
motorLeft.setFade(fadeType_t::DECEL, (uint32_t)value);
motorRight.setFade(fadeType_t::DECEL, (uint32_t)value);
}
int item_decelLimit_value()
{
return motorLeft.getFade(fadeType_t::DECEL);
}
menuItem_t item_decelLimit = {
item_decelLimit_action, // function action
item_decelLimit_value,
0, // valueMin
10000, // valueMAx
100, // valueIncrement
"Decel limit", // title
"Decel limit /", // line1 (above value)
"Fade down time", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
"milliseconds", // line6
"from 100 to 0%", // line7
};
//#####################
//###### example ######
//#####################
void item_example_action(int value){
return;
}
int item_example_value(){
return 53;
}
menuItem_t item_example = {
item_example_action, // function action
item_example_value,
-255, // valueMin
255, // valueMAx
2, // valueIncrement
"example-item-max", // title
"line 1 - above", // line1 (above value)
"line 2 - above", // line2 (above value)
"line 4 - below", // line4 * (below value)
"line 5 - below", // line5 *
"line 6 - below", // line6
"line 7 - last", // line7
};
menuItem_t item_last = {
item_example_action, // function action
item_example_value,
-500, // valueMin
4500, // valueMAx
50, // valueIncrement
@ -83,24 +175,9 @@ menuItem_t item_next = {
};
menuItem_t item_last = {
maxDuty_action, // function action
maxDuty_currentValue,
0, // valueMin
100, // valueMAx
5, // valueIncrement
"last item", // title
"", // line1 (above value)
"", // line2 (above value)
"", // line4 * (below value)
"", // line5 *
"", // line6
"", // line7
};
//store all configured menu items in one array
menuItem_t menuItems[] = {item_first, item_maxDuty, item_next, item_last};
int itemCount = 4;
menuItem_t menuItems[] = {item_centerJoystick, item_maxDuty, item_accelLimit, item_decelLimit, item_example, item_last};
int itemCount = 6;
@ -213,11 +290,15 @@ void showValueSelect(SSD1306_t *display, int selectedItem)
//========================
//controls menu with encoder input and displays the text on oled display
//function is repeatedly called when in menu state
#define QUEUE_TIMEOUT 3000 //timeout no encoder event - to handle timeout and not block the display loop
#define MENU_TIMEOUT 30000 //inactivity timeout (switch to IDLE mode)
void handleMenu(SSD1306_t *display)
{
static uint32_t lastActivity = 0;
static int selectedItem = 0;
rotary_encoder_event_t event; // store event data
//--- handle different menu states ---
switch (menuState)
{
//-------------------------
@ -227,8 +308,9 @@ void handleMenu(SSD1306_t *display)
// update display
showItemList(display, selectedItem); // shows list of items with currently selected one on display
// wait for encoder event
if (xQueueReceive(encoderQueue, &event, portMAX_DELAY))
if (xQueueReceive(encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
{
lastActivity = esp_log_timestamp();
switch (event.type)
{
case RE_ET_CHANGED:
@ -262,7 +344,8 @@ void handleMenu(SSD1306_t *display)
//exit menu mode
case RE_ET_BTN_LONG_PRESSED:
control.changeMode(controlMode_t::IDLE);
//change to previous mode (e.g. JOYSTICK)
control.toggleMode(controlMode_t::MENU); //currently already in MENU -> changes to previous mode
ssd1306_clear_screen(display, false);
break;
@ -280,8 +363,9 @@ void handleMenu(SSD1306_t *display)
// wait for encoder event
showValueSelect(display, selectedItem);
if (xQueueReceive(encoderQueue, &event, portMAX_DELAY))
if (xQueueReceive(encoderQueue, &event, QUEUE_TIMEOUT / portTICK_PERIOD_MS))
{
lastActivity = esp_log_timestamp();
switch (event.type)
{
case RE_ET_CHANGED:
@ -311,4 +395,21 @@ void handleMenu(SSD1306_t *display)
}
break;
}
//--------------------
//--- menu timeout ---
//--------------------
//close menu and switch to IDLE mode when no encoder event within MENU_TIMEOUT
if (esp_log_timestamp() - lastActivity > MENU_TIMEOUT)
{
ESP_LOGW(TAG, "TIMEOUT - no activity for more than %ds -> closing menu, switching to IDLE", MENU_TIMEOUT/1000);
// reset menu
selectedItem = 0;
menuState = MAIN_MENU;
ssd1306_clear_screen(display, false);
// change control mode
control.changeMode(controlMode_t::IDLE);
return;
}
}

20
common/motorctl.cpp
View File

@ -277,6 +277,24 @@ motorCommand_t controlledMotor::getStatus(){
//===============================
//=========== getFade ===========
//===============================
//return currently configured accel / decel time
uint32_t controlledMotor::getFade(fadeType_t fadeType){
switch(fadeType){
case fadeType_t::ACCEL:
return msFadeAccel;
break;
case fadeType_t::DECEL:
return msFadeDecel;
break;
}
return 0;
}
//===============================
//=========== setFade ===========
//===============================
@ -287,9 +305,11 @@ void controlledMotor::setFade(fadeType_t fadeType, uint32_t msFadeNew){
//TODO: mutex for msFade variable also used in handle function
switch(fadeType){
case fadeType_t::ACCEL:
ESP_LOGW(TAG, "changed fade-up time from %d to %d", msFadeAccel, msFadeNew);
msFadeAccel = msFadeNew;
break;
case fadeType_t::DECEL:
ESP_LOGW(TAG, "changed fade-down time from %d to %d", msFadeDecel, msFadeNew);
msFadeDecel = msFadeNew;
break;
}

2
common/motorctl.hpp
View File

@ -33,6 +33,7 @@ class controlledMotor {
void setTarget(motorstate_t state_f, float duty_f = 0); //adds target command to queue for handle function
motorCommand_t getStatus(); //get current status of the motor (returns struct with state and duty)
uint32_t getFade(fadeType_t fadeType); //get currently set acceleration or deceleration fading time
void setFade(fadeType_t fadeType, bool enabled); //enable/disable acceleration or deceleration fading
void setFade(fadeType_t fadeType, uint32_t msFadeNew); //set acceleration or deceleration fade time
bool toggleFade(fadeType_t fadeType); //toggle acceleration or deceleration on/off
@ -55,6 +56,7 @@ class controlledMotor {
motorSetCommandFunc_t motorSetCommand;
//--- variables ---
//TODO add name for logging?
//struct for storing control specific parameters
motorctl_config_t config;
motorstate_t state = motorstate_t::IDLE;