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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,109 @@ | ||
| /** | ||
| * @file DisplayControl.cpp | ||
| * @author Ryan Johnson (ryan@johnsonweb.us) | ||
| * @brief Display view models and controllers | ||
| * @version 0.1 | ||
| * @date 2020-06-16 | ||
| * | ||
| * @copyright Copyright (c) 2020 | ||
| * | ||
| */ | ||
|
|
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| #include "DisplayControl.h" | ||
|
|
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| #include <Arduino.h> | ||
| #include <cstdio> | ||
| #include <cstring> | ||
|
|
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| #define OK_OR_HALT_OR_OFF(corner, enable) \ | ||
| ((enable)) ? (((corner)) ? "HALT" : "OK") : "OFF" | ||
|
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| using namespace Display; | ||
|
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| void AbstractDisplayView::BlankDisplayableText(DisplayableText *text) | ||
| { | ||
| memset(text, " ", sizeof(DisplayableText)); | ||
| } | ||
|
|
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| DisplayableText DisplayViewFault::Render(const SystemDisplayState &dispState) | ||
| { | ||
| DisplayableText text; | ||
| BlankDisplayableText(&text); | ||
| strncpy(text.line_struct.line1, "!! Fault Detected !!", 21); | ||
| strncpy(text.line_struct.line2, Fault::ecodeName[dispState.faultType], 21); | ||
| strncpy(text.line_struct.line3, Fault::ecodeHelpText[dispState.faultType], | ||
| 21); | ||
| if (dispState.faultType > Fault::FATAL_END_SENTINEL) { | ||
| strncpy(text.line_struct.line4, " (please try again) ", 21); | ||
| } | ||
| else { | ||
| strncpy(text.line_struct.line4, " (re-boot required) ", 21); | ||
| } | ||
| return text; | ||
| } | ||
|
|
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| DisplayableText DisplayViewNormal::Render(const SystemDisplayState &dispState) | ||
| { | ||
| DisplayableText text; | ||
| BlankDisplayableText(&text); | ||
| char pitch[8]; | ||
| char roll[8]; | ||
| dtostrf(dispState.pitch, 7, 2, pitch); | ||
| dtostrf(dispState.roll, 7, 2, roll); | ||
| snprintf(text.line_struct.line1, 21, "%-10s P:%7s", | ||
| Motion::k_motionStateNames[dispState.motionState], pitch); | ||
| if (dispState.motionState == Motion::MotionStateMachine::STATE_MOVING) { | ||
| if (dispState.dirn == Motion::MovementDirection::RAISE) { | ||
| snprintf(text.line_struct.line2, 21, "RAISING R:%7s", roll); | ||
| } else if (dispState.dirn == Motion::MovementDirection::LOWER) { | ||
| snprintf(text.line_struct.line2, 21, "LOWERING R:%7s", roll); | ||
| } else { | ||
| snprintf(text.line_struct.line2, 21, "OFF R:%7s", roll); | ||
| } | ||
| } else if (dispState.motionState == Motion::MotionStateMachine::STATE_FAULTED) { | ||
| snprintf(text.line_struct.line2, 21, "CAN RESUME R:%7s", roll); | ||
| } else { | ||
| snprintf(text.line_struct.line2, 21, "SYSTEM OK R:%7s", roll); | ||
| } | ||
| strncpy(text.line_struct.line3, "-1-- -2-- -3-- -4-- ", 21); | ||
| snprintf(text.line_struct.line4, 21, "%-4s %-4s %-4s %-4s ", | ||
| OK_OR_HALT_OR_OFF(dispState.ram1, dispState.enable), | ||
| OK_OR_HALT_OR_OFF(dispState.ram2, dispState.enable), | ||
| OK_OR_HALT_OR_OFF(dispState.ram3, dispState.enable), | ||
| OK_OR_HALT_OR_OFF(dispState.ram4, dispState.enable)); | ||
|
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| return text; | ||
| } | ||
|
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| bool Controller::begin() | ||
| { | ||
| lcd.begin(20, 4); | ||
| lcd.setBacklight(HIGH); | ||
| lcd.setCursor(0, 0); | ||
| } | ||
|
|
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| void Controller::update(SystemDisplayState &state) | ||
| { | ||
| DisplayableText t; | ||
| if (state.faultType != Fault::ALL_OK) { | ||
| DisplayViewFault faultDisp; | ||
| t = faultDisp.Render(state); | ||
| } | ||
| else { | ||
| DisplayViewNormal normalDisp; | ||
| t = normalDisp.Render(state); | ||
| } | ||
| writeRaw(t); | ||
| } | ||
|
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| void Controller::writeRaw(DisplayableText &t) | ||
| { | ||
| lcd.setCursor(0, 0); | ||
| lcd.print(t.line_struct.line1); | ||
| lcd.setCursor(0, 1); | ||
| lcd.print(t.line_struct.line2); | ||
| lcd.setCursor(0, 2); | ||
| lcd.print(t.line_struct.line3); | ||
| lcd.setCursor(0, 3); | ||
| lcd.print(t.line_struct.line4); | ||
| } |
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| Original file line number | Diff line number | Diff line change |
|---|---|---|
| @@ -0,0 +1,127 @@ | ||
| /** | ||
| * @file DisplayControl.h | ||
| * @author Ryan Johnson (ryan@johnsonweb.us) | ||
| * @brief Display view models and controllers | ||
| * @version 0.1 | ||
| * @date 2020-06-13 | ||
| * | ||
| * @copyright Copyright (c) 2020 | ||
| * | ||
| */ | ||
|
|
||
| #ifndef DISPLAY_CONTROL_H | ||
| #define DISPLAY_CONTROL_H | ||
|
|
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| #include "FaultHandling.h" | ||
| #include "MotionStateMachine.h" | ||
|
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| #include <Adafruit_LiquidCrystal.h> | ||
|
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| namespace Display { | ||
|
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| /** | ||
| * 20x4 display template | ||
| * | ||
| * +--------------------+ | ||
| * | | | ||
| * | | | ||
| * | | | ||
| * | | | ||
| * +--------------------+ | ||
| */ | ||
|
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| /** | ||
| * Normal Operation | ||
| * | ||
| * +--------------------+ | ||
| * |LOWERING P:-360.00| | ||
| * |SYS OK R:-360.00| | ||
| * | 1 2 3 4 | | ||
| * | OK OK HALT HALT| | ||
| * +--------------------+ | ||
| * | ||
| * +--------------------+ | ||
| * |STOPPED P:-360.00| | ||
| * |SYS OK R:-360.00| | ||
| * | 1 2 3 4 | | ||
| * | HALT HALT HALT HALT| | ||
| * +--------------------+ | ||
| * | ||
| * +--------------------+ | ||
| * |RAISING P:-360.00| | ||
| * |SYS OK R:-360.00| | ||
| * | 1 2 3 4 | | ||
| * | OK OK OK OK | | ||
| * +--------------------+ | ||
| */ | ||
|
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| /** | ||
| * FAULT | ||
| * | ||
| * +--------------------+ | ||
| * | /!\ Fault Detected | <--- Fault header | ||
| * |INCLINOMETER_INIT | <--- error code | ||
| * | (re-boot required) | <--- Recoverable or non-recoverable fault | ||
| * |Incl. 1 start failed| <--- Short human-readable | ||
| * +--------------------+ | ||
| * | ||
| * +--------------------+ | ||
| * | /!\ Fault Detected | <--- Fault header | ||
| * |INCLINOMETER_UNREADY| <--- error code | ||
| * | (please try again) | <--- Recoverable or non-recoverable fault | ||
| * |Sensor timed out | <--- Short human-readable | ||
| * +--------------------+ | ||
| */ | ||
|
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||
| typedef struct { | ||
| Motion::MotionStateMachine::STATE motionState; | ||
| double pitch; | ||
| double roll; | ||
| bool ram1; | ||
| bool ram2; | ||
| bool ram3; | ||
| bool ram4; | ||
| bool enable; | ||
| Motion::MovementDirection dirn; | ||
| Fault::Type faultType; | ||
| } SystemDisplayState; | ||
|
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| typedef union { | ||
| struct __attribute__((packed)) { | ||
| char line1[21]; | ||
| char line2[21]; | ||
| char line3[21]; | ||
| char line4[21]; | ||
| } line_struct; | ||
| char array[4][21]; | ||
| } DisplayableText; | ||
|
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| class Controller { | ||
| public: | ||
| Controller() : lcd{0} {}; | ||
| bool begin(); | ||
| void writeRaw(DisplayableText& t); | ||
| void update(SystemDisplayState &state); | ||
| private: | ||
| Adafruit_LiquidCrystal lcd; | ||
| }; | ||
|
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| class AbstractDisplayView { | ||
| public: | ||
| virtual DisplayableText Render(const SystemDisplayState &dispState) = 0; | ||
| void BlankDisplayableText(DisplayableText *text); | ||
| }; | ||
|
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| class DisplayViewFault : public AbstractDisplayView { | ||
| public: | ||
| DisplayableText Render(const SystemDisplayState &dispState) override; | ||
| }; | ||
|
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| class DisplayViewNormal : public AbstractDisplayView { | ||
| public: | ||
| DisplayableText Render(const SystemDisplayState &dispState) override; | ||
| }; | ||
|
|
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| } // namespace Display | ||
|
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| #endif // DISPLAY_CONTROL_H |
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