135 lines
4.1 KiB
C++
135 lines
4.1 KiB
C++
#include <curlpp/cURLpp.hpp>
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#include <gpiod.hpp>
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#include <iostream>
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#include <thread>
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using namespace std::literals::chrono_literals;
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constexpr std::chrono::microseconds debounce = 40ms;
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constexpr std::chrono::microseconds poll_period = 5ms;
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constexpr std::pair<double, double> joystick_movement(1.0, 1.0);
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const gpiod::line::offsets drive_down = { 21, 13, 6 };
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const gpiod::line::offsets decoder = { 2, 3, 4, 14, 15, 18, 23, 24 }; // lsbf
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const gpiod::line::offsets joystick = { 0, 0, 0, 0 }; // x+, y+, x-, y-
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const gpiod::line::offset black_button = 0;
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const gpiod::line::offset white_button = 0;
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const gpiod::line_settings input_settings =
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gpiod::line_settings()
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.set_direction(gpiod::line::direction::INPUT)
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.set_bias(gpiod::line::bias::PULL_UP)
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.set_active_low(true)
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.set_debounce_period(debounce);
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constexpr std::array<uint8_t, 256> decoder_table =
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#include "decoder_table.inl"
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uint8_t read_decoder_realpos(gpiod::line_request& line_reader){
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static gpiod::line::values decoder_read(8);
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line_reader.get_values(decoder, decoder_read);
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uint8_t graycode = 0;
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for(uint8_t i = 0; i < 8; ++i) graycode |= uint8_t(decoder_read[i]) << i;
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return decoder_table[graycode];
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};
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inline void clamp_decoder(uint8_t& decoder, int move){
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decoder = uint8_t(std::clamp(decoder + move, 0, 255));
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}
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int main(const int argc, char const* const* const argv) {
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if(argc < 2)
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return 1;
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/// init gpio chip ///
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gpiod::chip chip(argv[1]);
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gpiod::line_request line_reader =
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chip.prepare_request()
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.set_consumer("AGB")
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.add_line_settings(drive_down,
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gpiod::line_settings()
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.set_direction(gpiod::line::direction::OUTPUT)
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.set_drive(gpiod::line::drive::OPEN_DRAIN)
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.set_output_value(gpiod::line::value::INACTIVE)
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)
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.add_line_settings({ black_button, white_button }, input_settings)
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.add_line_settings(joystick, input_settings)
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.add_line_settings(decoder,
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gpiod::line_settings(input_settings)
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.set_active_low(false)
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.set_debounce_period(0ms))
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.do_request();
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// let the settings apply
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std::this_thread::sleep_for(poll_period);
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/// init server communication ///
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cURLpp::initialize();
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/// internal state ///
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gpiod::line::values joystick_read(4);
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std::pair<double, double> spot_pos(0.0, 0.0); //TODO: init from server
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uint8_t decoder_pos = 0; //TODO: init from server
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uint8_t decoder_realpos = read_decoder_realpos(line_reader);
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bool white_pressed = false;
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bool black_pressed = false;
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for(;;){
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std::this_thread::sleep_for(poll_period);
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/// joystick ///
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line_reader.get_values(joystick, joystick_read);
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if(bool(joystick_read[0])) spot_pos.first += joystick_movement.first;
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if(bool(joystick_read[1])) spot_pos.second += joystick_movement.second;
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if(bool(joystick_read[2])) spot_pos.first -= joystick_movement.first;
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if(bool(joystick_read[3])) spot_pos.second -= joystick_movement.second;
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if (bool(joystick_read[0]) || bool(joystick_read[1])
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|| bool(joystick_read[2]) || bool(joystick_read[3]))
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; //TODO: send to server
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/// Buttons ///
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bool pressed = bool(line_reader.get_value(black_button));
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if(pressed ^ black_pressed)
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; //TODO: send to server
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black_pressed = pressed;
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pressed = bool(line_reader.get_value(white_button));
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if(pressed ^ white_pressed)
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; //TODO: send to server
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white_pressed = pressed;
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/// decoder ///
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uint8_t new_realpos = read_decoder_realpos(line_reader);
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uint8_t seen_travel = std::abs(int(new_realpos) - int(decoder_realpos));
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//TODO: check CW and CCW
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// CW
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if(seen_travel < 50 && new_realpos < decoder_realpos)
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clamp_decoder(decoder_pos, -seen_travel);
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if(seen_travel >= 50 && new_realpos > decoder_realpos)
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clamp_decoder(decoder_pos, seen_travel - 128);
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// CCW
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if(seen_travel < 50 && new_realpos > decoder_realpos)
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clamp_decoder(decoder_pos, seen_travel);
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if(seen_travel >= 50 && new_realpos < decoder_realpos)
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clamp_decoder(decoder_pos, 128 - seen_travel);
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decoder_realpos = new_realpos;
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if(seen_travel)
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; //TODO: send to server
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}
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}
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