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Updated modules to new inheritance model

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This commit is contained in:
Hector van der Aa
2026-03-24 00:01:46 +01:00
parent 25ad777247
commit 85049fab76
5 changed files with 134 additions and 77 deletions
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12
src/modules/cmd/cmd.h
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@@ -1,9 +1,12 @@
#pragma once
#include "custom_types.h"
#include "modules/logger/system_logger.h"
#include "base/task.h"
#include "base/ring_buffer.h"
#include "base/module_base.h"
#include <avr/wdt.h>
class cmd {
class cmd: public module_base{
private:
HardwareSerial *_data_stream;
unsigned long _baud_rate = 115200;
@@ -12,8 +15,9 @@ private:
unsigned int _idx = 0;
bool _buf_open = false;
int try_parse();
ring_buffer<Task, 16> _queue;
public:
int push(const Task& task) override;
cmd(HardwareSerial *data_stream);
cmd(HardwareSerial *data_stream, system_logger *logger);
~cmd();
@@ -41,6 +45,10 @@ int cmd::try_parse() {
return 0;
}
int cmd::push(const Task& task) {
return _queue.push(task);
}
cmd::cmd(HardwareSerial *data_stream)
: _data_stream(data_stream), _logger(nullptr) {}

30
src/modules/config/config.h
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@@ -2,28 +2,50 @@
#include "custom_types.h"
#include "flags.h"
#include "modules/logger/system_logger.h"
#include "base/task.h"
#include "base/ring_buffer.h"
#include "base/module_base.h"
#include <EEPROM.h>
class config {
class config : public module_base{
private:
vehicle_config _config;
system_logger *_logger;
bool _valid_config;
track_data _loaded_track;
ring_buffer<Task, 16> _queue;
int read_cfg();
int write_cfg();
int write_cfg(const vehicle_config& new_config);
public:
int push(const Task& task) override;
config();
config(system_logger *logger);
~config();
int auto_init();
};
int config::push(const Task& task) {
return _queue.push(task);
}
config::config() : _logger(nullptr), _valid_config(true) {}
config::config(system_logger *logger) : _logger(logger), _valid_config(true) {}
config::~config() {}
int config::auto_init() {
int config::read_cfg() {
EEPROM.get(0, _config);
return 0;
}
int config::write_cfg(const vehicle_config& new_config) {
EEPROM.put(0, new_config);
return 0;
}
int config::auto_init() {
this->read_cfg();
if (_config.magic != CONFIG_MAGIC) {
#ifdef WARN
if (_logger != nullptr) {
@@ -31,8 +53,8 @@ int config::auto_init() {
}
#endif
vehicle_config clean_config;
EEPROM.put(0, clean_config);
EEPROM.get(0, _config);
this->write_cfg(clean_config);
this->read_cfg();
if (_config.magic != CONFIG_MAGIC) {
#ifdef ERROR
if (_logger != nullptr) {

37
src/modules/gps/gps.h
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@@ -3,25 +3,33 @@
#include "TinyGPSPlus.h"
#include "flags.h"
#include "modules/logger/system_logger.h"
#include "base/task.h"
#include "base/ring_buffer.h"
#include "base/module_base.h"
#include "data/gps_store.h"
#define MOD "modules/gps/gps.h"
class gps {
class gps : public module_base{
private:
TinyGPSPlus *_gps;
HardwareSerial *_data_stream;
system_logger *_logger;
ring_buffer<Task, 16> _queue;
public:
int push(const Task& task) override;
gps(HardwareSerial *data_stream);
gps(HardwareSerial *data_stream, system_logger *logger);
~gps();
int parse_task(unsigned long timeout_ms = 500);
int loop(unsigned long timeout_ms = 500);
int init();
gps_data get_data();
};
int gps::push(const Task& task) {
return _queue.push(task);
}
gps::gps(HardwareSerial *data_stream)
: _data_stream(data_stream), _logger(nullptr) {
_data_stream = data_stream;
@@ -43,27 +51,14 @@ int gps::init() {
return 0;
}
int gps::parse_task(unsigned long timeout_ms) {
int gps::loop(unsigned long timeout_ms) {
#ifdef DEEP_DEBUG
if (_logger != nullptr) {
_logger->deep_debug(String(MOD) + ": parse_task: Begin");
}
#endif
unsigned long timeout = millis() + timeout_ms;
#ifdef DEEP_DEBUG
if (_logger != nullptr) {
_logger->deep_debug(String(MOD) + ": parse_task: Entering Parse Loop");
}
#endif
while (_data_stream->available() > 0) {
_gps->encode(_data_stream->read());
if (millis() > timeout) {
#ifdef DEEP_DEBUG
if (_logger != nullptr) {
_logger->deep_debug(String(MOD) + ": parse_task: Parse Loop Timed Out");
if (_gps->encode(_data_stream->read())) {
gps_global_write(this->get_data());
}
#endif
if (millis() > timeout) {
return 1;
}
}

127
src/modules/lcd/lcd.h
View File

@@ -3,6 +3,9 @@
#include "modules/logger/system_logger.h"
#include "modules/gps/gps.h"
#include <LiquidCrystal_I2C.h>
#include "base/task.h"
#include "base/ring_buffer.h"
#include "base/module_base.h"
#define MOD "modules/lcd/lcd.h"
namespace screen
@@ -14,7 +17,7 @@ typedef enum lcd_screen {
};
} // namespace screen
class lcd {
class lcd : public module_base{
private:
LiquidCrystal_I2C *_display;
bool _dispaly_cleared;
@@ -22,7 +25,7 @@ private:
screen::lcd_screen _screen;
unsigned long _last_render;
unsigned long _frame_duration;
gps *_gps;
ring_buffer<Task, 16> _queue;
void clear();
void print(const String& msg);
void print(char);
@@ -32,15 +35,16 @@ private:
void print(long val, int base);
void print(unsigned int val, int base);
void print(int val, int base);
int render_gps_debug();
public:
int push(const Task& task) override;
lcd();
lcd(system_logger *logger);
~lcd();
int init();
int set_gps(gps *gps);
int print_message(String message);
int switch_screen(screen::lcd_screen new_screen);
int render_task();
int loop(unsigned long timeout_ms=500);
};
void lcd::clear() {
@@ -90,6 +94,49 @@ void lcd::print(int i, int base=10) {
_dispaly_cleared = false;
}
int lcd::render_gps_debug() {
this->clear();
gps_data data;
gps_global_read(data);
_display->setCursor(0,0);
this->print("Alt: ");
if (data.altitude.valid) {
this->print(data.altitude.value, 5);
} else {
this->print("not valid");
}
_display->setCursor(0,1);
this->print("Lat: ");
if (data.lat.valid) {
this->print(data.lat.value, 5);
} else {
this->print("not valid");
}
_display->setCursor(0,2);
this->print("Lng: ");
if (data.lng.valid) {
this->print(data.lng.value, 5);
} else {
this->print("not valid");
}
_display->setCursor(0,3);
this->print("Spd: ");
if (data.speed.valid) {
this->print(data.speed.value, 5);
} else {
this->print("not valid");
}
}
int lcd::push(const Task& task) {
return _queue.push(task);
}
lcd::lcd(): _logger(nullptr), _screen(screen::blank), _last_render(0), _frame_duration(500), _dispaly_cleared(false), _gps(nullptr) { _display = new LiquidCrystal_I2C(0x27, 20, 4); }
lcd::lcd(system_logger *logger): _logger(logger), _screen(screen::blank), _last_render(0), _frame_duration(500), _dispaly_cleared(false), _gps(nullptr) {
@@ -196,13 +243,32 @@ int lcd::print_message(String message) {
return 0;
}
int lcd::switch_screen(screen::lcd_screen new_screen) {
_screen = new_screen;
return 0;
}
int lcd::render_task() {
int lcd::loop(unsigned long timeout_ms) {
unsigned long now = millis();
unsigned long task_timeout = now + timeout_ms;
while (_queue.size() > 0) {
Task next_task;
int res = _queue.pop(next_task);
if (res != 0 ) {
if (millis() > task_timeout) {
break;
}
continue;
}
switch (next_task.type)
{
case TASK_DISPLAY_GPS_DEBUG:
_screen = screen::gps_debug;
break;
default:
break;
}
if (millis() > task_timeout) {
break;
}
}
if (now < _last_render + _frame_duration) {
return 1;
}
@@ -213,44 +279,7 @@ int lcd::render_task() {
break;
case screen::gps_debug:
this->clear();
if (_gps == nullptr) {
this->print_message("No GPS Found");
break;
}
gps_data data = _gps->get_data();
_display->setCursor(0,0);
this->print("Alt: ");
if (data.altitude.valid) {
this->print(data.altitude.value, 5);
} else {
this->print("not valid");
}
_display->setCursor(0,1);
this->print("Lat: ");
if (data.lat.valid) {
this->print(data.lat.value, 5);
} else {
this->print("not valid");
}
_display->setCursor(0,2);
this->print("Lng: ");
if (data.lng.valid) {
this->print(data.lng.value, 5);
} else {
this->print("not valid");
}
_display->setCursor(0,3);
this->print("Spd: ");
if (data.speed.valid) {
this->print(data.speed.value, 5);
} else {
this->print("not valid");
}
this->render_gps_debug();
break;
default:

3
src/modules/logger/system_logger.h
View File

@@ -1,6 +1,9 @@
#pragma once
#include <Arduino.h>
#include "flags.h"
#include "base/ring_buffer.h"
#include "base/task.h"
#include "base/module_base.h"
class system_logger
{