Moved files to src/ directory for recursive build.

See arduino/arduino-builder#148

Author: dhebbeker

robot-control-src/application/Drives.cpp renamed to robot-control-src/src/application/Drives.cpp

@@ -0,0 +1,145 @@
+#include "main.hpp"
+#include "board.hpp"
+#include "Drives.hpp"
+#include "wifi_ap.hpp"
+#include "WebserverHandle.hpp"
+#include "utils/array.hpp"
+#include <assert.h>
+#include <ESP8266WebServer.h>
+#include <algorithm>
+#include <functional>
+
+static EnvironmentRecord environmentRecord;
+static ESP8266WebServer server(80);
+static WebserverHandle webserverHandle(server, environmentRecord);
+
+void main::setup()
+{
+  Serial.begin(115200);
+  delay(100);
+  Serial.flush();
+  delay(100);
+  Serial.printf("\n begin program '%s'\n", __FILE__);
+  Wire.begin(board::sda, board::scl);
+  board::ioExpander1.init();
+  board::ioExpander1.interruptMode(MCP23017InterruptMode::Separated);
+  board::ioExpander1.interrupt(MCP23017Port::B, FALLING);
+
+  // initialize pins
+  pinMode(board::debugLed, OUTPUT);
+  digitalWrite(board::debugLed, LOW);
+  pinMode(board::ioExpanderIntB, INPUT_PULLUP);
+  pinMode(board::ioExpanderIntAInv, INPUT);
+  pinMode(board::VL53L1_1_INT, INPUT_PULLUP);
+  pinMode(board::VL53L1_2_INT, INPUT_PULLUP);
+  pinMode(board::VL53L1_3_INT, INPUT_PULLUP);
+  pinMode(board::VL53L1_4_INT, INPUT_PULLUP);
+  pinMode(board::leftBumper, INPUT_PULLUP);
+  pinMode(board::rightBumper, INPUT_PULLUP);
+
+  drives::LeftDrive::init();
+  drives::RightDrive::init();
+
+  // initialize distance measurement sensors
+  for(std::size_t i=0; i<size(board::distanceSensors); i++)
+  {
+    board::distanceSensors[i]->begin();
+    board::distanceSensors[i]->VL53L1_Off();
+  }
+  for(std::size_t i=0; i<size(board::distanceSensors); i++)
+  {
+    Serial.printf("Initialize distance sensor %u...", i);
+    assert(board::distanceSensors[i]->initSensorWithAddressValue(VL53L1GpioInterface::defaultAddressValue + 1 + i) == VL53L1_ERROR_NONE);
+    Serial.printf("Done.\n");
+  }
+  for(std::size_t i=0; i<size(board::distanceSensors); i++)
+  {
+    board::distanceSensors[i]->VL53L1_SetPresetMode(VL53L1_PRESETMODE_RANGING);
+    board::distanceSensors[i]->VL53L1_ClearInterruptAndStartMeasurement();
+  }
+
+  attachInterrupt(board::ioExpanderIntB, drives::stopDrives, FALLING);
+
+  Serial.printf("connect to wifi %s ", ssid);
+  WiFi.begin(ssid, password);
+  while (WiFi.status() != WL_CONNECTED)
+  {
+    delay(500);
+    Serial.print(".");
+  }
+  Serial.println(" connected");
+
+  server.begin();
+  Serial.printf("webserver has IP %s\n", WiFi.localIP().toString().c_str());
+  server.on("/", std::bind(&WebserverHandle::handleRoot, &webserverHandle));
+  webserverHandle.setup();
+}
+
+static void printSensorStatus(VL53L1GpioInterface* const sensor)
+{
+   VL53L1_MultiRangingData_t MultiRangingData;
+   VL53L1_MultiRangingData_t *pMultiRangingData = &MultiRangingData;
+   uint8_t NewDataReady = 0;
+   int status;
+
+   status = sensor->VL53L1_GetMeasurementDataReady(&NewDataReady);
+
+   if((!status)&&(NewDataReady!=0))
+   {
+    status = sensor->VL53L1_GetMultiRangingData(pMultiRangingData);
+    const std::uint8_t no_of_object_found=pMultiRangingData->NumberOfObjectsFound;
+    Serial.printf("VL53L1 Satellite @ %#hhx: Status=%3i, \tCount=%3hhu, \t#Objs=%3hhu", sensor->VL53L1_GetDeviceAddressValue(), status, pMultiRangingData->StreamCount, no_of_object_found);
+    if(status == VL53L1_ERROR_NONE)
+    {
+      for(std::uint8_t j=0;j<std::min(no_of_object_found, static_cast<std::uint8_t>(VL53L1_MAX_RANGE_RESULTS));j++)
+      {
+       Serial.print("\r\n                               ");
+       Serial.print("status=");
+       Serial.print(pMultiRangingData->RangeData[j].RangeStatus);
+       Serial.print(", D=");
+       Serial.print(pMultiRangingData->RangeData[j].RangeMilliMeter);
+       Serial.print("mm");
+       Serial.print(", Signal=");
+       Serial.print((float)pMultiRangingData->RangeData[j].SignalRateRtnMegaCps/65536.0);
+       Serial.print(" Mcps, Ambient=");
+       Serial.print((float)pMultiRangingData->RangeData[j].AmbientRateRtnMegaCps/65536.0);
+       Serial.print(" Mcps");
+      }
+      status = sensor->VL53L1_ClearInterruptAndStartMeasurement();
+    }
+    Serial.println("");
+   }
+}
+
+void main::loop()
+{
+  for(std::size_t i=0; i<size(board::distanceSensors); ++i)
+  {
+    printSensorStatus(board::distanceSensors[i]);
+  }
+  server.handleClient();
+  //Serial.printf("left: \t%3u, right: \t%3u\n", drives::LeftDrive::counter, drives::RightDrive::counter);
+  if(drives::LeftDrive::isIdle && drives::RightDrive::isIdle)
+  {
+    const Position newPositionCandidate = drives::flushCurrentPosition();
+    if(environmentRecord.positions[environmentRecord.positionIndex] != newPositionCandidate)
+    {
+      environmentRecord.positions[++environmentRecord.positionIndex] = newPositionCandidate;
+      environmentRecord.positionIndex %= environmentRecord.numberOfPositions;
+      webserverHandle.loop();
+    }
+    const auto newTarget = webserverHandle.flushTargetRequest();
+    if(newTarget.isTargetNew)
+    {
+      const bool bumperIsPressed = digitalRead(board::leftBumper) == LOW || digitalRead(board::rightBumper) == LOW;
+      if(newTarget.newDrive!=0 && (!newTarget.forward || !bumperIsPressed))
+      {
+        drives::driveCounter(newTarget.newDrive, drives::cruiseSpeed, !newTarget.forward);
+      }
+      else if(newTarget.newRotate!=0 && !bumperIsPressed)
+      {
+        drives::rotateCounter(newTarget.newRotate, drives::cruiseSpeed, newTarget.clockwise);
+      }
+    }
+  }
+}

robot-control-src/application/Drives.hpp renamed to robot-control-src/src/application/Drives.hpp

@@ -0,0 +1,8 @@
+#ifndef APPLICATION_MAIN_HPP_
+#define APPLICATION_MAIN_HPP_
+
+
+
+
+
+#endif /* APPLICATION_MAIN_HPP_ */

robot-control-src/application/README.md renamed to robot-control-src/src/application/README.md

@@ -0,0 +1,8 @@
+#ifndef UTILS_ARDUINO_HELPERS_HPP_
+#define UTILS_ARDUINO_HELPERS_HPP_
+
+#include <Arduino.h>
+
+using Milliseconds = decltype(millis());
+
+#endif /* UTILS_ARDUINO_HELPERS_HPP_ */

robot-control-src/application/WebserverHandle.cpp renamed to robot-control-src/src/application/WebserverHandle.cpp

@@ -0,0 +1,12 @@
+#ifndef UTILS_NUMBERS_HPP_
+#define UTILS_NUMBERS_HPP_
+
+#include <math.h>
+
+namespace numbers
+{
+inline constexpr double pi = M_PI;
+}
+
+
+#endif /* UTILS_NUMBERS_HPP_ */