mrm-robot.h

#pragma once
#include <mrm-action.h>
#include <mrm-can-bus.h>
#include <mrm-col-b.h>
 
#define ACTIONS_LIMIT 80 // Increase if more actions are needed.
#define BOARDS_LIMIT 25 // Maximum number of different board types.
#define LED_ERROR 15 // mrm-esp32's pin number, hardware defined.
#define LED_OK 2 // mrm-esp32's pin number, hardware defined.
 
// Forward declarations
 
class Mrm_8x8a;
class Mrm_bldc2x50;
class Mrm_bldc4x2_5;
class Mrm_can_bus;
class Mrm_col_can;
class Mrm_fet_can;
class Mrm_imu;
// class Mrm_ir_finder2;
// class Mrm_ir_finder_can;
class Mrm_ir_finder3;
class Mrm_lid_can_b;
class Mrm_lid_can_b2;
class Mrm_mot2x50;
class Mrm_mot4x10;
class Mrm_mot4x3_6can;
class Mrm_node;
class Mrm_ref_can;
class Mrm_servo;
class Mrm_switch;
class Mrm_therm_b_can;
//class Mrm_us;
class Mrm_us_b;
class Mrm_us1;
#if RADIO == 2
#include "WiFi.h"
#endif
 
class Robot {
 
protected:
 
    ActionBase* _action[ACTIONS_LIMIT]; // Collection of all the robot's actions
    uint8_t _actionNextFree = 0;
 
    // Robot's actions that can be callect directly, not just by iterating _action collection
    ActionBase* _actionCANBusStress;
    ActionBase* _actionCurrent;
    ActionBase* _actionDoNothing;
    ActionBase* _actionLoop;
    ActionBase* _actionMenuMain;
    ActionBase* _actionPrevious;
    ActionBase* _actionStop;
 
    Board* board[BOARDS_LIMIT]; // Collection of all the robot's boards
    uint8_t _boardNextFree = 0;
 
    uint8_t _devicesAtStartup = 0;
    bool _devicesScanBeforeMenu = true;
 
    // FPS - frames per second calculation
    uint32_t fpsMs[2] = { 0, 0 };
    uint8_t fpsNextIndex = 0;
    uint32_t fpsTopGap = 0;
 
    uint8_t menuLevel = 1; // Submenus have bigger numbers
    CANBusMessage* _msg;
    char _name[16];
    bool _sniff = false;
    char _ssid[16];
    bool verbose = false; // Verbose output
#if RADIO == 2
    WiFiServer* webServer;
#endif
    char _wiFiPassword[16];
 
    void actionProcess();
 
    void actionSet();
 
    void actionSet(ActionBase* newAction);
 
    uint8_t boardsDisplayAll();
 
    bool boardDisplayAndSelect(uint8_t* selectedBoardIndex, uint8_t* selectedDeviceIndex, uint8_t* maxInput, uint8_t* lastBoardAndIndex);
 
    bool boardSelect(uint8_t selectedNumber, uint8_t *selectedBoardIndex, uint8_t* selectedDeviceIndex, uint8_t* maxInput);
 
    void fpsPause();
 
    void fpsUpdate();
 
    void fpsReset();
 
    void verbosePrint();
 
    void vprint(const char* fmt, va_list argp);
 
public:
 
    Mrm_can_bus* mrm_can_bus; // CANBus interface
 
    Mrm_8x8a* mrm_8x8a;
    Mrm_bldc2x50* mrm_bldc2x50;
    Mrm_bldc4x2_5* mrm_bldc4x2_5;
    Mrm_col_b* mrm_col_b;
    Mrm_col_can* mrm_col_can;
    Mrm_fet_can* mrm_fet_can;
    Mrm_imu* mrm_imu;
    // Mrm_ir_finder2* mrm_ir_finder2;
    Mrm_ir_finder3* mrm_ir_finder3;
    // Mrm_ir_finder_can* mrm_ir_finder_can;
    Mrm_lid_can_b* mrm_lid_can_b;// 10
    Mrm_lid_can_b2* mrm_lid_can_b2;
    Mrm_mot2x50* mrm_mot2x50;
    Mrm_mot4x3_6can* mrm_mot4x3_6can;
    Mrm_mot4x10* mrm_mot4x10;
    Mrm_node* mrm_node;
    Mrm_ref_can* mrm_ref_can;
    Mrm_servo* mrm_servo;
    Mrm_switch* mrm_switch;
    Mrm_therm_b_can* mrm_therm_b_can;
    // Mrm_us* mrm_us;
    Mrm_us_b* mrm_us_b;
    Mrm_us1* mrm_us1;
 
    Robot(char name[15] = (char*)"MRMS robot", char ssid[15] = (char*)"MRMS", char wiFiPassword[15] = (char*)"mrms");
 
    void actionAdd(ActionBase* action);
 
    void actionEnd() { _actionCurrent = NULL; }
 
    bool actionPreprocessing(bool andFinish = true);
 
    void actionPreprocessingEnd() { _actionCurrent->preprocessingEnd(); }
 
    void add(Board* aBoard);
 
    virtual void bitmapsSet() = 0;
 
    void blink();
 
    void bluetoothTest();
    
    void end() { actionEnd(); }
 
 
    void canBusSniffToggle();
 
    void canIdChange();
 
    void colorIlluminationOff();
 
    void colorIlluminationOn();
 
    void colorPatternErase();
 
    void colorPatternPrint();
 
    void colorPatternRecognize();
 
    void colorPatternRecord();
 
    void delayMs(uint16_t pauseMs);
 
    void delayMicros(uint16_t pauseMicros);
 
    uint8_t devicesScan(bool verbose);
 
    void devicesStart(uint8_t measuringMode = 0);
 
    void devicesStop();
 
    void errors();
 
    void firmwarePrint();
 
    float fpsGet();
 
    void fpsPrint();
 
    virtual void goAhead() = 0;
 
    void i2cTest();
 
    void info();
 
    void irFinder3Test();
 
    void irFinder3TestCalculated();
 
    void lidar2mTest();
 
    void lidar4mTest();
 
    void lidarCalibrate();
 
    virtual void loop() = 0;
 
    void menu();
 
    void menuColor();
 
    void menuMainAndIdle();
 
    void menuReflectance();
 
    void menuSystem();
 
    void messagePrint(CANBusMessage* msg, bool outbound);
 
    void messagesReceive();
 
    void motorTest();
 
    void nodeTest();
 
    void noLoopWithoutThis();
 
    void oscillatorTest();
 
    void reflectanceArrayCalibrationPrint();
 
    void run();
 
    uint16_t serialReadNumber(uint16_t timeoutFirst = 3000, uint16_t timeoutBetween = 500, bool onlySingleDigitInput = false, uint16_t limit = 0xFFFE, bool printWarnings = true);
 
    void servoInteractive();
 
    bool setup(bool andFinish = true) {
        return actionPreprocessing(andFinish);
    }
 
    bool sniffing() { return _sniff; }
 
    void stopAll();
 
    bool stressTest();
 
    void thermoTest();
 
    bool userBreak();
 
    void verboseToggle();
#if RADIO == 2
    void web();
#endif
};