Connect YardForce CoverUI to InputService

Author: rovo89

CMakeLists.txt

@@ -88,6 +88,7 @@ target_sources(${CMAKE_PROJECT_NAME} PRIVATE
         src/drivers/input/input_driver.cpp
         src/drivers/input/gpio_input_driver.cpp
         src/drivers/input/worx_input_driver.cpp
+        src/drivers/input/yard_force_input_driver.cpp
         $<$<CONFIG:Debug>:src/drivers/input/simulated_input_driver.cpp>
         # YardForce Cover UI Driver
         src/drivers/ui/YardForceCoverUI/yard_force_cover_ui_driver.cpp

robots/src/yardforce_robot.cpp

@@ -6,6 +6,7 @@ void YardForceRobot::InitPlatform() {
   InitMotors();
   charger_.setI2C(&I2CD1);
   power_service.SetDriver(&charger_);
+  input_service.RegisterInputDriver("yardforce", &cover_ui_driver_.GetInputDriver());
   cover_ui_driver_.Start(&UARTD7);
 }
 

services

@@ -1,7 +1,6 @@
 #ifndef GPIO_INPUT_DRIVER_HPP
 #define GPIO_INPUT_DRIVER_HPP
 
-#include <etl/vector.h>
 #include <hal.h>
 
 #include "input_driver.hpp"

src/drivers/input/gpio_input_driver.hpp

@@ -11,6 +11,7 @@
 namespace xbot::driver::input {
 struct Input {
   enum { VIRTUAL = 255 };
+  enum class Type : uint8_t { BUTTON, HALL };
 
   // Configuration
   uint8_t idx;
@@ -26,6 +27,18 @@ struct Input {
     struct {
       uint8_t bit;
     } worx;
+
+    struct {
+      Input::Type type;
+      union {
+        struct {
+          uint8_t id;
+        } button;
+        struct {
+          uint8_t bit;
+        } hall;
+      };
+    } yardforce;
   };
 
   // State
@@ -86,20 +99,23 @@ class InputDriver {
  public:
   virtual ~InputDriver() = default;
   explicit InputDriver() = default;
+
   void AddInput(Input* input);
   void ClearInputs();
+  InputIterable Inputs() {
+    return InputIterable{inputs_head_};
+  }
+
   virtual bool OnInputConfigValue(lwjson_stream_parser_t* jsp, const char* key, lwjson_stream_type_t type,
                                   Input& input) = 0;
+
   virtual bool OnStart() {
     return true;
   };
   virtual void OnStop(){};
 
- protected:
+ private:
   Input* inputs_head_ = nullptr;
-  InputIterable Inputs() {
-    return InputIterable{inputs_head_};
-  }
 };
 }  // namespace xbot::driver::input
 

src/drivers/input/input_driver.hpp

@@ -1,8 +1,6 @@
 #ifndef SIMULATED_INPUT_DRIVER_HPP
 #define SIMULATED_INPUT_DRIVER_HPP
 
-#include <etl/vector.h>
-
 #include "input_driver.hpp"
 
 namespace xbot::driver::input {

src/drivers/input/simulated_input_driver.hpp

@@ -1,7 +1,6 @@
 #ifndef WORX_INPUT_DRIVER_HPP
 #define WORX_INPUT_DRIVER_HPP
 
-#include <etl/vector.h>
 #include <hal.h>
 
 #include <services.hpp>

src/drivers/input/worx_input_driver.hpp

@@ -0,0 +1,23 @@
+#include "yard_force_input_driver.hpp"
+
+#include <ulog.h>
+
+#include <json_stream.hpp>
+
+namespace xbot::driver::input {
+
+bool YardForceInputDriver::OnInputConfigValue(lwjson_stream_parser_t *jsp, const char *key, lwjson_stream_type_t type,
+                                              Input &input) {
+  // TODO: We probably want to take strings here and map them to the ID.
+  if (strcmp(key, "button") == 0) {
+    input.yardforce.type = Input::Type::BUTTON;
+    return JsonGetNumber(jsp, type, input.yardforce.button.id);
+  } else if (strcmp(key, "hall") == 0) {
+    input.yardforce.type = Input::Type::HALL;
+    return JsonGetNumber(jsp, type, input.yardforce.hall.bit);
+  }
+  ULOG_ERROR("Unknown attribute \"%s\"", key);
+  return false;
+}
+
+}  // namespace xbot::driver::input

src/drivers/input/yard_force_input_driver.cpp

@@ -0,0 +1,17 @@
+#ifndef YARDFORCE_INPUT_DRIVER_HPP
+#define YARDFORCE_INPUT_DRIVER_HPP
+
+#include <services.hpp>
+
+#include "input_driver.hpp"
+
+namespace xbot::driver::input {
+class YardForceInputDriver : public InputDriver {
+ public:
+  explicit YardForceInputDriver() = default;
+  bool OnInputConfigValue(lwjson_stream_parser_t *jsp, const char *key, lwjson_stream_type_t type,
+                          Input &input) override;
+};
+}  // namespace xbot::driver::input
+
+#endif  // YARDFORCE_INPUT_DRIVER_HPP

src/drivers/input/yard_force_input_driver.hpp

@@ -3,11 +3,14 @@
 #include <sys/unistd.h>
 #include <ulog.h>
 
+#include <json_stream.hpp>
 #include <services.hpp>
 
 #include "COBS.h"
 #include "ui_board.h"
 
+#define IS_BIT_SET(x, bit) ((x & (1 << bit)) != 0)
+
 static constexpr uint8_t EVT_PACKET_RECEIVED = 1;
 
 void YardForceCoverUIDriver::Start(UARTDriver *uart) {
@@ -203,12 +206,22 @@ void YardForceCoverUIDriver::ProcessPacket() {
   if (encode_decode_buf_[0] == Get_Version && size == sizeof(struct msg_get_version)) {
     board_found_ = true;
   } else if (encode_decode_buf_[0] == Get_Button && size == sizeof(struct msg_event_button)) {
-    // TODO: Send an event to the InputService.
-    // msg_event_button *msg = (struct msg_event_button *)encode_decode_buf_;
-  } /* else if (encode_decode_buf_[0] == Get_Emergency && size == sizeof(struct msg_event_emergency)) {
-     struct msg_event_emergency *msg = (struct msg_event_emergency *)encode_decode_buf_;
-     stock_ui_emergency_state = msg->state;
-   } else if (encode_decode_buf_[0] == Get_Rain && size == sizeof(struct msg_event_rain)) {
+    msg_event_button *msg = (struct msg_event_button *)encode_decode_buf_;
+    for (auto &input : input_driver_.Inputs()) {
+      if (input.yardforce.type == Input::Type::BUTTON && input.yardforce.button.id == msg->button_id) {
+        const bool long_press = msg->press_duration >= 1;
+        input.InjectPress(long_press);
+        break;
+      }
+    }
+  } else if (encode_decode_buf_[0] == Get_Emergency && size == sizeof(struct msg_event_emergency)) {
+    msg_event_emergency *msg = (struct msg_event_emergency *)encode_decode_buf_;
+    for (auto &input : input_driver_.Inputs()) {
+      if (input.yardforce.type == Input::Type::HALL) {
+        input.Update(IS_BIT_SET(msg->state, input.yardforce.hall.bit));
+      }
+    }
+  } /* else if (encode_decode_buf_[0] == Get_Rain && size == sizeof(struct msg_event_rain)) {
      struct msg_event_rain *msg = (struct msg_event_rain *)encode_decode_buf_;
      stock_ui_rain = (msg->value < llhl_config.rain_threshold);
    } else if (encode_decode_buf_[0] == Get_Subscribe && size == sizeof(struct msg_event_subscribe)) {