Imagine U and I

CMakeLists.txt

@@ -52,8 +52,9 @@ add_library(${PROJECT_NAME} STATIC)
 target_sources(${PROJECT_NAME} PRIVATE
         src/charge_controller/ChargeController.cpp
         src/charge_controller/dev/BMSManager.cpp
-        src/charge_controller/dev/Debounce.cpp
         src/charge_controller/dev/LCDDisplay.cpp
+        src/charge_controller/dev/ControllerUI.cpp
+        src/charge_controller/dev/ControllerModel.cpp
         )
 
 ###############################################################################

include/charge_controller/ChargeController.hpp

@@ -1,12 +1,14 @@
-#ifndef CHARGE_CONTROLLER_H
-#define CHARGE_CONTROLLER_H
+#ifndef CHARGE_CONTROLLER_HPP
+#define CHARGE_CONTROLLER_HPP
 
 #include <EVT/io/CAN.hpp>
 #include <EVT/io/CANopen.hpp>
 
 #include <EVT/dev/button.hpp>
 #include <EVT/io/GPIO.hpp>
 #include <charge_controller/dev/BMSManager.hpp>
+#include <charge_controller/dev/ControllerModel.hpp>
+#include <charge_controller/dev/ControllerUI.hpp>
 #include <charge_controller/dev/LCDDisplay.hpp>
 
 namespace time = EVT::core::time;
@@ -63,7 +65,7 @@ class ChargeController {
         FAULT
     };
 
-    ChargeController(BMSManager& bms, LCDDisplay& display, IO::CAN& can, DEV::Button& startButton, IO::GPIO& statusLED);
+    ChargeController(BMSManager& bms, LCDDisplay& display, IO::CAN& can, DEV::Button& startButton, IO::GPIO& statusLED, ControllerUI& controllerUI, ControllerModel& controllerModel);
 
     /**
      * Initialize the submodules of the Charge Controller
@@ -139,10 +141,12 @@ class ChargeController {
     void faultState();
 
     BMSManager& bms;
-    LCDDisplay& display;
     IO::CAN& can;
     DEV::Button& startButton;
     IO::GPIO& statusLED;
+    LCDDisplay& display;
+    ControllerUI& controllerUI;
+    ControllerModel& controllerModel;
 
     uint32_t lastHeartBeat = time::millis();
     uint8_t oldCount = 0;
@@ -154,4 +158,4 @@ class ChargeController {
     static constexpr IO::GPIO::State RELAY_OFF = IO::GPIO::State::LOW;
 };
 
-#endif// CHARGE_CONTROLLER_H
+#endif// CHARGE_CONTROLLER_HPP

include/charge_controller/dev/BMSManager.hpp

@@ -1,13 +1,13 @@
 #ifndef EXAMPLE_BMSMANAGER_HPP
 #define EXAMPLE_BMSMANAGER_HPP
 
-#include <Canopen/co_obj.h>
 #include <EVT/io/CAN.hpp>
 #include <EVT/io/GPIO.hpp>
+#include <co_obj.h>
 #include <stdint.h>
 
-#include <Canopen/co_pdo.h>
 #include <EVT/utils/log.hpp>
+#include <co_pdo.h>
 
 //RPDO-NUM settings
 // 0: RPDO number in index and total number of sub indexes.
@@ -396,6 +396,8 @@ class BMSManager {
         OBJECT_DICTIONARY_SIZE = 69;
 
     CO_OBJ_T objectDictionaryBMS[OBJECT_DICTIONARY_SIZE + 1] = {
+        ///COMMENTED OUT UNTIL WE FIX CANOPEN
+        /*
         // Sync ID, defaults to 0x80
         {
             .Key = CO_KEY(0x1005, 0, CO_UNSIGNED32 | CO_OBJ_D__R_),
@@ -467,8 +469,9 @@ class BMSManager {
         // Pack 2 Data
         GEN_PACK_DATA(1, packs[1].data)
 
+         */
         // End of dictionary marker
-        CO_OBJ_DIR_ENDMARK,
+        CO_OBJ_DICT_ENDMARK,
     };
 };
 

include/charge_controller/dev/ControllerModel.hpp

@@ -0,0 +1,167 @@
+#ifndef CHARGE_CONTROLLER_CONTROLLERMODEL_HPP
+#define CHARGE_CONTROLLER_CONTROLLERMODEL_HPP
+
+#include <cstdint>
+
+#define MAX_VOLTAGE 100
+#define MAX_CURRENT 60
+
+#define DEFAULT_VOLTAGE 96
+#define DEFAULT_CURRENT 60
+
+/**
+ * Stores values that both the LCDDisplay and the ControllerUI need to access.
+ * Acts as the model in a Model-View-Controller (MVC) Structure where
+ * ControllerModel is the model,
+ * LCDDisplay is the display, and
+ * ControllerUI is the controller
+ */
+
+class ControllerModel {
+
+public:
+    /**
+     * default (and only) initializer for the ControllerModel class.
+     */
+    ControllerModel();
+
+    /**
+     * enum for the different pages that the LCDDisplay can display.
+     */
+    enum Page {
+        MAIN = 0,
+        SETTINGS = 1
+    };
+
+    /**
+     * enum that represents what set of selectable items the controller is focused on.
+     * The value of each entry is equal to the range of the encoder
+     */
+    enum State {
+        PAGE_SELECT = 0u,
+        SETTING_SELECT = 1u,
+        VOLTAGE_SELECT = 2u,
+        CURRENT_SELECT = 3u,
+    };
+
+    /**
+     * enum that represents which setting is selected
+     * Only updated when state = SETTINGSELECT
+     */
+    enum SelectedSetting {
+        VOLTAGE = 0u,
+        CURRENT = 1u,
+        SAVE = 2u,
+        QUIT = 3u,
+        RESET = 4u
+    };
+
+    /**
+     * Gets the current Page that the model is in.
+     *
+     * @return the current page the model is set to
+     */
+    Page getPage();
+
+    /**
+     * Gets the current State that the model is in.
+     *
+     * @return the current state the model is set to
+     */
+    State getState();
+
+    /**
+     * Sets the state of the model
+     *
+     * @param[in] newState the state to set the model's state to.
+     */
+    void setState(State newState);
+
+    /**
+     * Saves the unsavedVoltage and unsavedCurrent.
+     * (Sets savedVoltage and savedCurrent)
+     */
+    void saveVoltageAndCurrent();
+
+    /**
+     * Gets the current setting the model is in: this will be the most recent setting that was selected.
+     *
+     * @return the current setting the model is in.
+     */
+    SelectedSetting getSelectedSetting();
+
+    /**
+     * Sets the selected setting of the model.
+     *
+     * @param[in] newSetting the new setting that was selected.
+     */
+    void setSelectedSetting(SelectedSetting newSetting);
+
+    /**
+     * Sets the unsavedVoltage
+     *
+     * @param[in] newVoltage the new value for unsavedVoltage
+     */
+    void setUnsavedVoltage(uint16_t newVoltage);
+
+    /**
+     * Sets the unsavedCurrent
+     *
+     * @param[in] newCurrent the new value for unsavedCurrent
+     */
+    void setUnsavedCurrent(uint16_t newCurrent);
+
+    /**
+     * Sets the model's current page.
+     *
+     * @param[in] newPage the new page.
+     */
+    void setPage(Page newPage);
+
+    /**
+     * Gets the saved voltage value for the model.
+     * @return the saved voltage in the model.
+     */
+    uint16_t getSavedVoltage();
+
+    /**
+     * Gets the saved current value for the model.
+     * @return the saved current in the model.
+     */
+    uint16_t getSavedCurrent();
+
+    /**
+     * Gets the unsaved voltage value for the model.
+     * @return the unsaved voltage in the model.
+     */
+    uint16_t getUnsavedVoltage();
+
+    /**
+     * Gets the unsaved current value for the model.
+     * @return the unsaved current in the model.
+     */
+    uint16_t getUnsavedCurrent();
+
+    /**
+     * Returns the valid encoder range for the given state
+     * @param state the state that the encoder range can take
+     * @return the encoder range for that state
+     */
+    uint32_t getEncoderRange(State state);
+
+private:
+    /** The current state the model is in */
+    State state = PAGE_SELECT;
+    /** The current page the lcd is displaying */
+    Page page = MAIN;
+    /** The most recent selected setting that is selected (only really relevant if state = SETTINGSELECT */
+    SelectedSetting setting = QUIT;
+
+    uint16_t savedVoltage = DEFAULT_VOLTAGE;//TODO see about saving values between boot sequences
+    uint16_t savedCurrent = DEFAULT_CURRENT;
+
+    uint16_t unsavedVoltage = DEFAULT_VOLTAGE;
+    uint16_t unsavedCurrent = DEFAULT_CURRENT;
+};
+
+#endif//CHARGE_CONTROLLER_CONTROLLERMODEL_HPP

include/charge_controller/dev/ControllerUI.hpp

@@ -0,0 +1,57 @@
+#ifndef CONTROLLERUI_HPP
+#define CONTROLLERUI_HPP
+
+#include <EVT/dev/Encoder.hpp>
+#include <EVT/dev/button.hpp>
+#include <EVT/utils/log.hpp>
+#include <charge_controller/dev/ControllerModel.hpp>
+#include <charge_controller/dev/LCDDisplay.hpp>
+
+//TODO check the encoder documentation for the debounce time
+#define DEBOUNCE_TIME 500
+
+namespace DEV = EVT::core::DEV;
+
+/**
+ * Handles the encoder inputs for the Charge Controller.
+ * Acts as the controller in a Model-View-Controller (MVC) Structure where
+ * ControllerModel is the model,
+ * LCDDisplay is the display, and
+ * ControllerUI is the controller
+ */
+
+class ControllerUI {
+public:
+    /**
+     * Constructor for the ControllerUI class
+     *
+     * @param[in] encoder The encoder object
+     * @param[in] encoderButton the button on the encoder
+     * @param[in] display the LCDDisplay that the ControllerUI controls
+     * @param[in] model the ControllerModel that stores values from the ControllerUI
+     */
+    ControllerUI(DEV::Encoder& encoder, DEV::Button& encoderButton, LCDDisplay& display, ControllerModel& model);
+
+    /**
+     * Processes user input, updates appropriate values, and calls display.display() to update the view
+     */
+    void process();
+
+private:
+    /** Reference to the model object */
+    ControllerModel& model;
+    /** Reference to the encoder */
+    DEV::Encoder& encoder;
+    /** Reference to the encoder's button */
+    DEV::Button& encoderButton;
+    /** Reference to the display driver so it can update */
+    LCDDisplay& display;
+
+    /**
+     * Internal method that sets the model's state and also updates the encoder range and position to align with the state.
+     * @param newState the new state to set the model's state to.
+     */
+    void setModelState(ControllerModel::State newState);
+};
+
+#endif//CONTROLLERUI_HPP