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Oled implementation (#1)

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This commit is contained in:
Johnathon Slightham
2026-02-07 15:05:45 -05:00
committed by GitHub
parent 048e39016a
commit 33c3ebad53
46 changed files with 1790 additions and 1260 deletions
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21
include/actuators/Actuator.h
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@@ -9,20 +9,21 @@
#include "flatbuffers_generated/TopologyMessage_generated.h"
class Actuator : public Module {
public:
explicit Actuator(uint8_t device_id) : Module(device_id) {};
public:
explicit Actuator(uint8_t device_id) : Module(device_id) {};
Actuator(uint8_t device_id, ModuleType module_type) : Module(device_id, module_type) {};
Actuator(uint8_t device_id, ModuleType module_type)
: Module(device_id, module_type) {};
Actuator(uint8_t device_id, ModuleType module_type, Messaging::ConnectionType connection_type,
uint8_t leader)
: Module(device_id, module_type, connection_type, leader) {};
Actuator(uint8_t device_id, ModuleType module_type,
Messaging::ConnectionType connection_type, uint8_t leader)
: Module(device_id, module_type, connection_type, leader) {};
protected:
virtual std::vector<uint8_t> get_actuation_message() = 0;
protected:
virtual std::vector<uint8_t> get_actuation_message() = 0;
private:
[[noreturn]] void actuator_tx_loop();
private:
[[noreturn]] void actuator_tx_loop();
};
#endif // CONTROL_MODULE_H

41
include/actuators/BoundedPositionalActuator1D.h
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@@ -5,33 +5,38 @@
#ifndef CONTROL_BOUNDED1DPOSITIONALACTUATOR_H
#define CONTROL_BOUNDED1DPOSITIONALACTUATOR_H
#include <string>
#include "actuators/Actuator.h"
#include "flatbuffers/AngleControlMessageBuilder.h"
#include "flatbuffers/SensorMessageBuilder.h"
class BoundedPositionalActuator1D : public Actuator {
public:
BoundedPositionalActuator1D(uint8_t device_id, ModuleType type, double max_value,
double min_value, double initial_position)
: Actuator(device_id, type), m_target_position(initial_position), m_max_value(max_value),
m_min_value(min_value),
acm_builder(std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {
}
public:
BoundedPositionalActuator1D(uint8_t device_id, ModuleType type,
double max_value, double min_value,
double initial_position)
: Actuator(device_id, type), m_target_position(initial_position),
m_max_value(max_value), m_min_value(min_value),
acm_builder(
std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {}
double get_position() override;
void actuate(double position) override;
void actuate(double x, double y) override; // no-op
double get_position() override;
std::string get_text() override; // no-op
void actuate(double position) override;
void actuate(const std::string &text) override; // no-op
void actuate(double x, double y) override; // no-op
std::vector<uint8_t> get_actuation_message() override;
void update_sensor_data(const Flatbuffers::sensor_value &value) override;
std::vector<uint8_t> get_actuation_message() override;
void update_sensor_data(const Flatbuffers::sensor_value &value) override;
private:
double m_current_position = 0;
double m_target_position;
double m_max_value;
double m_min_value;
std::unique_ptr<Flatbuffers::AngleControlMessageBuilder> acm_builder;
private:
double m_current_position = 0;
double m_target_position;
double m_max_value;
double m_min_value;
std::unique_ptr<Flatbuffers::AngleControlMessageBuilder> acm_builder;
};
#endif // CONTROL_1DPOSITIONALACTUATOR_H

38
include/actuators/OledActuator.h Normal file
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@@ -0,0 +1,38 @@
//
// Created by Johnathon Slightham on 2025-11-13.
//
#ifndef CONTROL_OLEDACTUATOR_H
#define CONTROL_OLEDACTUATOR_H
#include <string>
#include "actuators/Actuator.h"
#include "flatbuffers/SensorMessageBuilder.h"
#include "flatbuffers/TextControlMessageBuilder.h"
class OledActuator : public Actuator {
public:
OledActuator(uint8_t device_id, ModuleType type)
: Actuator(device_id, type),
m_text_message_builder(
std::make_unique<Flatbuffers::TextControlMessageBuilder>()) {}
double get_position() override;
std::string get_text() override;
void actuate(double position) override;
void actuate(double x, double y) override; // no-op
void actuate(const std::string &text) override;
std::vector<uint8_t> get_actuation_message() override;
void update_sensor_data(const Flatbuffers::sensor_value &value) override;
private:
std::string m_current_text = "";
std::string m_target_text = "";
std::unique_ptr<Flatbuffers::TextControlMessageBuilder>
m_text_message_builder;
};
#endif // CONTROL_OLEDACTUATOR_H

35
include/actuators/PositionalActuator1D.h
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@@ -5,30 +5,35 @@
#ifndef CONTROL_1DPOSITIONALACTUATOR_H
#define CONTROL_1DPOSITIONALACTUATOR_H
#include <string>
#include "actuators/Actuator.h"
#include "flatbuffers/AngleControlMessageBuilder.h"
#include "flatbuffers/SensorMessageBuilder.h"
class PositionalActuator1D final : public Actuator {
public:
PositionalActuator1D(uint8_t device_id, ModuleType type)
: Actuator(device_id, type),
m_acm_builder(std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {};
public:
PositionalActuator1D(uint8_t device_id, ModuleType type)
: Actuator(device_id, type),
m_acm_builder(
std::make_unique<Flatbuffers::AngleControlMessageBuilder>()) {};
double get_position() override;
void actuate(double position) override;
void actuate(double x, double y) override; // no-op
double get_position() override;
std::string get_text() override; // no-op
void actuate(double position) override;
void actuate(const std::string &text) override; // no-op
void actuate(double x, double y) override; // no-op
std::vector<uint8_t> get_actuation_message() override;
void update_sensor_data(const Flatbuffers::sensor_value &value) override;
std::vector<uint8_t> get_actuation_message() override;
void update_sensor_data(const Flatbuffers::sensor_value &value) override;
private:
void update_loop();
double m_target_position = 0;
double m_current_position = 0;
double m_board_target_position = 0;
std::unique_ptr<Flatbuffers::AngleControlMessageBuilder> m_acm_builder;
private:
void update_loop();
double m_target_position = 0;
double m_current_position = 0;
double m_board_target_position = 0;
std::unique_ptr<Flatbuffers::AngleControlMessageBuilder> m_acm_builder;
};
#endif // CONTROL_1DPOSITIONALACTUATOR_H