Display control code

main/CMakeLists.txt

@@ -17,7 +17,7 @@ else()
 endif()
 
 idf_component_register(SRCS ${ALL_SRCS}
-                       PRIV_REQUIRES esp_psram spi_flash nvs_flash esp_event rpc constants config rmt esp_driver_gptimer dataLink flatbuffers esp_driver_ledc
+                       PRIV_REQUIRES esp_psram spi_flash nvs_flash esp_event rpc constants config rmt esp_driver_gptimer dataLink flatbuffers esp_driver_ledc oled
                        INCLUDE_DIRS "include")
 
 if(DEFINED SRC_BOARD AND SRC_BOARD)

main/control/ActuatorFactory.cpp

@@ -7,6 +7,7 @@
 #include "control/ActuatorFactory.h"
 #include "control/DCMotorActuator.h"
 #include "control/Servo1Actuator.h"
+#include "control/OledActuator.h"
 #include "flatbuffers_generated/RobotModule_generated.h"
 
 std::unique_ptr<IActuator>
@@ -18,6 +19,8 @@ ActuatorFactory::create_actuator(const ModuleType type) {
     return std::make_unique<Servo1Actuator>();
   case ModuleType_DC_MOTOR:
     return std::make_unique<DCMotorActuator>();
+  case ModuleType_DISPLAY:
+    return std::make_unique<OledActuator>();
   default:
     return nullptr;
   }

main/control/DCMotorActuator.cpp

@@ -101,6 +101,8 @@ void DCMotorActuator::setup_encoder() {
 }
 
 void DCMotorActuator::actuate(uint8_t *cmd) {
+    // todo: Do we want to verify flatbuffers here?
+    // Will introduce latency, and means that we need to also send the size to the actuate function.
     const auto *angleControlCmd =
         Flatbuffers::AngleControlMessageBuilder::parse_angle_control_message(cmd);
     this->m_target_angle = angleControlCmd->angle();

main/control/OledActuator.cpp

@@ -0,0 +1,33 @@
+//
+// Created by Johnathon Slightham on 2025-07-15.
+//
+
+#include "control/OledActuator.h"
+#include "TextControlMessageBuilder.h"
+#include "SensorMessageBuilder.h"
+#include "constants/module.h"
+#include "driver/ledc.h"
+#include "flatbuffers_generated/SensorMessage_generated.h"
+#include "util/number_utils.h"
+#include "esp_log.h"
+
+void OledActuator::actuate(uint8_t *cmd) {
+    // todo: Do we want to verify flatbuffers here?
+    // Will introduce latency, and means that we need to also send the size to the actuate function.
+
+    const auto *text_control_message = Flatbuffers::TextControlMessageBuilder::parse_text_control_message(cmd);
+    const auto new_str = text_control_message->message()->str();
+
+    if (m_display_str != new_str) {
+        m_display_str = new_str;
+
+        m_oled->clear_display();
+        if (m_display_str != "") {
+            m_oled->display_text(m_display_str);
+        }
+    }
+}
+
+std::vector<Flatbuffers::sensor_value> OledActuator::get_sensor_data() {
+    return {Flatbuffers::target_text{m_display_str}};
+}

main/control/Servo1Actuator.cpp

@@ -39,6 +39,8 @@ Servo1Actuator::Servo1Actuator() {
 }
 
 void Servo1Actuator::actuate(uint8_t *cmd) {
+    // todo: Do we want to verify flatbuffers here?
+    // Will introduce latency, and means that we need to also send the size to the actuate function.
     const auto *angleControlCmd =
         Flatbuffers::AngleControlMessageBuilder::parse_angle_control_message(cmd);
     const auto newDuty =

main/include/control/OledActuator.h

@@ -0,0 +1,24 @@
+// Oled module
+
+#ifndef OLED_ACTUATOR_H
+#define OLED_ACTUATOR_H
+
+#include "IActuator.h"
+#include "ISensor.h"
+#include "Oled.h"
+#include "constants/module.h"
+#include <cstdint>
+
+class OledActuator final : public IActuator {
+  public:
+    OledActuator() : m_oled(std::make_unique<Oled>(OLED_SDA, OLED_SCL)) {};
+    ~OledActuator() override = default;
+    void actuate(std::uint8_t *cmd) override;
+    std::vector<Flatbuffers::sensor_value> get_sensor_data() override;
+
+  private:
+    std::string m_display_str = "";
+    std::unique_ptr<Oled> m_oled;
+};
+
+#endif //OLED_ACTUATOR_H