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Display control code

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This commit is contained in:
Johnathon Slightham
2026-02-07 01:38:05 -05:00
parent 2e9004ee34
commit 52ff24e649
21 changed files with 797 additions and 86 deletions
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11
components/constants/include/constants/module.h
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@@ -9,7 +9,13 @@
#include "flatbuffers_generated/RobotModule_generated.h"
inline std::unordered_map<int, int> MODULE_TO_NUM_CHANNELS_MAP {{ModuleType_SPLITTER, 4}, {ModuleType_SERVO_1, 2}, {ModuleType_DC_MOTOR, 1}, {ModuleType_SERVO_2, 2}};
inline std::unordered_map<int, int> MODULE_TO_NUM_CHANNELS_MAP {
{ModuleType_SPLITTER, 4},
{ModuleType_SERVO_1, 2},
{ModuleType_DC_MOTOR, 1},
{ModuleType_SERVO_2, 2},
{ModuleType_DISPLAY, 1}
};
#define PC_ADDR 0
@@ -22,6 +28,9 @@ inline std::unordered_map<int, int> MODULE_TO_NUM_CHANNELS_MAP {{ModuleType_SPLI
#define DC_ENCODER_A 15
#define DC_ENCODER_B 16
#define OLED_SDA 17
#define OLED_SCL 18
inline std::unordered_map<uint8_t, uint8_t> CHANNEL_TO_0_DEG_MAP{{0, 9} };
inline std::unordered_map<uint8_t, uint8_t> CHANNEL_TO_90_DEG_MAP{{0, 7} };
inline std::unordered_map<uint8_t, uint8_t> CHANNEL_TO_180_DEG_MAP{{0, 8} };

2
components/flatbuffers/CMakeLists.txt
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@@ -1,2 +1,2 @@
idf_component_register(SRCS "MPIMessageBuilder.cpp" "AngleControlMessageBuilder.cpp" "TopologyMessageBuilder.cpp" "SensorMessageBuilder.cpp"
idf_component_register(SRCS "MPIMessageBuilder.cpp" "AngleControlMessageBuilder.cpp" "TopologyMessageBuilder.cpp" "SensorMessageBuilder.cpp" "TextControlMessageBuilder.cpp"
INCLUDE_DIRS "include")

5
components/flatbuffers/SensorMessageBuilder.cpp
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@@ -26,6 +26,11 @@ SerializedMessage SensorMessageBuilder::build_sensor_message(std::vector<sensor_
values_vec.push_back(Messaging::CreateCurrentAngle(builder_, a.angle).Union());
sensor_values_vec.push_back(Messaging::SensorValue_CurrentAngle);
},
[&](target_text t) {
auto text_offset = builder_.CreateString(t.text);
values_vec.push_back(Messaging::CreateCurrentText(builder_, text_offset).Union());
sensor_values_vec.push_back(Messaging::SensorValue_CurrentText);
}
},
v);
}

11
components/flatbuffers/TextControlMessageBuilder.cpp Normal file
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@@ -0,0 +1,11 @@
//
// Created by Johnathon Slightham on 2025-06-30.
//
#include "TextControlMessageBuilder.h"
namespace Flatbuffers {
const Messaging::TextControlMessage* TextControlMessageBuilder::parse_text_control_message(const uint8_t* buffer) {
return flatbuffers::GetRoot<Messaging::TextControlMessage>(buffer);
}
}

8
components/flatbuffers/include/SensorMessageBuilder.h
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@@ -15,11 +15,15 @@ struct current_angle {
int16_t angle;
};
typedef std::variant<target_angle, current_angle> sensor_value;
struct target_text {
std::string text;
};
typedef std::variant<target_angle, current_angle, target_text> sensor_value;
class SensorMessageBuilder {
public:
SensorMessageBuilder() : builder_(128) {
SensorMessageBuilder() : builder_(256) {
}
SerializedMessage build_sensor_message(std::vector<sensor_value> &values);

18
components/flatbuffers/include/TextControlMessageBuilder.h Normal file
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@@ -0,0 +1,18 @@
//
// Created by Johnathon Slightham on 2025-06-30.
//
#ifndef TEXTCONTROLMESSAGEBUILDER_H_
#define TEXTCONTROLMESSAGEBUILDER_H_
#include "flatbuffers_generated/TextControlMessage_generated.h"
#include "flatbuffers/flatbuffers.h"
namespace Flatbuffers {
class TextControlMessageBuilder {
public:
static const Messaging::TextControlMessage* parse_text_control_message(const uint8_t* buffer);
};
}
#endif

48
components/flatbuffers/include/flatbuffers_generated/RobotModule_generated.h
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@@ -7,7 +7,7 @@
#include "flatbuffers/flatbuffers.h"
// Ensure the included flatbuffers.h is the same version as when this file was
// // generated, otherwise it may not be compatible.
// generated, otherwise it may not be compatible.
// static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
// FLATBUFFERS_VERSION_MINOR == 2 &&
// FLATBUFFERS_VERSION_REVISION == 10,
@@ -25,35 +25,71 @@ enum ModuleType : int8_t {
ModuleType_DC_MOTOR = 2,
ModuleType_BATTERY = 3,
ModuleType_SERVO_2 = 4,
ModuleType_DISPLAY = 5,
ModuleType_GRIPPER = 6,
ModuleType_SPEAKER = 7,
ModuleType_IMU = 8,
ModuleType_DISTANCE_SENSOR = 9,
ModuleType_SPLITTER_2 = 10,
ModuleType_SPLITTER_3 = 11,
ModuleType_SPLITTER_4 = 12,
ModuleType_SPLITTER_5 = 13,
ModuleType_SPLITTER_6 = 14,
ModuleType_SPLITTER_7 = 15,
ModuleType_SPLITTER_8 = 16,
ModuleType_MIN = ModuleType_SPLITTER,
ModuleType_MAX = ModuleType_SERVO_2
ModuleType_MAX = ModuleType_SPLITTER_8
};
inline const ModuleType (&EnumValuesModuleType())[5] {
inline const ModuleType (&EnumValuesModuleType())[17] {
static const ModuleType values[] = {
ModuleType_SPLITTER,
ModuleType_SERVO_1,
ModuleType_DC_MOTOR,
ModuleType_BATTERY,
ModuleType_SERVO_2
ModuleType_SERVO_2,
ModuleType_DISPLAY,
ModuleType_GRIPPER,
ModuleType_SPEAKER,
ModuleType_IMU,
ModuleType_DISTANCE_SENSOR,
ModuleType_SPLITTER_2,
ModuleType_SPLITTER_3,
ModuleType_SPLITTER_4,
ModuleType_SPLITTER_5,
ModuleType_SPLITTER_6,
ModuleType_SPLITTER_7,
ModuleType_SPLITTER_8
};
return values;
}
inline const char * const *EnumNamesModuleType() {
static const char * const names[6] = {
static const char * const names[18] = {
"SPLITTER",
"SERVO_1",
"DC_MOTOR",
"BATTERY",
"SERVO_2",
"DISPLAY",
"GRIPPER",
"SPEAKER",
"IMU",
"DISTANCE_SENSOR",
"SPLITTER_2",
"SPLITTER_3",
"SPLITTER_4",
"SPLITTER_5",
"SPLITTER_6",
"SPLITTER_7",
"SPLITTER_8",
nullptr
};
return names;
}
inline const char *EnumNameModuleType(ModuleType e) {
if (::flatbuffers::IsOutRange(e, ModuleType_SPLITTER, ModuleType_SERVO_2)) return "";
if (::flatbuffers::IsOutRange(e, ModuleType_SPLITTER, ModuleType_SPLITTER_8)) return "";
const size_t index = static_cast<size_t>(e);
return EnumNamesModuleType()[index];
}

173
components/flatbuffers/include/flatbuffers_generated/SensorMessage_generated.h
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@@ -1,5 +1,6 @@
// automatically generated by the FlatBuffers compiler, do not modify
#ifndef FLATBUFFERS_GENERATED_SENSORMESSAGE_MESSAGING_H_
#define FLATBUFFERS_GENERATED_SENSORMESSAGE_MESSAGING_H_
@@ -17,6 +18,9 @@ namespace Messaging {
struct TargetAngle;
struct TargetAngleBuilder;
struct CurrentText;
struct CurrentTextBuilder;
struct CurrentAngle;
struct CurrentAngleBuilder;
@@ -27,25 +31,34 @@ enum SensorValue : uint8_t {
SensorValue_NONE = 0,
SensorValue_TargetAngle = 1,
SensorValue_CurrentAngle = 2,
SensorValue_CurrentText = 3,
SensorValue_MIN = SensorValue_NONE,
SensorValue_MAX = SensorValue_CurrentAngle
SensorValue_MAX = SensorValue_CurrentText
};
inline const SensorValue (&EnumValuesSensorValue())[3] {
inline const SensorValue (&EnumValuesSensorValue())[4] {
static const SensorValue values[] = {
SensorValue_NONE, SensorValue_TargetAngle, SensorValue_CurrentAngle};
SensorValue_NONE,
SensorValue_TargetAngle,
SensorValue_CurrentAngle,
SensorValue_CurrentText
};
return values;
}
inline const char * const *EnumNamesSensorValue() {
static const char *const names[4] = {"NONE", "TargetAngle", "CurrentAngle",
nullptr};
static const char * const names[5] = {
"NONE",
"TargetAngle",
"CurrentAngle",
"CurrentText",
nullptr
};
return names;
}
inline const char *EnumNameSensorValue(SensorValue e) {
if (::flatbuffers::IsOutRange(e, SensorValue_NONE, SensorValue_CurrentAngle))
return "";
if (::flatbuffers::IsOutRange(e, SensorValue_NONE, SensorValue_CurrentText)) return "";
const size_t index = static_cast<size_t>(e);
return EnumNamesSensorValue()[index];
}
@@ -62,22 +75,25 @@ template <> struct SensorValueTraits<Messaging::CurrentAngle> {
static const SensorValue enum_value = SensorValue_CurrentAngle;
};
bool VerifySensorValue(::flatbuffers::Verifier &verifier, const void *obj,
SensorValue type);
bool VerifySensorValueVector(
::flatbuffers::Verifier &verifier,
const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values,
const ::flatbuffers::Vector<uint8_t> *types);
template<> struct SensorValueTraits<Messaging::CurrentText> {
static const SensorValue enum_value = SensorValue_CurrentText;
};
bool VerifySensorValue(::flatbuffers::Verifier &verifier, const void *obj, SensorValue type);
bool VerifySensorValueVector(::flatbuffers::Verifier &verifier, const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values, const ::flatbuffers::Vector<uint8_t> *types);
struct TargetAngle FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef TargetAngleBuilder Builder;
enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
VT_VALUE = 4
};
int16_t value() const { return GetField<int16_t>(VT_VALUE, 0); }
int16_t value() const {
return GetField<int16_t>(VT_VALUE, 0);
}
bool Verify(::flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
VerifyField<int16_t>(verifier, VT_VALUE, 2) && verifier.EndTable();
VerifyField<int16_t>(verifier, VT_VALUE, 2) &&
verifier.EndTable();
}
};
@@ -99,22 +115,77 @@ struct TargetAngleBuilder {
}
};
inline ::flatbuffers::Offset<TargetAngle>
CreateTargetAngle(::flatbuffers::FlatBufferBuilder &_fbb, int16_t value = 0) {
inline ::flatbuffers::Offset<TargetAngle> CreateTargetAngle(
::flatbuffers::FlatBufferBuilder &_fbb,
int16_t value = 0) {
TargetAngleBuilder builder_(_fbb);
builder_.add_value(value);
return builder_.Finish();
}
struct CurrentText FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef CurrentTextBuilder Builder;
enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
VT_VALUE = 4
};
const ::flatbuffers::String *value() const {
return GetPointer<const ::flatbuffers::String *>(VT_VALUE);
}
bool Verify(::flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
VerifyOffset(verifier, VT_VALUE) &&
verifier.VerifyString(value()) &&
verifier.EndTable();
}
};
struct CurrentTextBuilder {
typedef CurrentText Table;
::flatbuffers::FlatBufferBuilder &fbb_;
::flatbuffers::uoffset_t start_;
void add_value(::flatbuffers::Offset<::flatbuffers::String> value) {
fbb_.AddOffset(CurrentText::VT_VALUE, value);
}
explicit CurrentTextBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
: fbb_(_fbb) {
start_ = fbb_.StartTable();
}
::flatbuffers::Offset<CurrentText> Finish() {
const auto end = fbb_.EndTable(start_);
auto o = ::flatbuffers::Offset<CurrentText>(end);
return o;
}
};
inline ::flatbuffers::Offset<CurrentText> CreateCurrentText(
::flatbuffers::FlatBufferBuilder &_fbb,
::flatbuffers::Offset<::flatbuffers::String> value = 0) {
CurrentTextBuilder builder_(_fbb);
builder_.add_value(value);
return builder_.Finish();
}
inline ::flatbuffers::Offset<CurrentText> CreateCurrentTextDirect(
::flatbuffers::FlatBufferBuilder &_fbb,
const char *value = nullptr) {
auto value__ = value ? _fbb.CreateString(value) : 0;
return Messaging::CreateCurrentText(
_fbb,
value__);
}
struct CurrentAngle FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef CurrentAngleBuilder Builder;
enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
VT_VALUE = 4
};
int16_t value() const { return GetField<int16_t>(VT_VALUE, 0); }
int16_t value() const {
return GetField<int16_t>(VT_VALUE, 0);
}
bool Verify(::flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
VerifyField<int16_t>(verifier, VT_VALUE, 2) && verifier.EndTable();
VerifyField<int16_t>(verifier, VT_VALUE, 2) &&
verifier.EndTable();
}
};
@@ -136,8 +207,9 @@ struct CurrentAngleBuilder {
}
};
inline ::flatbuffers::Offset<CurrentAngle>
CreateCurrentAngle(::flatbuffers::FlatBufferBuilder &_fbb, int16_t value = 0) {
inline ::flatbuffers::Offset<CurrentAngle> CreateCurrentAngle(
::flatbuffers::FlatBufferBuilder &_fbb,
int16_t value = 0) {
CurrentAngleBuilder builder_(_fbb);
builder_.add_value(value);
return builder_.Finish();
@@ -153,8 +225,7 @@ struct SensorMessage FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
return GetPointer<const ::flatbuffers::Vector<uint8_t> *>(VT_VALUES_TYPE);
}
const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values() const {
return GetPointer<
const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *>(VT_VALUES);
return GetPointer<const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *>(VT_VALUES);
}
bool Verify(::flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
@@ -171,13 +242,10 @@ struct SensorMessageBuilder {
typedef SensorMessage Table;
::flatbuffers::FlatBufferBuilder &fbb_;
::flatbuffers::uoffset_t start_;
void add_values_type(
::flatbuffers::Offset<::flatbuffers::Vector<uint8_t>> values_type) {
void add_values_type(::flatbuffers::Offset<::flatbuffers::Vector<uint8_t>> values_type) {
fbb_.AddOffset(SensorMessage::VT_VALUES_TYPE, values_type);
}
void add_values(
::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<void>>>
values) {
void add_values(::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<void>>> values) {
fbb_.AddOffset(SensorMessage::VT_VALUES, values);
}
explicit SensorMessageBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
@@ -194,8 +262,7 @@ struct SensorMessageBuilder {
inline ::flatbuffers::Offset<SensorMessage> CreateSensorMessage(
::flatbuffers::FlatBufferBuilder &_fbb,
::flatbuffers::Offset<::flatbuffers::Vector<uint8_t>> values_type = 0,
::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<void>>>
values = 0) {
::flatbuffers::Offset<::flatbuffers::Vector<::flatbuffers::Offset<void>>> values = 0) {
SensorMessageBuilder builder_(_fbb);
builder_.add_values(values);
builder_.add_values_type(values_type);
@@ -206,15 +273,15 @@ inline ::flatbuffers::Offset<SensorMessage> CreateSensorMessageDirect(
::flatbuffers::FlatBufferBuilder &_fbb,
const std::vector<uint8_t> *values_type = nullptr,
const std::vector<::flatbuffers::Offset<void>> *values = nullptr) {
auto values_type__ =
values_type ? _fbb.CreateVector<uint8_t>(*values_type) : 0;
auto values__ =
values ? _fbb.CreateVector<::flatbuffers::Offset<void>>(*values) : 0;
return Messaging::CreateSensorMessage(_fbb, values_type__, values__);
auto values_type__ = values_type ? _fbb.CreateVector<uint8_t>(*values_type) : 0;
auto values__ = values ? _fbb.CreateVector<::flatbuffers::Offset<void>>(*values) : 0;
return Messaging::CreateSensorMessage(
_fbb,
values_type__,
values__);
}
inline bool VerifySensorValue(::flatbuffers::Verifier &verifier,
const void *obj, SensorValue type) {
inline bool VerifySensorValue(::flatbuffers::Verifier &verifier, const void *obj, SensorValue type) {
switch (type) {
case SensorValue_NONE: {
return true;
@@ -227,22 +294,20 @@ inline bool VerifySensorValue(::flatbuffers::Verifier &verifier,
auto ptr = reinterpret_cast<const Messaging::CurrentAngle *>(obj);
return verifier.VerifyTable(ptr);
}
default:
return true;
case SensorValue_CurrentText: {
auto ptr = reinterpret_cast<const Messaging::CurrentText *>(obj);
return verifier.VerifyTable(ptr);
}
default: return true;
}
}
inline bool VerifySensorValueVector(
::flatbuffers::Verifier &verifier,
const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values,
const ::flatbuffers::Vector<uint8_t> *types) {
if (!values || !types)
return !values && !types;
if (values->size() != types->size())
return false;
inline bool VerifySensorValueVector(::flatbuffers::Verifier &verifier, const ::flatbuffers::Vector<::flatbuffers::Offset<void>> *values, const ::flatbuffers::Vector<uint8_t> *types) {
if (!values || !types) return !values && !types;
if (values->size() != types->size()) return false;
for (::flatbuffers::uoffset_t i = 0; i < values->size(); ++i) {
if (!VerifySensorValue(verifier, values->Get(i),
types->GetEnum<SensorValue>(i))) {
if (!VerifySensorValue(
verifier, values->Get(i), types->GetEnum<SensorValue>(i))) {
return false;
}
}
@@ -253,17 +318,17 @@ inline const Messaging::SensorMessage *GetSensorMessage(const void *buf) {
return ::flatbuffers::GetRoot<Messaging::SensorMessage>(buf);
}
inline const Messaging::SensorMessage *
GetSizePrefixedSensorMessage(const void *buf) {
inline const Messaging::SensorMessage *GetSizePrefixedSensorMessage(const void *buf) {
return ::flatbuffers::GetSizePrefixedRoot<Messaging::SensorMessage>(buf);
}
inline bool VerifySensorMessageBuffer(::flatbuffers::Verifier &verifier) {
inline bool VerifySensorMessageBuffer(
::flatbuffers::Verifier &verifier) {
return verifier.VerifyBuffer<Messaging::SensorMessage>(nullptr);
}
inline bool
VerifySizePrefixedSensorMessageBuffer(::flatbuffers::Verifier &verifier) {
inline bool VerifySizePrefixedSensorMessageBuffer(
::flatbuffers::Verifier &verifier) {
return verifier.VerifySizePrefixedBuffer<Messaging::SensorMessage>(nullptr);
}

104
components/flatbuffers/include/flatbuffers_generated/TextControlMessage_generated.h Normal file
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@@ -0,0 +1,104 @@
// automatically generated by the FlatBuffers compiler, do not modify
#ifndef FLATBUFFERS_GENERATED_TEXTCONTROLMESSAGE_MESSAGING_H_
#define FLATBUFFERS_GENERATED_TEXTCONTROLMESSAGE_MESSAGING_H_
#include "flatbuffers/flatbuffers.h"
// Ensure the included flatbuffers.h is the same version as when this file was
// generated, otherwise it may not be compatible.
// static_assert(FLATBUFFERS_VERSION_MAJOR == 25 &&
// FLATBUFFERS_VERSION_MINOR == 2 &&
// FLATBUFFERS_VERSION_REVISION == 10,
// "Non-compatible flatbuffers version included");
namespace Messaging {
struct TextControlMessage;
struct TextControlMessageBuilder;
struct TextControlMessage FLATBUFFERS_FINAL_CLASS : private ::flatbuffers::Table {
typedef TextControlMessageBuilder Builder;
enum FlatBuffersVTableOffset FLATBUFFERS_VTABLE_UNDERLYING_TYPE {
VT_MESSAGE = 4
};
const ::flatbuffers::String *message() const {
return GetPointer<const ::flatbuffers::String *>(VT_MESSAGE);
}
bool Verify(::flatbuffers::Verifier &verifier) const {
return VerifyTableStart(verifier) &&
VerifyOffset(verifier, VT_MESSAGE) &&
verifier.VerifyString(message()) &&
verifier.EndTable();
}
};
struct TextControlMessageBuilder {
typedef TextControlMessage Table;
::flatbuffers::FlatBufferBuilder &fbb_;
::flatbuffers::uoffset_t start_;
void add_message(::flatbuffers::Offset<::flatbuffers::String> message) {
fbb_.AddOffset(TextControlMessage::VT_MESSAGE, message);
}
explicit TextControlMessageBuilder(::flatbuffers::FlatBufferBuilder &_fbb)
: fbb_(_fbb) {
start_ = fbb_.StartTable();
}
::flatbuffers::Offset<TextControlMessage> Finish() {
const auto end = fbb_.EndTable(start_);
auto o = ::flatbuffers::Offset<TextControlMessage>(end);
return o;
}
};
inline ::flatbuffers::Offset<TextControlMessage> CreateTextControlMessage(
::flatbuffers::FlatBufferBuilder &_fbb,
::flatbuffers::Offset<::flatbuffers::String> message = 0) {
TextControlMessageBuilder builder_(_fbb);
builder_.add_message(message);
return builder_.Finish();
}
inline ::flatbuffers::Offset<TextControlMessage> CreateTextControlMessageDirect(
::flatbuffers::FlatBufferBuilder &_fbb,
const char *message = nullptr) {
auto message__ = message ? _fbb.CreateString(message) : 0;
return Messaging::CreateTextControlMessage(
_fbb,
message__);
}
inline const Messaging::TextControlMessage *GetTextControlMessage(const void *buf) {
return ::flatbuffers::GetRoot<Messaging::TextControlMessage>(buf);
}
inline const Messaging::TextControlMessage *GetSizePrefixedTextControlMessage(const void *buf) {
return ::flatbuffers::GetSizePrefixedRoot<Messaging::TextControlMessage>(buf);
}
inline bool VerifyTextControlMessageBuffer(
::flatbuffers::Verifier &verifier) {
return verifier.VerifyBuffer<Messaging::TextControlMessage>(nullptr);
}
inline bool VerifySizePrefixedTextControlMessageBuffer(
::flatbuffers::Verifier &verifier) {
return verifier.VerifySizePrefixedBuffer<Messaging::TextControlMessage>(nullptr);
}
inline void FinishTextControlMessageBuffer(
::flatbuffers::FlatBufferBuilder &fbb,
::flatbuffers::Offset<Messaging::TextControlMessage> root) {
fbb.Finish(root);
}
inline void FinishSizePrefixedTextControlMessageBuffer(
::flatbuffers::FlatBufferBuilder &fbb,
::flatbuffers::Offset<Messaging::TextControlMessage> root) {
fbb.FinishSizePrefixed(root);
}
} // namespace Messaging
#endif // FLATBUFFERS_GENERATED_TEXTCONTROLMESSAGE_MESSAGING_H_

3
components/oled/CMakeLists.txt Normal file
View File

@@ -0,0 +1,3 @@
idf_component_register(INCLUDE_DIRS "include"
PRIV_REQUIRES driver
SRCS "Oled.cpp")

159
components/oled/Oled.cpp Normal file
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@@ -0,0 +1,159 @@
#include <string>
#include "driver/gpio.h"
#include "driver/i2c.h"
#include "esp_err.h"
#include "esp_log.h"
#include "Oled.h"
#include "font8x8_basic.h"
#include "ssd1306.h"
#define TAG "OLED"
// 128x64 pixels
// 8 pixels per byte
// 128 bytes per page -> ((128*64)/8)/128 = 8 pages.
#define DISPLAY_WIDTH 128
#define DISPLAY_HEIGHT 64
#define PAGE_SIZE 128
#define PAGE_COUNT 8
#define I2C_PORT I2C_NUM_0
void Oled::init(uint8_t sda_pin, uint8_t scl_pin) {
i2c_config_t i2c_config = {
.mode = I2C_MODE_MASTER,
.sda_io_num = sda_pin,
.scl_io_num = scl_pin,
.sda_pullup_en = GPIO_PULLUP_ENABLE,
.scl_pullup_en = GPIO_PULLUP_ENABLE,
.master = {
.clk_speed = 1000000
},
.clk_flags = 0,
};
i2c_param_config(I2C_PORT, &i2c_config);
i2c_driver_install(I2C_PORT, I2C_MODE_MASTER, 0, 0, 0);
i2c_cmd_handle_t cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_CMD_STREAM, true);
i2c_master_write_byte(cmd, OLED_CMD_SET_CHARGE_PUMP, true);
i2c_master_write_byte(cmd, 0x14, true);
i2c_master_write_byte(cmd, OLED_CMD_SET_SEGMENT_REMAP, true);
i2c_master_write_byte(cmd, OLED_CMD_SET_COM_SCAN_MODE, true);
i2c_master_write_byte(cmd, OLED_CMD_DISPLAY_ON, true);
i2c_master_stop(cmd);
if (ESP_OK != i2c_master_cmd_begin(I2C_PORT, cmd, 10 / portTICK_PERIOD_MS)) {
ESP_LOGE(TAG, "configuration failed");
}
i2c_cmd_link_delete(cmd);
clear_display();
}
void Oled::clear_display() {
ESP_LOGI(TAG, "clear_display");
i2c_cmd_handle_t cmd;
uint8_t page[PAGE_SIZE] = {0};
for (uint8_t i = 0; i < PAGE_COUNT; i++) {
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_CMD_SINGLE, true);
i2c_master_write_byte(cmd, 0xB0 | i, true);
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_DATA_STREAM, true);
i2c_master_write(cmd, page, PAGE_SIZE, true);
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_PORT, cmd, 10 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
}
}
void Oled::set_contrast(uint8_t contrast) {
i2c_cmd_handle_t cmd;
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_CMD_STREAM, true);
i2c_master_write_byte(cmd, OLED_CMD_SET_CONTRAST, true);
i2c_master_write_byte(cmd, contrast, true);
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 10 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
}
void Oled::display_text(const std::string& text) {
ESP_LOGI(TAG, "display_text %s", text.c_str());
i2c_cmd_handle_t cmd;
uint8_t cur_page = 0;
uint8_t col = 0;
auto col_width = DISPLAY_WIDTH / 8; // using an 8x8 font
auto num_rows = DISPLAY_HEIGHT / 8; // using an 8x8 font
auto max_size = col_width * num_rows;
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_CMD_STREAM, true);
i2c_master_write_byte(cmd, 0x00, true); // reset column
i2c_master_write_byte(cmd, 0x10, true);
i2c_master_write_byte(cmd, 0xB0 | cur_page, true); // reset page
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 10 / portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
for (uint8_t i = 0; i < text.size() && i < max_size; i++) {
ESP_LOGI(TAG, "%d: %c", i, text[i]);
if (text[i] == '\n' || col >= col_width) {
ESP_LOGI(TAG, "new line");
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_CMD_STREAM, true);
i2c_master_write_byte(cmd, 0x00, true); // reset column
i2c_master_write_byte(cmd, 0x10, true);
i2c_master_write_byte(cmd, 0xB0 | ++cur_page, true); // increment page
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 10/portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
col = 0;
} else {
cmd = i2c_cmd_link_create();
i2c_master_start(cmd);
i2c_master_write_byte(cmd, (OLED_I2C_ADDRESS << 1) | I2C_MASTER_WRITE, true);
i2c_master_write_byte(cmd, OLED_CONTROL_BYTE_DATA_STREAM, true);
uint8_t rotated[8];
rotate8x8((uint8_t*)font8x8_basic[(uint8_t)text[i]], rotated);
i2c_master_write(cmd, rotated, 8, true);
i2c_master_stop(cmd);
i2c_master_cmd_begin(I2C_NUM_0, cmd, 10/portTICK_PERIOD_MS);
i2c_cmd_link_delete(cmd);
col++;
}
}
}
void Oled::rotate8x8(uint8_t in[8], uint8_t out[8]) {
for (int x = 0; x < 8; x++) {
out[x] = 0;
for (int y = 0; y < 8; y++) {
if (in[y] & (1 << x)) {
out[x] |= (1 << (7 - y));
}
}
}
}

23
components/oled/include/Oled.h Normal file
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@@ -0,0 +1,23 @@
#include <cstdint>
#include <string>
#ifndef OLED_H
#define OLED_H
class Oled {
public:
Oled(uint8_t sda_pin, uint8_t scl_pin) {
init(sda_pin, scl_pin);
};
void clear_display();
void set_contrast(uint8_t contrast);
void display_text(const std::string& text);
private:
void init(uint8_t sda_pin, uint8_t scl_pin);
void rotate8x8(uint8_t in[8], uint8_t out[8]);
};
#endif // OLED_H

163
components/oled/include/font8x8_basic.h Normal file
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@@ -0,0 +1,163 @@
#ifndef FONT_H
#define FONT_H
#include <cstdint>
// Adapted from https://github.com/dhepper/font8x8/blob/master/font8x8_basic.h
/**
* 8x8 monochrome bitmap fonts for rendering
* Author: Daniel Hepper <daniel@hepper.net>
*
* License: Public Domain
*
* Based on:
* // Summary: font8x8.h
* // 8x8 monochrome bitmap fonts for rendering
* //
* // Author:
* // Marcel Sondaar
* // International Business Machines (public domain VGA fonts)
* //
* // License:
* // Public Domain
*
* Fetched from: http://dimensionalrift.homelinux.net/combuster/mos3/?p=viewsource&file=/modules/gfx/font8_8.asm
**/
// Constant: font8x8_basic
// Contains an 8x8 font map for unicode points U+0000 - U+007F (basic latin)
uint8_t font8x8_basic[128][8] = {
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x18, 0x00, 0x18, 0x18, 0x3C, 0x3C, 0x18 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x36, 0x36 },
{ 0x00, 0x36, 0x36, 0x7F, 0x36, 0x7F, 0x36, 0x36 },
{ 0x00, 0x0C, 0x1F, 0x30, 0x1E, 0x03, 0x3E, 0x0C },
{ 0x00, 0x63, 0x66, 0x0C, 0x18, 0x33, 0x63, 0x00 },
{ 0x00, 0x6E, 0x33, 0x3B, 0x6E, 0x1C, 0x36, 0x1C },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x03, 0x06, 0x06 },
{ 0x00, 0x18, 0x0C, 0x06, 0x06, 0x06, 0x0C, 0x18 },
{ 0x00, 0x06, 0x0C, 0x18, 0x18, 0x18, 0x0C, 0x06 },
{ 0x00, 0x00, 0x66, 0x3C, 0xFF, 0x3C, 0x66, 0x00 },
{ 0x00, 0x00, 0x0C, 0x0C, 0x3F, 0x0C, 0x0C, 0x00 },
{ 0x06, 0x0C, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x3F, 0x00, 0x00, 0x00 },
{ 0x00, 0x0C, 0x0C, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x01, 0x03, 0x06, 0x0C, 0x18, 0x30, 0x60 },
{ 0x00, 0x3E, 0x67, 0x6F, 0x7B, 0x73, 0x63, 0x3E },
{ 0x00, 0x3F, 0x0C, 0x0C, 0x0C, 0x0C, 0x0E, 0x0C },
{ 0x00, 0x3F, 0x33, 0x06, 0x1C, 0x30, 0x33, 0x1E },
{ 0x00, 0x1E, 0x33, 0x30, 0x1C, 0x30, 0x33, 0x1E },
{ 0x00, 0x78, 0x30, 0x7F, 0x33, 0x36, 0x3C, 0x38 },
{ 0x00, 0x1E, 0x33, 0x30, 0x30, 0x1F, 0x03, 0x3F },
{ 0x00, 0x1E, 0x33, 0x33, 0x1F, 0x03, 0x06, 0x1C },
{ 0x00, 0x0C, 0x0C, 0x0C, 0x18, 0x30, 0x33, 0x3F },
{ 0x00, 0x1E, 0x33, 0x33, 0x1E, 0x33, 0x33, 0x1E },
{ 0x00, 0x0E, 0x18, 0x30, 0x3E, 0x33, 0x33, 0x1E },
{ 0x00, 0x0C, 0x0C, 0x00, 0x00, 0x0C, 0x0C, 0x00 },
{ 0x06, 0x0C, 0x0C, 0x00, 0x00, 0x0C, 0x0C, 0x00 },
{ 0x00, 0x18, 0x0C, 0x06, 0x03, 0x06, 0x0C, 0x18 },
{ 0x00, 0x00, 0x3F, 0x00, 0x00, 0x3F, 0x00, 0x00 },
{ 0x00, 0x06, 0x0C, 0x18, 0x30, 0x18, 0x0C, 0x06 },
{ 0x00, 0x0C, 0x00, 0x0C, 0x18, 0x30, 0x33, 0x1E },
{ 0x00, 0x1E, 0x03, 0x7B, 0x7B, 0x7B, 0x63, 0x3E },
{ 0x00, 0x33, 0x33, 0x3F, 0x33, 0x33, 0x1E, 0x0C },
{ 0x00, 0x3F, 0x66, 0x66, 0x3E, 0x66, 0x66, 0x3F },
{ 0x00, 0x3C, 0x66, 0x03, 0x03, 0x03, 0x66, 0x3C },
{ 0x00, 0x1F, 0x36, 0x66, 0x66, 0x66, 0x36, 0x1F },
{ 0x00, 0x7F, 0x46, 0x16, 0x1E, 0x16, 0x46, 0x7F },
{ 0x00, 0x0F, 0x06, 0x16, 0x1E, 0x16, 0x46, 0x7F },
{ 0x00, 0x7C, 0x66, 0x73, 0x03, 0x03, 0x66, 0x3C },
{ 0x00, 0x33, 0x33, 0x33, 0x3F, 0x33, 0x33, 0x33 },
{ 0x00, 0x1E, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x1E },
{ 0x00, 0x1E, 0x33, 0x33, 0x30, 0x30, 0x30, 0x78 },
{ 0x00, 0x67, 0x66, 0x36, 0x1E, 0x36, 0x66, 0x67 },
{ 0x00, 0x7F, 0x66, 0x46, 0x06, 0x06, 0x06, 0x0F },
{ 0x00, 0x63, 0x63, 0x6B, 0x7F, 0x7F, 0x77, 0x63 },
{ 0x00, 0x63, 0x63, 0x73, 0x7B, 0x6F, 0x67, 0x63 },
{ 0x00, 0x1C, 0x36, 0x63, 0x63, 0x63, 0x36, 0x1C },
{ 0x00, 0x0F, 0x06, 0x06, 0x3E, 0x66, 0x66, 0x3F },
{ 0x00, 0x38, 0x1E, 0x3B, 0x33, 0x33, 0x33, 0x1E },
{ 0x00, 0x67, 0x66, 0x36, 0x3E, 0x66, 0x66, 0x3F },
{ 0x00, 0x1E, 0x33, 0x38, 0x0E, 0x07, 0x33, 0x1E },
{ 0x00, 0x1E, 0x0C, 0x0C, 0x0C, 0x0C, 0x2D, 0x3F },
{ 0x00, 0x3F, 0x33, 0x33, 0x33, 0x33, 0x33, 0x33 },
{ 0x00, 0x0C, 0x1E, 0x33, 0x33, 0x33, 0x33, 0x33 },
{ 0x00, 0x63, 0x77, 0x7F, 0x6B, 0x63, 0x63, 0x63 },
{ 0x00, 0x63, 0x36, 0x1C, 0x1C, 0x36, 0x63, 0x63 },
{ 0x00, 0x1E, 0x0C, 0x0C, 0x1E, 0x33, 0x33, 0x33 },
{ 0x00, 0x7F, 0x66, 0x4C, 0x18, 0x31, 0x63, 0x7F },
{ 0x00, 0x1E, 0x06, 0x06, 0x06, 0x06, 0x06, 0x1E },
{ 0x00, 0x40, 0x60, 0x30, 0x18, 0x0C, 0x06, 0x03 },
{ 0x00, 0x1E, 0x18, 0x18, 0x18, 0x18, 0x18, 0x1E },
{ 0x00, 0x00, 0x00, 0x00, 0x63, 0x36, 0x1C, 0x08 },
{ 0xFF, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x18, 0x0C, 0x0C },
{ 0x00, 0x6E, 0x33, 0x3E, 0x30, 0x1E, 0x00, 0x00 },
{ 0x00, 0x3B, 0x66, 0x66, 0x3E, 0x06, 0x06, 0x07 },
{ 0x00, 0x1E, 0x33, 0x03, 0x33, 0x1E, 0x00, 0x00 },
{ 0x00, 0x6E, 0x33, 0x33, 0x3E, 0x30, 0x30, 0x38 },
{ 0x00, 0x1E, 0x03, 0x3F, 0x33, 0x1E, 0x00, 0x00 },
{ 0x00, 0x0F, 0x06, 0x06, 0x0F, 0x06, 0x36, 0x1C },
{ 0x1F, 0x30, 0x3E, 0x33, 0x33, 0x6E, 0x00, 0x00 },
{ 0x00, 0x67, 0x66, 0x66, 0x6E, 0x36, 0x06, 0x07 },
{ 0x00, 0x1E, 0x0C, 0x0C, 0x0C, 0x0E, 0x00, 0x0C },
{ 0x1E, 0x33, 0x33, 0x30, 0x30, 0x30, 0x00, 0x30 },
{ 0x00, 0x67, 0x36, 0x1E, 0x36, 0x66, 0x06, 0x07 },
{ 0x00, 0x1E, 0x0C, 0x0C, 0x0C, 0x0C, 0x0C, 0x0E },
{ 0x00, 0x63, 0x6B, 0x7F, 0x7F, 0x33, 0x00, 0x00 },
{ 0x00, 0x33, 0x33, 0x33, 0x33, 0x1F, 0x00, 0x00 },
{ 0x00, 0x1E, 0x33, 0x33, 0x33, 0x1E, 0x00, 0x00 },
{ 0x0F, 0x06, 0x3E, 0x66, 0x66, 0x3B, 0x00, 0x00 },
{ 0x78, 0x30, 0x3E, 0x33, 0x33, 0x6E, 0x00, 0x00 },
{ 0x00, 0x0F, 0x06, 0x66, 0x6E, 0x3B, 0x00, 0x00 },
{ 0x00, 0x1F, 0x30, 0x1E, 0x03, 0x3E, 0x00, 0x00 },
{ 0x00, 0x18, 0x2C, 0x0C, 0x0C, 0x3E, 0x0C, 0x08 },
{ 0x00, 0x6E, 0x33, 0x33, 0x33, 0x33, 0x00, 0x00 },
{ 0x00, 0x0C, 0x1E, 0x33, 0x33, 0x33, 0x00, 0x00 },
{ 0x00, 0x36, 0x7F, 0x7F, 0x6B, 0x63, 0x00, 0x00 },
{ 0x00, 0x63, 0x36, 0x1C, 0x36, 0x63, 0x00, 0x00 },
{ 0x1F, 0x30, 0x3E, 0x33, 0x33, 0x33, 0x00, 0x00 },
{ 0x00, 0x3F, 0x26, 0x0C, 0x19, 0x3F, 0x00, 0x00 },
{ 0x00, 0x38, 0x0C, 0x0C, 0x07, 0x0C, 0x0C, 0x38 },
{ 0x00, 0x18, 0x18, 0x18, 0x00, 0x18, 0x18, 0x18 },
{ 0x00, 0x07, 0x0C, 0x0C, 0x38, 0x0C, 0x0C, 0x07 },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x3B, 0x6E },
{ 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00, 0x00 }
};
#endif // FONT_H

45
components/oled/include/ssd1306.h Normal file
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@@ -0,0 +1,45 @@
#ifndef SSD_1306_H
#define SSD_1306_H
// From http://robotcantalk.blogspot.com/2015/03/interfacing-arduino-with-ssd1306-driven.html
// SLA (0x3C) + WRITE_MODE (0x00) = 0x78 (0b01111000)
#define OLED_I2C_ADDRESS 0x3C
// Control byte
#define OLED_CONTROL_BYTE_CMD_SINGLE 0x80
#define OLED_CONTROL_BYTE_CMD_STREAM 0x00
#define OLED_CONTROL_BYTE_DATA_STREAM 0x40
// Fundamental commands (pg.28)
#define OLED_CMD_SET_CONTRAST 0x81 // follow with 0x7F
#define OLED_CMD_DISPLAY_RAM 0xA4
#define OLED_CMD_DISPLAY_ALLON 0xA5
#define OLED_CMD_DISPLAY_NORMAL 0xA6
#define OLED_CMD_DISPLAY_INVERTED 0xA7
#define OLED_CMD_DISPLAY_OFF 0xAE
#define OLED_CMD_DISPLAY_ON 0xAF
// Addressing Command Table (pg.30)
#define OLED_CMD_SET_MEMORY_ADDR_MODE 0x20 // follow with 0x00 = HORZ mode = Behave like a KS108 graphic LCD
#define OLED_CMD_SET_COLUMN_RANGE 0x21 // can be used only in HORZ/VERT mode - follow with 0x00 and 0x7F = COL127
#define OLED_CMD_SET_PAGE_RANGE 0x22 // can be used only in HORZ/VERT mode - follow with 0x00 and 0x07 = PAGE7
// Hardware Config (pg.31)
#define OLED_CMD_SET_DISPLAY_START_LINE 0x40
#define OLED_CMD_SET_SEGMENT_REMAP 0xA1
#define OLED_CMD_SET_MUX_RATIO 0xA8 // follow with 0x3F = 64 MUX
#define OLED_CMD_SET_COM_SCAN_MODE 0xC8
#define OLED_CMD_SET_DISPLAY_OFFSET 0xD3 // follow with 0x00
#define OLED_CMD_SET_COM_PIN_MAP 0xDA // follow with 0x12
#define OLED_CMD_NOP 0xE3 // NOP
// Timing and Driving Scheme (pg.32)
#define OLED_CMD_SET_DISPLAY_CLK_DIV 0xD5 // follow with 0x80
#define OLED_CMD_SET_PRECHARGE 0xD9 // follow with 0xF1
#define OLED_CMD_SET_VCOMH_DESELCT 0xDB // follow with 0x30
// Charge Pump (pg.62)
#define OLED_CMD_SET_CHARGE_PUMP 0x8D // follow with 0x14
#endif // SSD_1306_H

2
main/CMakeLists.txt
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@@ -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)

3
main/control/ActuatorFactory.cpp
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@@ -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;
}

2
main/control/DCMotorActuator.cpp
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@@ -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();

33
main/control/OledActuator.cpp Normal file
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@@ -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}};
}

2
main/control/Servo1Actuator.cpp
View File

@@ -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 =

24
main/include/control/OledActuator.h Normal file
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@@ -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

2
pinout.md
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@@ -18,3 +18,5 @@
| 14 | Ch. 3 RMT RX |
| 15 | DC Motor Encoder A |
| 16 | DC Motor Encoder B |
| 17 | OLED SDA |
| 18 | OLED SCL |