FFBHIDMain.h

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/*
 * FFBWheel.h
 *
 *  Created on: 31.01.2020
 *      Author: Yannick
 */
 
#ifndef SRC_FFBWHEEL_H_
#define SRC_FFBWHEEL_H_
//#include <CmdParser.h>
#include <CanAnalog.h>
#include <FFBoardMain.h>
#include <MotorPWM.h>
 
#include "TMC4671.h"
#include "flash_helpers.h"
#include "ButtonSource.h"
#include "EncoderLocal.h"
 
#include "Axis.h"
#include "cppmain.h"
#include "HidFFB.h"
#include "TimerHandler.h"
#include "ClassChooser.h"
#include "ExtiHandler.h"
#include "AxesManager.h"
#include "EffectsCalculator.h"
#include "ffb_defs.h"
#include "UsbHidHandler.h"
#include "ErrorHandler.h"
#include "memory"
#include "HidCommandInterface.h"
 
#include "thread.hpp"
 
class FFBHIDMain: public FFBoardMain, public cpp_freertos::Thread, PersistentStorage,ExtiHandler,public UsbHidHandler, ErrorHandler{
    enum class FFBWheel_commands : uint32_t{
        ffbactive,axes,btntypes,lsbtn,addbtn,aintypes,lsain,addain,hidrate,hidsendspd,estop,cfrate
    };
 
public:
    FFBHIDMain(uint8_t axisCount);
    virtual ~FFBHIDMain();
    void setFFBEffectsCalc(std::shared_ptr<EffectsControlItf> ffb,std::shared_ptr<EffectsCalculator> effects_calc);
 
    //static ClassIdentifier info;
    const ClassIdentifier getInfo() = 0;
    static bool isCreatable() {return true;};
 
    CommandStatus command(const ParsedCommand& cmd,std::vector<CommandReply>& replies);
    void registerCommands();
    virtual std::string getHelpstring(){
        return "Force feedback HID game controller";
    }
    void setBtnTypes(uint16_t btntypes);
    void addBtnType(uint16_t id);
    void clearBtnTypes();
 
    void setAinTypes(uint16_t aintypes);
    void addAinType(uint16_t id);
    void clearAinTypes();
 
 
    virtual void usbInit() = 0; // initialize a composite usb device
    void usbSuspend(); // Called on usb disconnect and suspend
    void usbResume(); // Called on usb resume
 
    void saveFlash();
    void restoreFlash();
 
    void Run();
    void updateControl();
 
    void emergencyStop(bool reset);
    uint32_t getRate();
    bool getFfbActive();
 
    //void timerElapsed(TIM_HandleTypeDef* htim);
    void exti(uint16_t GPIO_Pin);
 
    void errorCallback(const Error &error, bool cleared);
 
    void systick();
 
protected:
    std::shared_ptr<EffectsControlItf> ffb;
    std::shared_ptr<EffectsCalculator> effects_calc;
    uint8_t axisCount=0;
 
private:
    volatile Control_t control;
    void send_report();
    const bool allowEstopReset = true; // Resets the Estop when the pin is released
    //bool lastEstopState = false;
    const Error estopError = Error(ErrorCode::emergencyStop, ErrorType::critical, "Emergency stop button triggered");
 
    /* USB Report rate
     * Warning: Report rate initialized by bInterval is overridden by saved speed preset at startup!
     */
    void setReportRate(uint8_t rateidx);
    uint8_t usb_report_rate = HID_BINTERVAL; //1 = 1000hz, 2 = 500hz, 3 = 333hz 4 = 250hz, 5 = 200hz 6 = 166hz, 8 = 125hz etc...
    uint8_t usb_report_rate_idx = 0;
    const uint8_t usb_report_rates[4] = {1,2,4,8}; // Maps stored hid speed to report rates
 
    std::string usb_report_rates_names();
 
    uint8_t report_rate_cnt = 0;
 
    std::unique_ptr<AxesManager> axes_manager;
    //TIM_HandleTypeDef* timer_update;
 
    std::vector<std::unique_ptr<ButtonSource>> btns;
    std::vector<std::unique_ptr<AnalogSource>> analog_inputs;
 
    reportHID_t reportHID;
    reportHID_t lastReportHID;
    uint8_t reportSendCounter = 0;
 
    const uint8_t analogAxisCount = 8;
    uint16_t btnsources = 0; // Disabled by default
    uint16_t ainsources = 0;
 
 
    ClassChooser<ButtonSource> btn_chooser;
    ClassChooser<AnalogSource> analog_chooser;
 
    //HID_CommandInterface hidCommands; // Enables full HID control
    std::unique_ptr<HID_CommandInterface> hidCommands = std::make_unique<HID_CommandInterface>();
 
    uint32_t lastUsbReportTick = 0;
    cpp_freertos::BinarySemaphore sourcesSem = cpp_freertos::BinarySemaphore(true);
 
    volatile uint32_t lastEstop = 0;
};
 
#endif /* SRC_FFBWHEEL_H_ */