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update firmware source code to v0.18 (#9)

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Forairaaaaa
2026-03-25 11:11:14 +08:00
committed by GitHub
parent 5001b7081b
commit 605b575fcc
123 changed files with 24590 additions and 1899 deletions
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firmware/main/apps/app_setup/workers/servo.cpp
+185 -65
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@@ -5,7 +5,9 @@
*/
#include "workers.h"
#include <stackchan/stackchan.h>
#include <apps/common/toast/toast.h>
#include <mooncake_log.h>
#include <assets/assets.h>
#include <hal/hal.h>
using namespace smooth_ui_toolkit::lvgl_cpp;
@@ -13,64 +15,178 @@ using namespace setup_workers;
static std::string _tag = "Setup-Servo";
/**
* @brief
*
*/
class PageTips : public WorkerBase {
public:
PageTips()
{
_panel = std::make_unique<Container>(lv_screen_active());
_panel->setBgColor(lv_color_hex(0xEDF4FF));
_panel->align(LV_ALIGN_CENTER, 0, 0);
_panel->setBorderWidth(0);
_panel->setSize(320, 240);
_panel->setRadius(0);
_title = std::make_unique<Label>(lv_screen_active());
_title->setTextFont(&lv_font_montserrat_20);
_title->setTextColor(lv_color_hex(0x7E7B9C));
_title->align(LV_ALIGN_TOP_MID, 0, 13);
_title->setText("HOME POSITION:");
_img = std::make_unique<Image>(lv_screen_active());
_img->setSrc(&setup_stackchan_front_view);
_img->align(LV_ALIGN_CENTER, -74, 15);
_btn_next = std::make_unique<Button>(lv_screen_active());
apply_button_common_style(*_btn_next);
_btn_next->align(LV_ALIGN_CENTER, 79, 73);
_btn_next->setSize(120, 48);
_btn_next->label().setText("Continue");
_btn_next->label().setTextFont(&lv_font_montserrat_20);
_btn_next->onClick().connect([this]() { _is_done = true; });
_info = std::make_unique<Label>(lv_screen_active());
_info->setTextFont(&lv_font_montserrat_20);
_info->setTextColor(lv_color_hex(0x26206A));
_info->align(LV_ALIGN_TOP_LEFT, 185, 56);
_info->setTextAlign(LV_TEXT_ALIGN_LEFT);
_info->setText("StackChan\nlooking\nstraight\nforward.");
}
private:
std::unique_ptr<uitk::lvgl_cpp::Container> _panel;
std::unique_ptr<uitk::lvgl_cpp::Label> _title;
std::unique_ptr<uitk::lvgl_cpp::Image> _img;
std::unique_ptr<uitk::lvgl_cpp::Button> _btn_next;
std::unique_ptr<uitk::lvgl_cpp::Label> _info;
};
/**
* @brief
*
*/
class PageCalibration : public WorkerBase {
public:
PageCalibration()
{
_panel = std::make_unique<Container>(lv_screen_active());
_panel->setBgColor(lv_color_hex(0xFFFFFF));
_panel->align(LV_ALIGN_CENTER, 0, 0);
_panel->setBorderWidth(0);
_panel->setSize(320, 240);
_panel->setRadius(0);
_panel->setFlexFlow(LV_FLEX_FLOW_COLUMN);
_panel->setFlexAlign(LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);
_panel->setPadding(30, 30, 0, 0);
_panel->setPadRow(24);
_btn_go_home = std::make_unique<Button>(*_panel);
apply_button_common_style(*_btn_go_home);
_btn_go_home->setSize(290, 70);
_btn_go_home->label().setText("Move To Home");
_btn_go_home->onClick().connect([this]() { _go_home_flag = true; });
_btn_confirm = std::make_unique<Button>(*_panel);
apply_button_common_style(*_btn_confirm);
_btn_confirm->setSize(290, 80);
_btn_confirm->setBgColor(lv_color_hex(0xFFDF9A));
_btn_confirm->label().setText("Set Current Position\nAs Home");
_btn_confirm->label().setTextAlign(LV_TEXT_ALIGN_CENTER);
_btn_confirm->label().setTextColor(lv_color_hex(0x47330A));
_btn_confirm->onClick().connect([this]() { _confirm_flag = true; });
_btn_reset_default = std::make_unique<Button>(*_panel);
apply_button_common_style(*_btn_reset_default);
_btn_reset_default->setSize(290, 80);
_btn_reset_default->setBgColor(lv_color_hex(0xBAE4BA));
_btn_reset_default->label().setText("Reset To Default\nHome Position");
_btn_reset_default->label().setTextAlign(LV_TEXT_ALIGN_CENTER);
_btn_reset_default->label().setTextColor(lv_color_hex(0x233B23));
_btn_reset_default->onClick().connect([this]() { _reset_default_flag = true; });
_btn_quit = std::make_unique<Button>(*_panel);
apply_button_common_style(*_btn_quit);
_btn_quit->setSize(230, 55);
_btn_quit->label().setText("Done");
_btn_quit->onClick().connect([this]() { _is_done = true; });
auto& motion = GetStackChan().motion();
motion.setAutoAngleSyncEnabled(true);
}
void update() override
{
if (_confirm_flag) {
_confirm_flag = false;
mclog::tagInfo(_tag, "set current angle as zero");
auto& motion = GetStackChan().motion();
motion.yawServo().setCurrentAngleAsZero();
motion.pitchServo().setCurrentAngleAsZero();
view::pop_a_toast("Home position set", view::ToastType::Success);
}
if (_go_home_flag) {
_go_home_flag = false;
view::pop_a_toast("Moving to home", view::ToastType::Warning);
mclog::tagInfo(_tag, "go home");
auto& motion = GetStackChan().motion();
motion.goHome(666);
}
if (_reset_default_flag) {
_reset_default_flag = false;
mclog::tagInfo(_tag, "home reset");
auto& motion = GetStackChan().motion();
motion.yawServo().resetZeroCalibration();
motion.pitchServo().resetZeroCalibration();
view::pop_a_toast("Home position reset", view::ToastType::Success);
}
}
private:
std::unique_ptr<uitk::lvgl_cpp::Container> _panel;
std::unique_ptr<uitk::lvgl_cpp::Button> _btn_quit;
std::unique_ptr<uitk::lvgl_cpp::Button> _btn_confirm;
std::unique_ptr<uitk::lvgl_cpp::Button> _btn_go_home;
std::unique_ptr<uitk::lvgl_cpp::Button> _btn_reset_default;
bool _confirm_flag = false;
bool _go_home_flag = false;
bool _reset_default_flag = false;
};
ZeroCalibrationWorker::ZeroCalibrationWorker()
{
_pannel = std::make_unique<Container>(lv_screen_active());
_pannel->setBgColor(lv_color_hex(0xFFFFFF));
_pannel->removeFlag(LV_OBJ_FLAG_SCROLLABLE);
_pannel->align(LV_ALIGN_CENTER, 0, 0);
_pannel->setBorderWidth(0);
_pannel->setSize(320, 240);
_pannel->setRadius(0);
_btn_go_home = std::make_unique<Button>(lv_screen_active());
apply_button_common_style(*_btn_go_home);
_btn_go_home->setAlign(LV_ALIGN_CENTER);
_btn_go_home->setPos(0, -85);
_btn_go_home->setSize(230, 55);
_btn_go_home->label().setText("Move To Home");
_btn_go_home->onClick().connect([this]() { _go_home_flag = true; });
_btn_confirm = std::make_unique<Button>(lv_screen_active());
apply_button_common_style(*_btn_confirm);
_btn_confirm->setAlign(LV_ALIGN_CENTER);
_btn_confirm->setPos(0, 0);
_btn_confirm->setSize(290, 70);
_btn_confirm->label().setText("Set Current Position\nAs Home");
_btn_confirm->label().setTextAlign(LV_TEXT_ALIGN_CENTER);
_btn_confirm->onClick().connect([this]() { _confirm_flag = true; });
_btn_quit = std::make_unique<Button>(lv_screen_active());
apply_button_common_style(*_btn_quit);
_btn_quit->setAlign(LV_ALIGN_CENTER);
_btn_quit->setPos(0, 85);
_btn_quit->setSize(230, 55);
_btn_quit->label().setText("Done");
_btn_quit->onClick().connect([this]() { _is_done = true; });
auto& motion = GetStackChan().motion();
motion.setAutoAngleSyncEnabled(true);
_page_tips = std::make_unique<PageTips>();
}
void ZeroCalibrationWorker::update()
{
if (_confirm_flag) {
_confirm_flag = false;
mclog::tagInfo(_tag, "set current angle as zero");
auto& motion = GetStackChan().motion();
motion.yawServo().setCurrentAngleAsZero();
motion.pitchServo().setCurrentAngleAsZero();
// Page tips
if (_page_tips) {
_page_tips->update();
if (_page_tips->isDone()) {
_page_tips.reset();
_page_calibration = std::make_unique<PageCalibration>();
}
}
if (_go_home_flag) {
_go_home_flag = false;
mclog::tagInfo(_tag, "go home");
auto& motion = GetStackChan().motion();
motion.goHome(300);
// Page calibration
else if (_page_calibration) {
_page_calibration->update();
if (_page_calibration->isDone()) {
_page_calibration.reset();
_is_done = true;
}
}
}
@@ -88,19 +204,19 @@ static const std::vector<RgbColorEntry> _rgb_colors = {
RgbTestWorker::RgbTestWorker()
{
_pannel = std::make_unique<Container>(lv_screen_active());
_pannel->setBgColor(lv_color_hex(0xFFFFFF));
_pannel->align(LV_ALIGN_CENTER, 0, 0);
_pannel->setBorderWidth(0);
_pannel->setSize(320, 240);
_pannel->setRadius(0);
_pannel->setFlexFlow(LV_FLEX_FLOW_COLUMN);
_pannel->setFlexAlign(LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);
_pannel->setPadding(20, 20, 20, 20);
_pannel->setPadRow(15);
_panel = std::make_unique<Container>(lv_screen_active());
_panel->setBgColor(lv_color_hex(0xFFFFFF));
_panel->align(LV_ALIGN_CENTER, 0, 0);
_panel->setBorderWidth(0);
_panel->setSize(320, 240);
_panel->setRadius(0);
_panel->setFlexFlow(LV_FLEX_FLOW_COLUMN);
_panel->setFlexAlign(LV_FLEX_ALIGN_START, LV_FLEX_ALIGN_CENTER, LV_FLEX_ALIGN_CENTER);
_panel->setPadding(20, 20, 20, 20);
_panel->setPadRow(15);
for (const auto& color : _rgb_colors) {
auto btn = std::make_unique<Button>(*_pannel);
auto btn = std::make_unique<Button>(*_panel);
apply_button_common_style(*btn);
btn->setSize(200, 50);
btn->label().setText(color.name);
@@ -108,12 +224,15 @@ RgbTestWorker::RgbTestWorker()
uint8_t r = color.r;
uint8_t g = color.g;
uint8_t b = color.b;
btn->onClick().connect([r, g, b]() { GetHAL().showRgbColor(r, g, b); });
btn->onClick().connect([r, g, b]() {
GetStackChan().leftNeonLight().setColor(r, g, b);
GetStackChan().rightNeonLight().setColor(r, g, b);
});
_buttons.push_back(std::move(btn));
}
auto btn_quit = std::make_unique<Button>(*_pannel);
auto btn_quit = std::make_unique<Button>(*_panel);
apply_button_common_style(*btn_quit);
btn_quit->setSize(200, 50);
btn_quit->label().setText("Quit");
@@ -123,5 +242,6 @@ RgbTestWorker::RgbTestWorker()
RgbTestWorker::~RgbTestWorker()
{
GetHAL().showRgbColor(0, 0, 0);
GetStackChan().leftNeonLight().setColor(0, 0, 0);
GetStackChan().rightNeonLight().setColor(0, 0, 0);
}